WO2021095942A1 - Vehicle parking detection system using geomagnetic sensor - Google Patents

Vehicle parking detection system using geomagnetic sensor Download PDF

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Publication number
WO2021095942A1
WO2021095942A1 PCT/KR2019/015645 KR2019015645W WO2021095942A1 WO 2021095942 A1 WO2021095942 A1 WO 2021095942A1 KR 2019015645 W KR2019015645 W KR 2019015645W WO 2021095942 A1 WO2021095942 A1 WO 2021095942A1
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WIPO (PCT)
Prior art keywords
vehicle
value
detection
parking
axes
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PCT/KR2019/015645
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French (fr)
Korean (ko)
Inventor
김승일
송재형
정정환
한규석
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(주) 하나텍시스템
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Publication of WO2021095942A1 publication Critical patent/WO2021095942A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors

Definitions

  • the present invention relates to a vehicle parking detection system that detects a vehicle using a geomagnetic sensor and recognizes whether the vehicle maintains parking.
  • a vehicle parking detection system that detects whether or not a vehicle is parked has been actively made in recent years.
  • various detectors are used, and as an example, a loop detector, an image detector, an ultrasonic sensor, a laser sensor, a geomagnetic sensor, and the like are mainly used.
  • the presence of the vehicle is recognized by detecting the current, camera image, reflected ultrasonic waves, or changes in the earth's geomagnetism that are changed by the vehicle according to the movement of the vehicle parked in the parking lot.
  • the actual situation is that the means that can be used are being used.
  • the user can easily recognize whether the vehicle is parked, and through this, even in a parking lot with many parking vehicles, an empty parking space can be easily recognized and the vehicle can be moved directly to the parking space and parked. There is an effect.
  • a magnetic sensor is a means for detecting a vehicle by using a change in the earth's magnetic field generated by the earth when a vehicle made of metal passes through it.
  • a geomagnetic sensor in a parking lot, there is an effect that vehicles can be easily detected in not only indoor parking but also outdoor parking.
  • Patent Application No. 10-2011-0013580 (Name of invention: outdoor parking area occupancy detection device using geomagnetic sensor, filing date: 2011.02.10.)
  • the entry of the vehicle can be confirmed, but there is a problem that the entry of the vehicle and whether the vehicle is parked are distinguished, but cannot be identified separately.
  • a vehicle enters a parking space, there is a problem that not only parking but also passing through a corresponding section during the movement or stopping process of the vehicle, and detecting all of this without distinguishing it.
  • geomagnetism is changed by the metal material in the vehicle's configuration and detects the amount of change accordingly. If the signal for detecting this passes through a part of the vehicle that is not made of metal, the amount of geomagnetic change is not detected, so whether the vehicle is present or not. There is an inaccurate problem.
  • the conventional vehicle parking detection system only checks whether the vehicle is parked or not, and checks the real-time movement process of the vehicle, that is, whether the vehicle has entered the parking space, whether the vehicle is maintaining parking, or whether the vehicle has left the parking space. There is a problem that cannot be done.
  • the vehicle parking detection system comprising a communication unit that transmits a vehicle parking determination signal and a management unit receiving the determination signal and storing a plurality of set values, a plurality of A sensor unit for measuring a detected value by detecting a change amount of geomagnetic in the parking space for each axis of; A vehicle detection unit configured to generate a detection signal for determining whether the vehicle exists by comparing the detection reference value and the detection value set in advance for each of the plurality of axes, wherein the vehicle detection unit includes: the detection unit for each of the plurality of axes.
  • a plurality of first difference values obtained by comparing the reference value and the detected value are detected, and when the first difference value exceeds a first set value in at least one of the plurality of axes, the vehicle is present in the parking space. It is possible to generate a detection signal that determines that it is.
  • the vehicle detection unit generates a detection signal that determines that the vehicle does not exist in the parking space when the first difference value is less than a second set value for all of the plurality of axes, and the second set value is the It may be lower than the first set value by a first error range.
  • the vehicle detection unit if the first difference value is less than the second set value for all of the plurality of axes, the detection reference value is equal to the detection value for each of the plurality of axes at a first set time interval.
  • a change detection reference value obtained by changing the detection reference value by a first set range may be detected.
  • a parking recognition unit for generating a recognition signal for determining whether the vehicle maintains a parking state in the parking space by comparing each of the detection values with a preset recognition reference value for each of the plurality of axes; further comprising: , The parking recognition unit detects a second difference value obtained by comparing the recognition reference value and the detection value for each of the plurality of axes, and when the second difference value exceeds a third set value for all of the plurality of axes, A recognition signal for determining that the vehicle maintains parking in the parking space may be generated.
  • the parking recognition unit generates a recognition signal that determines that the vehicle maintains parking, and if the second difference value changes to less than a fourth set value for all of the plurality of axes, the vehicle is A change recognition in which a recognition signal that determines not to maintain parking is generated, and the recognition reference value is changed by a second set range at a second set time interval so that the recognition reference value becomes the same as the detection value for each of the plurality of axes.
  • a reference value is detected, and the fourth set value may be lower than the third set value by a second error range.
  • the parking recognition unit when the detection value maintains a preset parking detection time for all of the plurality of axes, is determined at a second set time interval so that the recognition reference value becomes the same as the detection value for each of the plurality of axes. 2 It is possible to detect a change recognition reference value that has changed the recognition reference value by a set range.
  • the vehicle further includes an exit determination unit for generating an exit signal determining whether or not the vehicle is exited from the parking space, wherein the exit determination unit comprises: By detecting a third difference value obtained by comparing the change recognition reference value and the detected value for each axis of the number, it is determined that the third difference value exceeds the third set value in all of the plurality of axes, and the plurality of When it is determined that the first difference value is less than the second set value on both axes of, a vehicle exit signal for determining that the vehicle has exited the parking space may be generated.
  • the vehicle exit determination unit may be configured with a third set time interval so that the detection reference value and the change recognition reference value are the same as the detection value, respectively, for all of the plurality of axes.
  • the detection reference value and the change recognition reference value may be changed by a third set range.
  • a parking detection system includes: a sensor unit for measuring a plurality of detection values by detecting the amount of geomagnetic change in a plurality of axes, respectively; A vehicle detection unit that compares a preset detection reference value and the detection value for each of the plurality of axes to determine whether a vehicle is present in a parking space; When it is determined that the vehicle exists in the parking space, a parking recognition unit determines whether the vehicle maintains a parking state in the parking space by comparing a preset recognition reference value and the detection value for each of a plurality of axes; A departure determination unit for determining whether the vehicle is unloaded from the parking space when it is determined that the vehicle remains in the parking state; And a communication unit for transmitting the detected value of the sensor unit to the vehicle detection unit, the parking recognition unit, and the vehicle exit determination unit, wherein the vehicle detection unit is a first comparing the detection reference value and the detection value for each of the plurality of axes.
  • the parking recognition unit detects a second difference value obtained by comparing the recognition reference value and the detection value for each of the plurality of axes, and If the second difference value in both axes exceeds the third set value and the detection value maintains the preset parking detection time, it is determined that the vehicle maintains the parking state in the parking space, and the recognition reference value for each of the plurality of axes.
  • the unloading determination unit compares the change recognition reference value and the detection value for each of the plurality of axes, respectively. If the third difference value exceeds the third set value and the first difference value is less than the second set value by detecting one third difference value, it is determined that the vehicle has left the parking space. And, the second set value may be less than the first set value.
  • a geomagnetic sensor is used, but a configuration that detects whether a vehicle is passing in a parking space based on the measured amount of geomagnetic change, and a configuration that recognizes whether the vehicle is placed in a parking space and maintains parking is separately provided.
  • a vehicle is detected and a certain requirement is met in the future, it is possible to clearly distinguish whether or not the vehicle is parked in a parking space by determining whether to park.
  • the vehicle when the driver drives the vehicle and leaves the parking space while the vehicle is maintained in the parking space, the vehicle is recognized as whether or not the vehicle is leaving the vehicle according to the control algorithm using the geomagnetic change value. It has the effect of accurately judging from parking to leaving the car.
  • FIG. 1 is a block diagram of a vehicle parking detection system according to an embodiment of the present invention
  • FIG. 2 is a flowchart showing the operation of the vehicle parking detection system according to an embodiment of the present invention
  • FIG. 3 is a flowchart showing detailed operations of a vehicle sensing step and a vehicle detecting step.
  • Figure 4 is a flow chart showing the detailed operation of the parking recognition step.
  • FIG. 5 is a flowchart showing a detailed operation of the step of determining the vehicle leaving the vehicle.
  • An embodiment of the present invention relates to a vehicle 10 parking detection system using a geomagnetic sensor.
  • a parking detection system will be briefly referred to as a “parking detection system”.
  • FIG. 1 is a block diagram of a vehicle parking detection system according to an embodiment of the present invention.
  • a vehicle 10 is a parking space based on a sensor unit 110 that detects a geomagnetic change amount of an installed space, and a result detected by the sensor unit 110.
  • a vehicle detection unit 121 that determines whether the vehicle is present in the vehicle detection unit 121, a parking recognition unit that determines whether the vehicle 10 has parked in the parking space according to the result detected by the sensor unit 110 and the determination result of the vehicle detection unit 121 ( 122), to transmit the result determined by the exit determination unit 123, vehicle detection unit 121, parking recognition unit 122, and exit determination unit 123 to determine whether the vehicle 10 has left the vehicle after parking in the parking space.
  • It may include one or more configurations of the communication unit 140 and the management unit 130 that receives and manages the determination result from the communication unit 140 and stores a plurality of set values. Below, we will look at each configuration in detail.
  • the sensor unit 110 is a means for detecting a geomagnetic change amount, and may include, for example, a geomagnetic sensor.
  • a geomagnetic sensor since the geomagnetic value has a property that is changed by the metal material, which is the main material of the vehicle 10, the sensor unit 110 measures the amount of geomagnetic change that changes depending on whether the vehicle 10 is placed in a parking space. Can be.
  • the sensor unit 110 may sense the amount of geomagnetic change and measure the changed displacement based on the amount of change in the geomagnetic field, and in this case, the measured displacement may be defined as a detection value.
  • a control algorithm utilizing the detected value will be described later.
  • the detection value measured by the sensor unit 110 may be changed in real time according to the presence or absence of the vehicle 10.
  • the sensor unit 110 may measure the detected value by detecting the amount of geomagnetic change in not only one axis but also a plurality of axes. In this case, since the sensor unit 110 measures detection values for each of a plurality of axes, a plurality of detection values may be measured. As an example, the sensor unit 110 calculates a detection value based on three axes of the left and right directions parallel to the ground, the Y-axis parallel to the ground, and the Z-axis perpendicular to the ground. In this case, three detection values of an x-axis detection value, a y-axis detection value, and a z-axis detection value can be measured.
  • the vehicle detection unit 121 is a means capable of generating a detection signal by detecting whether the vehicle 10 is disposed in a parking space based on a detection value measured by the sensor unit 110.
  • the vehicle detection unit 121 may store a preset detection reference value. These detection reference values define reference values for the vehicle 10 to be detected, and may be set in a plurality of values that are the same or different from each other in a plurality of axes. Accordingly, the vehicle detection unit 121 detects a first difference value obtained by comparing a preset detection reference value and a detection value for each axis, and the vehicle 10 exists in the parking space based on the detected first difference value. It is possible to generate a detection signal to determine whether or not.
  • the vehicle detection unit 121 determines whether the vehicle 10 exists in the parking space by using the first difference value.
  • the management unit 130 may store a first set value and a second set value.
  • the first set value may be a minimum value of a geomagnetic change value capable of determining the existence of the vehicle 10 when the presence or absence of the vehicle 10 changes
  • the second set value is the presence of the vehicle 10. It may be a maximum value of a geomagnetic change value that can be changed in an unchanged state, that is, a noise value that can be changed when the same state is maintained.
  • the management unit 130 may transmit the first set value and the second set value to the vehicle detection unit 121 through the communication unit 140.
  • the vehicle 10 It is determined that it exists in this parking space, and a detection signal indicating that the vehicle 10 has been detected can be generated.
  • the vehicle detection unit 121 greatly changes the detected value, the first difference value, which is the displacement of the detection reference value and the detection value, increases, and the increased first difference value increases.
  • it exceeds the first set value it is determined that the amount of geomagnetic change has increased significantly as the vehicle 10 is disposed in the parking space, and thus it may be determined that the vehicle 10 is detected. That is, when the first difference value exceeds the first set value only in one of the plurality of axes, a detection signal indicating that the vehicle 10 is detected in the parking space may be generated.
  • the vehicle detection unit 121 determines that the vehicle 10 does not exist in the parking space, and detects that the vehicle 10 has not been detected. Can generate signals.
  • the vehicle detection unit 121 may change by a certain range even when the vehicle 10 is not detected in the parking space, the first difference value is insufficient, that is, when the displacement between the detection reference value and the detection value is insignificant. It can be determined that the vehicle 10 does not exist. In this case, the first difference value detected in all of the plurality of axes must be less than the second set value.
  • the first set value and the second set value may be different by a first error range.
  • the first set value may have a value greater than the first error range than the second set value.
  • the first error range is a range in which an error can appear as to whether the vehicle 10 is present or not.
  • a value between the first set value and the second set value may be understood as a section in which it is impossible to determine whether or not the vehicle 10 is detected.
  • the detection reference value is the same as the detection value.
  • the detection reference value can be changed until sunset.
  • the vehicle detection unit 121 may change the detection reference value by a first set range at a first set time interval until the detection reference value becomes the same as the detection value. For example, when the detection reference value is 5, the detection value is 3, and the second set value is 3, the first difference value is a value of 2 and is less than the second set value of 3, and in this case, the vehicle detection unit 121 is the detection reference value.
  • the detection reference value can be changed to the same value of 3 as the detection value by changing the value of 1 at 1 second intervals for 2 seconds.
  • the reason for changing the detection reference value to be the same as the detection value is because the vehicle 10 is in an undetected state when all the detected first difference values are less than the second set value. 1 This is to reset the difference value to 0 and initialize it to a state in which the vehicle 10 can be detected again in a state in which the vehicle 10 is not disposed.
  • the vehicle detection unit 121 is a configuration capable of determining whether the vehicle 10 is placed in the parking space, that is, whether it is present, and whether the vehicle 10 maintains parking in the parking space. May be determined by the parking recognition unit 122 and the exit determination unit 123.
  • the vehicle detection unit 122 When the vehicle detection unit 122 generates a detection signal indicating that the vehicle 10 is detected, that is, the vehicle detection unit 121 determines at least one first difference value detected on a plurality of axes. 1 It operates when it is determined that the set value is exceeded, and it is a means for determining whether the vehicle 10 maintains a parking in the parking space. Conversely, if the vehicle detection unit 121 fails to generate a detection signal indicating that the vehicle 10 has been detected, or generates a detection signal indicating that the vehicle 10 is not detected, the parking recognition unit 122 is not operated.
  • the parking recognition unit 122 may store a preset recognition reference value.
  • the recognition reference value defines a reference value for achieving the condition that the vehicle 10 maintains parking, and may be set in a plurality of values equal to or different from each other in a plurality of axes. Accordingly, the parking recognition unit 122 detects a second difference value obtained by comparing the recognition reference value and the detection value set in advance for each axis, and the vehicle 10 in the parking space based on the detected second difference value. It is possible to generate a recognition result that primarily determines whether or not parking is maintained.
  • the management unit 130 may store a third set value and a fourth set value.
  • the third set value is a geomagnetic change value capable of recognizing whether the vehicle 10 is parked, that is, a case in which the vehicle 10 exists and disappears in the parking space, or exists in the absence of the vehicle 10 can be determined. It is a minimum value that is present, and the fourth set value may be a maximum value of a geomagnetic change value in which whether or not parking of the vehicle 10 is recognized, that is, a noise value that may change regardless of whether or not parking of the vehicle 10 is maintained.
  • the management unit 130 may transmit the third set value and the fourth set value to the parking recognition unit 122 and the exit determination unit 123.
  • third set value and the fourth set value are values that are not related to the first set value and the second set value, it should be noted that the relationship between each other may vary depending on the degree to which the user sets the value.
  • the third set value may have a value larger than the fourth set value as much as the second error range.
  • the second error range is a range in which an error may appear as to whether the vehicle 10 maintains parking.
  • a value between the third difference value and the fourth difference value is a section in which it is impossible to determine whether or not the vehicle 10 is parked.
  • the parking recognition unit 122 primarily states that the vehicle 10 maintains parking in the parking space when the second difference value, which is the comparison value of the detection reference value and the detection value detected in the plurality of axes, exceeds the third set value. It can be judged as. That is, since the vehicle 10 is maintained in the parking space, maintenance of parking is performed primarily, and then it may be determined whether or not parking is completed according to the result confirmed secondarily.
  • the second difference value which is the comparison value of the detection reference value and the detection value detected in the plurality of axes
  • the parking recognition unit 122 may compare a second difference value and a fourth set value in a state in which parking is primarily maintained, and the second difference values detected in the plurality of axes are all less than the fourth set value. If it changes to, it can be judged that parking has not been maintained secondary. That is, in this case, the vehicle 10 may stay in the parking space for a while and then start immediately, and since the parking has not been maintained secondary, a recognition signal for determining that the parking state is not in the parking state may be generated.
  • the parking recognition unit 122 may change all recognition reference values detected in a plurality of axes until the same as the detected value.
  • the parking recognition unit 122 may change all the recognition reference values by the second set value during the second set time until all the recognition reference values become the same as the detection values.
  • the changed recognition reference value may be defined as a'first change recognition reference value'.
  • the detection value may be a basic setting value, and It is to match the recognition reference value and the detection value equally to return to the initial stage.
  • the second set time and the second set value may be the same as the first set time and the first set value, but may differ from each other according to the setting, and there is no correlation with each other.
  • the parking recognition unit 122 primarily maintains parking, if all the detected values detected in a plurality of axes maintain the same value for a preset parking detection time, it is said that parking is maintained secondarily. I can judge. That is, in this case, it can be interpreted that the vehicle 10 does not move during the parking detection time in a state that it is determined that the parking is maintained by the vehicle 10, so that the vehicle 10 completes parking in the parking space. It can be determined secondarily, and accordingly, a recognition signal for determining that the vehicle 10 maintains the parking state can be generated.
  • the parking recognition unit 122 changes all the recognition reference values until all the recognition reference values are the same as the detection values for the operation of the exit determination unit 123, which will be described later, while the current parking is maintained. I can make it. That is, by keeping all the recognition reference values and detection values the same, the second difference value is set to a default setting value of 0, and it is to determine later whether the vehicle 10 is out of the vehicle.
  • the changed recognition reference value may be defined as a'second change recognition reference value'.
  • the exit determination unit 123 operates after the parking recognition unit 122 generates a recognition signal indicating that the vehicle 10 is parked in the parking space and parking is complete, and whether the vehicle 10 is exited from the parking space. It is a means to judge. That is, when the parking recognition unit 122 fails to generate a recognition signal indicating that parking has been completed or generates a recognition signal indicating that the vehicle 10 is not parked in the parking space, the operation does not operate.
  • the exit determination unit 123 may be understood as determining whether or not the vehicle 10 is exited by performing the operations of the vehicle detection unit 121 and the parking recognition unit 122 in reverse order. In detail, the exit determination unit 123 primarily judges whether the vehicle 10 maintains parking, and if it determines that the vehicle 10 does not maintain parking in the parking space, whether the vehicle 10 is detected. You can judge whether or not. Hereinafter, each operation will be described in detail.
  • the exit determination unit 123 detects all of the changed second change recognition reference values after parking is completed by the parking recognition unit 122 for each of a plurality of axes.
  • the third difference value may be detected by comparing with and respectively. That is, a third difference value may be detected for each of a plurality of axes, and a third difference value may be compared with a third set value.
  • the third difference value may be the same as the third set value compared to the second difference value by the parking recognition unit 122.
  • the exit determination unit 123 may secondarily determine whether or not the vehicle 10 is detected. In this case, the outgoing vehicle determination unit 123 may compare each of the first difference values detected in the plurality of axes with the second set value. As a result of the comparison, if it is determined that all of the first difference values are less than the second set value, the vehicle exit determination unit 123 may generate a vehicle exit signal that determines that the vehicle 10 has exited between parking types.
  • the vehicle 10 is primarily determined that the vehicle 10 is not parking, and secondly, the vehicle 10 is determined not to be detected, the vehicle 10 is present in the parking space. It is determined not to do so, and may generate an exit signal indicating that the vehicle 10 has exited.
  • the vehicle 10 detects the detection reference value detected in a plurality of axes through the parking detection unit and the vehicle 10 recognizes multiple numbers. Both the detection reference value and the second change recognition reference value may be changed until all of the second change recognition reference values detected and changed in the axis are the same as the detection values, respectively. In this case, the detection reference value and the second change recognition reference value may be changed by the third set range at the third set time interval, and the corresponding start and set range may be changed according to the user's set range.
  • the communication unit 140 is a means capable of performing communication between each component of the parking detection system.
  • the communication unit 140 may transmit a signal determined by the vehicle detection unit 121, the parking recognition unit 122 and the exit determination unit 123, a detailed detection signal, a recognition signal, and an exit signal to the management unit 130,
  • Various set values stored in the management unit 130 for example, a first set value to a fourth set value, may be transmitted to the vehicle detection unit 121, the parking recognition unit 122, and the exit determination unit 123.
  • various detection values for example, a recognition reference value, a detection reference value, and first and second change recognition reference values may be transmitted and received in each component through the communication unit 140 when necessary.
  • the management unit 130 is a means capable of storing a plurality of set values and managing a determination signal detected through a parking detection system.
  • the management unit 130 may store a first setting value to a fourth setting value, and the corresponding setting values may be adjusted by an administrator as necessary, such as setting value adjustment.
  • the vehicle detection unit 121, the parking recognition unit 122, and the signal determined by the exit determination unit 123, the detailed detection signal, the recognition signal and the exit signal are transmitted from the communication unit 140, and the vehicle owner terminal or the manager terminal Can be transferred to. Accordingly, the vehicle owner or manager can check the parking status of the vehicle 10 in real time, and can use this to determine the parking position of the vehicle 10 and the like.
  • FIG. 2 is a flowchart showing the operation of the vehicle parking detection system according to an embodiment of the present invention.
  • the parking detection system includes a vehicle sensing step (S100), a vehicle detection step (S200), a parking recognition step (S300), and a vehicle in order to determine whether the vehicle 10 is parked. It can operate as a determination step (S400).
  • the sensor unit 110 measures a detection value according to whether the vehicle 10 is present, and in the vehicle detection step (S200), the vehicle detection unit 121 detects the vehicle 10 in the parking space. It is a step to determine whether or not.
  • the parking recognition step (S300) is a step in which the parking recognition unit 122 can determine whether the vehicle 10 remains parked in the parking space, and the departure determination step (S400) is the vehicle 10 parked in the parking space. This is a step in which you can determine whether you have left the vehicle while maintaining the state.
  • the process proceeds to the parking recognition step (S300), and it is determined that the vehicle 10 maintains the parking state in the parking recognition step (S300). Only can proceed to the departure determination step (S400). Each step will be described in detail below.
  • FIG. 3 is a flowchart showing detailed operations of the vehicle sensing step and the vehicle detecting step.
  • the sensor unit 110 may measure a sensing value for each of a plurality of axes by using geomagnetic (S110). In this state, the process proceeds to the parking recognition step (S300).
  • the vehicle detection unit 121 can detect a first difference value obtained by comparing the detection reference value and the detection value preset for each of the plurality of axes.
  • the exit determination unit 123 may determine that the vehicle 10 exists in the parking space (S230), and through this, the vehicle may proceed to the parking recognition step (S300). have.
  • the parking recognition unit 122 may determine whether all the first difference values detected in the plurality of axes are less than the second set value. Yes (S240). If the first difference value of at least one of the first difference values is greater than or equal to the second set value, the sensor unit 110 returns to the step (S110) of measuring the detected value for each of the plurality of axes, and the vehicle sensing step (S100) is repeated. Can be done.
  • the vehicle detection unit 121 when it is determined that all of the first difference values are less than the second set value, the vehicle detection unit 121 generates a detection signal indicating that the vehicle 10 does not exist in the parking space (S250), and sets all detection reference values at every first set time. It can be changed as much as the first setting range (S261). When the detection reference value changes and the detection reference value becomes the same as the detection value for each of a plurality of axes, it is determined that the vehicle 10 does not exist and the vehicle sensing step S100 may be performed again.
  • FIG. 4 is a flowchart showing a detailed operation of the parking recognition step.
  • the parking recognition step S300 may be performed.
  • the parking recognition unit 122 detects a second difference value obtained by comparing a preset recognition reference value and a detection value for each of a plurality of axes in order to determine whether the vehicle 10 maintains parking. It may be done (S310), and it may be primarily determined whether or not all of the detected second difference values exceed the third set value (S320).
  • the parking maintenance unit primarily determines that the vehicle 10 maintains parking in the parking space (S330). , It may be secondarily determined whether all the second difference values are less than the fourth set value (S340).
  • the parking recognition unit In the case where the geomagnetic detection value measured by the sensor unit 110 continuously maintains the same value for the parking detection time, for example, 5 minutes (S350), the vehicle 10 is finally parked in the parking space. I can judge.
  • the parking recognition unit 122 may detect a second change recognition reference value in which the recognition reference value is changed by a second setting range every second setting time until the recognition reference value becomes the same as the detection value (S361), and When the reference value becomes the same as the detected value (S362), the parking recognition step (S300) may be completed.
  • the parking recognition step (S300) may be performed again.
  • the outgoing vehicle determination unit 123 primarily determines that all the second difference values detected in the plurality of axes do not exceed the third set value (S320), or, secondly, all the second difference values are the fourth set values. If it is determined to be less than (S340), or if the detected value measured by the sensor unit 110 does not maintain the same value during the parking detection time (S350), the vehicle exit determination unit 123 will allow the vehicle 10 to park in the parking space. It can be determined that it cannot be maintained (S380).
  • the parking recognition unit 122 may detect the first change recognition reference value that has changed the recognition reference value by the second setting range every second setting time until the recognition reference value becomes the same as the detection value (S391), and recognizes When the reference value becomes the same as the detected value (S392), the parking recognition step (S300) may be performed again.
  • FIG. 5 is a flowchart showing a detailed operation of the step of determining the vehicle leaving the vehicle.
  • the exit determination step S400 may be performed.
  • the departure determination unit 123 is a preset change recognition reference value for each of a plurality of axes in order to determine whether the vehicle 10 exits from the parking state again and the vehicle 10 does not exist in the parking space.
  • the exit determination unit 123 secondarily determines whether all the first difference values are less than the second set value. It can be determined as (S430).
  • the exit determination unit 123 may determine that the vehicle 10 has exited (S440). However, when the one or more third difference values are measured to be less than or equal to the third set value, or if one or more of the first difference values are measured to be greater than or equal to the second set value, the vehicle 10 does not determine that the vehicle has been discharged.
  • the step S410 of detecting the third difference value for each of the plurality of axes may be started again.
  • the exit determination unit 123 determines the detection reference value and the detection reference value until both the detection reference value and the change recognition reference value become the same as the detection value.
  • the change recognition reference value can be changed by the third setting range at each third setting time (S451), and when both the detection reference value and the change recognition reference value become the same as the detection value (S452, S453), the outgoing determination step (S400) will be completed. I can.
  • a geomagnetic sensor is used, but a configuration that detects whether the vehicle 10 passes through the parking space based on the measured geomagnetic variation, and a configuration that recognizes whether the vehicle 10 is placed in the parking space to maintain parking.
  • the vehicle 10 detects whether or not the vehicle 10 is parked by detecting the amount of geomagnetic change measured in a plurality of axes, even if the amount of geomagnetic change is not detected due to an error in one axis, if the amount of geomagnetic change is detected in another axis, it is determined as parking As a result, there is an effect of increasing the accuracy of recognition of whether or not to park.
  • the vehicle 10 is recognized according to the control algorithm using the geomagnetic change value. Accordingly, there is an effect of being able to accurately determine the vehicle 10 from parking to leaving only the measured value of the geomagnetic sensor.

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Abstract

The present invention relates to a vehicle parking detection system using a geomagnetic sensor, comprising: a communication unit which transmits a vehicle parking determination signal; a management unit which receives the determination signal and stores a plurality of set values; a sensor unit which measures a detection value by detecting the amount of geomagnetic change in the parking space for each of a plurality of axes; and a vehicle detection unit which generates a detection signal for determining whether a vehicle is present by comparing a pre-determined detection reference value and the detection values for each of the plurality of axes. The vehicle detection unit is characterized by: detecting a plurality of first difference values obtained by comparing the detection reference value and the detection values for each of the plurality of axes; and generating the detection signal which determines that the vehicle is present in the parking space when the first difference value in at least one of the plurality of axes exceeds a first set value.

Description

지자기센서를 활용한 차량 주차 감지시스템Vehicle parking detection system using geomagnetic sensor
본 발명은 지자기 센서를 활용하여 차량을 감지하고, 차량이 주차를 유지하는지 인식하는 차량 주차 감지시스템에 관한 것이다.The present invention relates to a vehicle parking detection system that detects a vehicle using a geomagnetic sensor and recognizes whether the vehicle maintains parking.
최근 도로교통이 확장되고 운전 편의성이 증대하면서 차량이 급속하게 증가하고 있고, 이와 더불어 한정된 면적에서 주차를 해결하기 위해 효율적인 주차시스템이 많이 개발되고 있는 실정이다. 특히, 건물의 경우, 지하를 활용하여 주차장을 건설하고 있고, 그 외에도 기차역이나 관공서 등에서는 실외의 지상 또는 지하를 활용한 별도의 주차장을 운영하고 있는 추세이다. Recently, as road traffic expands and driving convenience increases, the number of vehicles is rapidly increasing, and in addition, a lot of efficient parking systems are being developed to solve parking in a limited area. In particular, in the case of buildings, parking lots are constructed using the basement, and in addition, train stations and government offices tend to operate separate parking lots using the outdoor ground or basement.
이러한 주차장을 운영하기 위해, 최근 차량의 주차여부를 감지하는 차량 주차 감지시스템의 개발이 활발하게 이루어지고 있다. 이렇게 주차장에서 차량의 주차여부를 감지하기 위해서는 다양한 감지기가 활용되고, 일 예로 감지기는 루프 감지기, 영상 감지기, 초음파 센서, 레이저 센서, 지자기 센서 등이 주로 활용되고 있다. 즉, 주차장에 주차된 차량의 이동여부 등에 따라 전류나 카메라 영상, 반사되는 초음파나 또는 차량에 의해 변화되는 지구지자기 변화 등을 감지하여 차량의 존재를 인식하고, 이를 통해 차량의 주차여부를 감지할 수 있는 수단이 활용되고 있는 실정이다. In order to operate such a parking lot, the development of a vehicle parking detection system that detects whether or not a vehicle is parked has been actively made in recent years. In this way, in order to detect whether a vehicle is parked in a parking lot, various detectors are used, and as an example, a loop detector, an image detector, an ultrasonic sensor, a laser sensor, a geomagnetic sensor, and the like are mainly used. In other words, the presence of the vehicle is recognized by detecting the current, camera image, reflected ultrasonic waves, or changes in the earth's geomagnetism that are changed by the vehicle according to the movement of the vehicle parked in the parking lot. The actual situation is that the means that can be used are being used.
이러한 주차 감지시스템을 활용함에 따라, 사용자는 손쉽게 차량의 주차여부를 인식할 수 있고, 이를 통해 주차차량이 많은 주차장에서도 비어있는 주차공간을 쉽게 인지하여 해당 주차공간으로 바로 차량을 이동시켜 주차할 수 있는 효과가 있다.By utilizing such a parking detection system, the user can easily recognize whether the vehicle is parked, and through this, even in a parking lot with many parking vehicles, an empty parking space can be easily recognized and the vehicle can be moved directly to the parking space and parked. There is an effect.
이러한 주차 감지시스템에 활용되는 감지기 중에서 특히, 지자기센서(Magnetic Sensor)는 금속으로 이루어진 차량이 통과하는 경우, 지구에 의해 생성되는 지구자기장의 변화가 이루어지는 것을 이용하여 차량을 감지하는 수단이다. 주차장에 지자기센서를 활용할 경우, 실내주차장 뿐만 아니라 실외주차장에서도 차량을 쉽게 감지할 수 있는 효과가 있다.Among the sensors used in such a parking detection system, in particular, a magnetic sensor is a means for detecting a vehicle by using a change in the earth's magnetic field generated by the earth when a vehicle made of metal passes through it. When using a geomagnetic sensor in a parking lot, there is an effect that vehicles can be easily detected in not only indoor parking but also outdoor parking.
종래에 지자기센서를 활용한 주차감지 시스템에 대한 선행문헌은 아래와 같다.Prior literature on the conventional parking detection system using a geomagnetic sensor is as follows.
특허출원번호 제10-2011-0013580호 (발명의 명칭 : 지자기센서를 이용한 옥외 주차구획 점유 검지장치, 출원일 : 2011.02.10.)Patent Application No. 10-2011-0013580 (Name of invention: outdoor parking area occupancy detection device using geomagnetic sensor, filing date: 2011.02.10.)
그런데 이러한 종래의 지자기센서를 활용한 차량 주차 감지시스템의 경우, 아래와 같은 문제가 있다.However, in the case of a vehicle parking detection system using such a conventional geomagnetic sensor, there are the following problems.
우선, 차량의 진입은 확인할 수 있으나, 차량의 진입과 주차여부는 구분되는데 이를 구분하여 파악할 수 없는 문제가 있다. 상세히, 차량이 주차공간에 진입하는 경우는, 주차뿐만 아니라 차량의 이동이나 정차 과정에서 해당 구간을 스쳐지나는 경우도 있는데 이를 구분하지 않고 모두 감지해버리는 문제가 있다.First of all, the entry of the vehicle can be confirmed, but there is a problem that the entry of the vehicle and whether the vehicle is parked are distinguished, but cannot be identified separately. In detail, when a vehicle enters a parking space, there is a problem that not only parking but also passing through a corresponding section during the movement or stopping process of the vehicle, and detecting all of this without distinguishing it.
또한, 지자기는 차량의 구성 중 금속재질에 의해 변화되고 이에 따른 변화량을 감지하는 것인데, 이를 감지하는 신호가 차량 중 금속으로 이루어지지 않은 부분을 통과하는 경우 지자기 변화량이 감지되지 않아, 차량의 존재여부가 부정확한 문제가 있다.In addition, geomagnetism is changed by the metal material in the vehicle's configuration and detects the amount of change accordingly.If the signal for detecting this passes through a part of the vehicle that is not made of metal, the amount of geomagnetic change is not detected, so whether the vehicle is present or not. There is an inaccurate problem.
또한, 종래의 차량주차 감지시스템은 차량의 주차여부만 확인할 뿐, 차량의 실시간 이동과정, 즉, 차량이 주차공간에 진입되었는지, 주차를 유지하고 있는지, 주차공간에서 출차를 했는지 등을 실시간으로 확인할 수 없는 문제가 있다.In addition, the conventional vehicle parking detection system only checks whether the vehicle is parked or not, and checks the real-time movement process of the vehicle, that is, whether the vehicle has entered the parking space, whether the vehicle is maintaining parking, or whether the vehicle has left the parking space. There is a problem that cannot be done.
상기와 같은 문제점을 해결하기 위해 주차공간에 차량이 존재하는지를 검지하는 구성과, 차량이 주차공간에 존재하여 주차가 유지되는지를 인식하는 구성과, 차량의 출차를 판단하는 구성을 통해 차량의 주차여부를 명확하게 파악할 수 있는 차량 주차 감지시스템을 제공하는 것을 목적으로 한다. 상기된 바와 같은 기술적 과제로 한정되지 않으며, 이하의 설명으로부터 또 다른 기술적 과제가 도출될 수도 있다.In order to solve the above problems, whether or not the vehicle is parked through a configuration that detects whether a vehicle is present in the parking space, a configuration that recognizes whether the vehicle is present in the parking space and maintains parking, and a configuration that determines the exit of the vehicle. It aims to provide a vehicle parking detection system that can clearly grasp. It is not limited to the technical problem as described above, and another technical problem may be derived from the following description.
본 발명의 일 실시예에 따른 주차 감지시스템은, 차량의 주차여부 판단신호를 송신하는 통신부와 상기 판단신호를 제공받고 복 수의 설정값이 저장된 관리부를 포함하는 차량 주차 감지시스템에 있어서, 복 수의 축마다 주차공간 내 지자기 변화량을 각각 감지하여 감지값을 측정하는 센서부; 상기 복 수의 축마다 기 설정된 검지기준값과 상기 감지값을 비교하여 상기 차량의 존재여부를 판단하는 검지신호를 생성하는 차량검지부;를 포함하고, 상기 차량검지부는, 상기 복 수의 축마다 상기 검지기준값과 상기 감지값을 비교한 복 수의 제1 차이값을 검출하고, 상기 복 수의 축 중 하나 이상의 축에서 상기 제1 차이값이 제1 설정값을 초과하면 상기 차량이 상기 주차공간에 존재한다고 판단하는 검지신호를 생성할 수 있다.In the parking detection system according to an embodiment of the present invention, in the vehicle parking detection system comprising a communication unit that transmits a vehicle parking determination signal and a management unit receiving the determination signal and storing a plurality of set values, a plurality of A sensor unit for measuring a detected value by detecting a change amount of geomagnetic in the parking space for each axis of; A vehicle detection unit configured to generate a detection signal for determining whether the vehicle exists by comparing the detection reference value and the detection value set in advance for each of the plurality of axes, wherein the vehicle detection unit includes: the detection unit for each of the plurality of axes. A plurality of first difference values obtained by comparing the reference value and the detected value are detected, and when the first difference value exceeds a first set value in at least one of the plurality of axes, the vehicle is present in the parking space. It is possible to generate a detection signal that determines that it is.
또한, 상기 차량검지부는, 상기 복 수의 축 모두 상기 제1 차이값이 제2 설정값 미만이면 상기 차량이 상기 주차공간에 존재하지 않는다고 판단하는 검지신호를 생성하고, 상기 제2 설정값은 상기 제1 설정값보다 제1 오차범위 만큼 낮을 수 있다.In addition, the vehicle detection unit generates a detection signal that determines that the vehicle does not exist in the parking space when the first difference value is less than a second set value for all of the plurality of axes, and the second set value is the It may be lower than the first set value by a first error range.
또한, 상기 차량검지부는, 상기 복 수의 축 모두 상기 제1 차이값이 상기 제2 설정값 미만이면, 상기 복 수의 축마다 상기 검지기준값이 상기 감지값과 동일해지도록 제1 설정시간 간격으로 제1 설정범위만큼 상기 검지기준값을 변화시킨 변화검지기준값을 검출할 수 있다.In addition, the vehicle detection unit, if the first difference value is less than the second set value for all of the plurality of axes, the detection reference value is equal to the detection value for each of the plurality of axes at a first set time interval. A change detection reference value obtained by changing the detection reference value by a first set range may be detected.
또한, 상기 복 수의 축마다 기 설정된 인식기준값과 상기 감지값 각각을 비교하여, 상기 차량이 상기 주차공간에 주차상태를 유지하는지 여부를 판단하는 인식신호를 생성하는 주차인식부;를 더 포함하고, 상기 주차인식부는, 상기 복 수의 축마다 상기 인식기준값과 상기 감지값을 각각 비교한 제2 차이값을 검출하고, 상기 복 수의 축 모두 상기 제2 차이값이 제3 설정값을 초과하면 상기 차량이 상기 주차공간에 주차를 유지한다고 판단하는 인식신호를 생성할 수 있다.In addition, a parking recognition unit for generating a recognition signal for determining whether the vehicle maintains a parking state in the parking space by comparing each of the detection values with a preset recognition reference value for each of the plurality of axes; further comprising: , The parking recognition unit detects a second difference value obtained by comparing the recognition reference value and the detection value for each of the plurality of axes, and when the second difference value exceeds a third set value for all of the plurality of axes, A recognition signal for determining that the vehicle maintains parking in the parking space may be generated.
또한, 상기 주차인식부는, 상기 차량이 주차를 유지한다고 판단하는 인식신호를 생성한 뒤, 상기 복 수의 축 모두 상기 제2 차이값이 제4 설정값 미만으로 변화하면, 상기 차량이 상기 주차공간에 주차를 유지하지 않는다고 판단하는 인식신호를 생성하고, 상기 복 수의 축마다 상기 인식기준값이 상기 감지값과 동일해지도록 제2 설정시간 간격으로 제2 설정범위만큼 상기 인식기준값을 변화시킨 변화인식기준값을 검출하며, 상기 제4 설정값은 상기 제3 설정값보다 제2 오차범위만큼 낮을 수 있다.In addition, the parking recognition unit generates a recognition signal that determines that the vehicle maintains parking, and if the second difference value changes to less than a fourth set value for all of the plurality of axes, the vehicle is A change recognition in which a recognition signal that determines not to maintain parking is generated, and the recognition reference value is changed by a second set range at a second set time interval so that the recognition reference value becomes the same as the detection value for each of the plurality of axes. A reference value is detected, and the fourth set value may be lower than the third set value by a second error range.
또한, 상기 주차인식부는, 상기 복 수의 축 모두 상기 감지값이 기 설정된 주차감지시간을 유지하면, 상기 복 수의 축마다 상기 인식기준값이 상기 감지값과 동일해지도록 제2 설정시간 간격으로 제2 설정범위만큼 상기 인식기준값을 변화시킨 변화인식기준값을 검출할 수 있다.In addition, the parking recognition unit, when the detection value maintains a preset parking detection time for all of the plurality of axes, is determined at a second set time interval so that the recognition reference value becomes the same as the detection value for each of the plurality of axes. 2 It is possible to detect a change recognition reference value that has changed the recognition reference value by a set range.
또한, 상기 차량이 주차를 유지한다고 판단된 인식신호가 생성된 후, 상기 차량이 상기 주차공간에서 출차되는지 여부를 판단하는 출차신호를 생성하는 출차판단부를 더 포함하고, 상기 출차판단부는, 상기 복 수의 축마다 상기 변화인식기준값과 상기 감지값을 각각 비교한 제3 차이값을 검출하여, 상기 복 수의 축 모두 상기 제3 차이값이 상기 제3 설정값을 초과한다고 판단하고, 상기 복 수의 축 모두 상기 제1 차이값이 상기 제2 설정값 미만이라고 판단하면, 상기 차량이 상기 주차공간에서 출차하였다고 판단하는 출차신호를 생성할 수 있다.In addition, after the recognition signal determined that the vehicle maintains parking is generated, the vehicle further includes an exit determination unit for generating an exit signal determining whether or not the vehicle is exited from the parking space, wherein the exit determination unit comprises: By detecting a third difference value obtained by comparing the change recognition reference value and the detected value for each axis of the number, it is determined that the third difference value exceeds the third set value in all of the plurality of axes, and the plurality of When it is determined that the first difference value is less than the second set value on both axes of, a vehicle exit signal for determining that the vehicle has exited the parking space may be generated.
또한, 상기 출차판단부는, 상기 차량이 출차하였다고 판단하는 출차신호가 생성되면, 상기 복 수의 축 모두 상기 검지기준값 및 상기 상기 변화인식기준값이 상기 감지값과 각각 동일해지도록 제3 설정시간 간격으로 제3 설정범위만큼 상기 검지기준값 및 상기 변화인식기준값을 변화시킬 수 있다.In addition, when a vehicle exit signal determining that the vehicle has exited is generated, the vehicle exit determination unit may be configured with a third set time interval so that the detection reference value and the change recognition reference value are the same as the detection value, respectively, for all of the plurality of axes. The detection reference value and the change recognition reference value may be changed by a third set range.
본 발명의 다른 실시예에 따른 주차 감지시스템은, 복 수의 축에서 지자기 변화량을 각각 감지하여 복 수의 감지값을 측정하는 센서부; 상기 복 수의 축마다 기 설정된 검지기준값과 상기 감지값을 각각 비교하여, 차량이 주차공간에 존재하는지 여부를 판단하는 차량검지부; 상기 차량이 상기 주차공간에 존재한다고 판단되면, 복 수의 축마다 기 설정된 인식기준값과 상기 감지값 각각 비교하여, 상기 차량이 상기 주차공간에 주차상태를 유지하는지 여부를 판단하는 주차인식부; 상기 차량이 주차상태를 유지한다고 판단되면, 상기 차량이 상기 주차공간에서 출차되었는지 출차여부를 판단하는 출차판단부; 및 상기 센서부의 감지값을 상기 차량검지부, 상기 주차인식부 및 상기 출차판단부로 송신하는 통신부를 포함하고, 상기 차량검지부는, 상기 복 수의 축마다 상기 검지기준값과 상기 감지값을 각각 비교한 제1 차이값을 검출하고, 상기 복 수의 축 중 하나 이상의 축에서 상기 제1 차이값이 제1 설정값을 초과하면 상기 차량이 상기 주차공간에 존재한다고 판단하고, 상기 복 수의 축 모두 상기 제1 차이값이 제2 설정값 미만이면 차량이 부존재한다고 판단하며, 상기 주차인식부는, 상기 복 수의 축마다 상기 인식기준값과 상기 감지값을 각각 비교한 제2 차이값을 검출하고, 상기 복 수의 축 모두 제2 차이값이 제3 설정값을 초과하고 상기 감지값이 기 설정된 주차감지시간을 유지하면 상기 차량이 상기 주차공간에 주차상태를 유지한다고 판단하여 상기 복 수의 축마다 상기 인식기준값이 상기 감지값과 동일해지도록 설정시간 간격으로 설정범위만큼 상기 인식기준값을 변화시킨 변화인식기준값을 검출하며, 상기 출차판단부는, 상기 복 수의 축마다 상기 변화인식기준값과 상기 감지값을 각각 비교한 제3 차이값을 검출하여 상기 복 수의 축 모두 상기 제3 차이값이 제3 설정값을 초과하고 상기 제1 차이값이 제2 설정값 미만이면, 상기 차량이 상기 주차공간에서 출차하였다고 판단하고, 상기 제2 설정값은 상기 제1 설정값 미만일 수 있다.A parking detection system according to another embodiment of the present invention includes: a sensor unit for measuring a plurality of detection values by detecting the amount of geomagnetic change in a plurality of axes, respectively; A vehicle detection unit that compares a preset detection reference value and the detection value for each of the plurality of axes to determine whether a vehicle is present in a parking space; When it is determined that the vehicle exists in the parking space, a parking recognition unit determines whether the vehicle maintains a parking state in the parking space by comparing a preset recognition reference value and the detection value for each of a plurality of axes; A departure determination unit for determining whether the vehicle is unloaded from the parking space when it is determined that the vehicle remains in the parking state; And a communication unit for transmitting the detected value of the sensor unit to the vehicle detection unit, the parking recognition unit, and the vehicle exit determination unit, wherein the vehicle detection unit is a first comparing the detection reference value and the detection value for each of the plurality of axes. 1 difference value is detected, and if the first difference value in at least one of the plurality of axes exceeds a first set value, it is determined that the vehicle is in the parking space, and all of the plurality of axes 1 If the difference value is less than the second set value, it is determined that the vehicle does not exist, and the parking recognition unit detects a second difference value obtained by comparing the recognition reference value and the detection value for each of the plurality of axes, and If the second difference value in both axes exceeds the third set value and the detection value maintains the preset parking detection time, it is determined that the vehicle maintains the parking state in the parking space, and the recognition reference value for each of the plurality of axes. Detects a change recognition reference value in which the recognition reference value is changed by a set range at a set time interval so as to become the same as the detection value, and the unloading determination unit compares the change recognition reference value and the detection value for each of the plurality of axes, respectively. If the third difference value exceeds the third set value and the first difference value is less than the second set value by detecting one third difference value, it is determined that the vehicle has left the parking space. And, the second set value may be less than the first set value.
상기와 같은 구성을 이루는 본 발명의 실시예에 따른 차량 주차 감지시스템에 의하면 다음과 같은 효과가 있다. According to the vehicle parking detection system according to the embodiment of the present invention having the configuration as described above has the following effects.
우선, 지자기센서를 활용하되, 측정된 지자기 변화량을 기초로 주차공간에 차량이 지나가는지를 검지하는 구성과, 차량이 주차공간에 배치되어 주차를 유지하는지 여부를 인식하는 구성을 별도로 구비하여, 주차공간에 차량이 검지되고, 차후로 일정 요건을 충족하면 주차여부를 결정함에 따라, 차량이 주차공간에 주차하는지 여부를 명확하게 구분할 수 있는 효과가 있다.First, a geomagnetic sensor is used, but a configuration that detects whether a vehicle is passing in a parking space based on the measured amount of geomagnetic change, and a configuration that recognizes whether the vehicle is placed in a parking space and maintains parking is separately provided. When a vehicle is detected and a certain requirement is met in the future, it is possible to clearly distinguish whether or not the vehicle is parked in a parking space by determining whether to park.
또한, 복 수의 축에서 측정되는 지자기 변화량을 감지하여 차량의 주차여부를 인식하기 때문에 하나의 축에서 오류에 의해 지자기 변화량이 검출되지 않더라도 다른 축에서 지자기 변화량이 검출되면 주차로 판단할 수 있어, 주차여부에 대한 인식의 정확도가 높아지는 효과가 있다.In addition, since it detects whether the vehicle is parked by detecting the amount of geomagnetic change measured in multiple axes, even if the amount of geomagnetic change is not detected due to an error in one axis, it can be judged as parking if the amount of geomagnetic change is detected in the other axis. There is an effect of increasing the accuracy of the recognition of parking status.
또한, 차량이 주차공간에 유지된 상태에서 운전자가 차량을 운전하여 주차공간에서 출차하는 경우, 지자기변화값을 활용한 제어알고리즘에 따라 차량의 출차여부를 인식함에 따라, 지자기 센서의 측정값만으로 차량의 주차부터 출차까지 정확하게 판단할 수 있는 효과가 있다. In addition, when the driver drives the vehicle and leaves the parking space while the vehicle is maintained in the parking space, the vehicle is recognized as whether or not the vehicle is leaving the vehicle according to the control algorithm using the geomagnetic change value. It has the effect of accurately judging from parking to leaving the car.
또한, 지자기센서를 활용하여 주차감지를 수행한다는 점에서 종래의 실내주차장뿐만 아니라 실외주차장(ex. 옥상주차장)의 차량 주차감지 역시 수행할 수 있다는 점에서, 주차장 형태에 구애받지 않고 다양하게 활용될 수 있을 뿐 아니라, 설치가 간편하고 유지비용이 저렴하여 동일한 비용으로 타 감지기를 활용한 구성에 비하여 더 많은 주차공간에 활용할 수 있는 효과가 있다.In addition, in that it detects parking using a geomagnetic sensor, it can be used not only in conventional indoor parking lots, but also in outdoor parking lots (ex. rooftop parking lots), which can be used in various ways regardless of the type of parking lot. In addition, it is easy to install and inexpensive to maintain, so there is an effect that it can be used for more parking spaces compared to the configuration using other sensors at the same cost.
도 1은 본 발명의 실시예에 따른 차량 주차 감지시스템의 구성도 1 is a block diagram of a vehicle parking detection system according to an embodiment of the present invention
도 2는 본 발명의 실시예에 따른 차량 주차 감지시스템의 동작을 도시한 플로우차트2 is a flowchart showing the operation of the vehicle parking detection system according to an embodiment of the present invention
도 3은 차량센싱단계 및 차량검지단계의 상세한 동작을 도시한 플로우차트.3 is a flowchart showing detailed operations of a vehicle sensing step and a vehicle detecting step.
도 4는 주차인식단계의 상세한 동작을 도시한 플로우차트.Figure 4 is a flow chart showing the detailed operation of the parking recognition step.
도 5는 출차판단단계의 상세한 동작을 도시한 플로우차트.5 is a flowchart showing a detailed operation of the step of determining the vehicle leaving the vehicle.
이하, 첨부한 도면을 참고로 하여 본 발명의 실시예에 대하여 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자가 용이하게 실시할 수 있도록 상세히 설명한다. 본 발명은 여러 가지 상이한 형태로 구현될 수 있으며 여기에서 설명하는 구조나 방법에 한정되지 않는다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. The present invention may be implemented in various different forms and is not limited to the structure or method described herein.
본 발명의 실시예는 지자기 센서를 활용한 차량(10) 주차 감지시스템에 관한 것으로 이하에서는 이러한 주차 감지시스템을 간략하게 “주차 감지시스템”으로 호칭하기로 한다. An embodiment of the present invention relates to a vehicle 10 parking detection system using a geomagnetic sensor. Hereinafter, such a parking detection system will be briefly referred to as a “parking detection system”.
도 1은 본 발명의 실시예에 따른 차량 주차 감지시스템의 구성도이다.1 is a block diagram of a vehicle parking detection system according to an embodiment of the present invention.
도 1을 참조하면, 본 발명의 실시예에 따른 주차 감지시스템은 설치된 공간의 지자기 변화량을 감지하는 센서부(110), 센서부(110)에서 감지된 결과를 기초로 차량(10)이 주차공간에 존재하는지 여부를 판단하는 차량검지부(121), 센서부(110)에서 감지된 결과와 차량검지부(121)의 판단 결과에 따라 차량(10)이 주차공간에 주차를 하였는지 판단하는 주차인식부(122), 차량(10)이 주차공간에서 주차 후 출차하였는지 판단하는 출차판단부(123), 차량검지부(121), 주차인식부(122), 출차판단부(123)에서 판단된 결과를 전송하는 통신부(140) 및 통신부(140)로부터 판단결과를 전송받아 관리하고 다양한 복 수의 설정값이 저장된 관리부(130) 중 하나 이상의 구성을 포함할 수 있다. 아래에서는 각 구성에 대하여 상세히 살펴본다. Referring to FIG. 1, in the parking detection system according to an embodiment of the present invention, a vehicle 10 is a parking space based on a sensor unit 110 that detects a geomagnetic change amount of an installed space, and a result detected by the sensor unit 110. A vehicle detection unit 121 that determines whether the vehicle is present in the vehicle detection unit 121, a parking recognition unit that determines whether the vehicle 10 has parked in the parking space according to the result detected by the sensor unit 110 and the determination result of the vehicle detection unit 121 ( 122), to transmit the result determined by the exit determination unit 123, vehicle detection unit 121, parking recognition unit 122, and exit determination unit 123 to determine whether the vehicle 10 has left the vehicle after parking in the parking space. It may include one or more configurations of the communication unit 140 and the management unit 130 that receives and manages the determination result from the communication unit 140 and stores a plurality of set values. Below, we will look at each configuration in detail.
센서부(110)는 차량(10)이 주차공간에 들어온 경우, 지자기 변화량을 감지할 수 있는 수단으로, 일 예로 지자기센서를 포함할 수 있다. 상세히, 지자기 값은 차량(10)의 주 재질인 금속재질에 의해 변화되는 성질을 갖고 있기 때문에, 센서부(110)는 차량(10)이 주차공간에 배치되는지 여부에 따라 변화되는 지자기 변화량을 측정될 수 있다.When the vehicle 10 enters the parking space, the sensor unit 110 is a means for detecting a geomagnetic change amount, and may include, for example, a geomagnetic sensor. In detail, since the geomagnetic value has a property that is changed by the metal material, which is the main material of the vehicle 10, the sensor unit 110 measures the amount of geomagnetic change that changes depending on whether the vehicle 10 is placed in a parking space. Can be.
또한, 센서부(110)는 지자기 변화량을 감지하고 이를 기초로 변화된 변위를 측정할 수 있고, 이 경우 측정된 변위를 감지값으로 정의할 수 있다. 감지값을 활용하는 제어 알고리즘은 후술한다. 센서부(110)가 측정하는 감지값은 차량(10)의 존재여부 등에 따라 실시간으로 변화될 수 있다.In addition, the sensor unit 110 may sense the amount of geomagnetic change and measure the changed displacement based on the amount of change in the geomagnetic field, and in this case, the measured displacement may be defined as a detection value. A control algorithm utilizing the detected value will be described later. The detection value measured by the sensor unit 110 may be changed in real time according to the presence or absence of the vehicle 10.
센서부(110)는 하나의 축 뿐만 아니라 복 수의 축에 있어서 지자기 변화량을 감지하여 감지값을 측정할 수 있다. 이 경우, 센서부(110)에서는 복 수의 축마다 감지값이 측정되기 때문에 복 수개의 감지값이 측정될 수 있다. 일 예로, 센서부(110)는 주차공간을 기준으로 지면에 평행한 좌우 방향인 X축, 지면에 평행한 상하 방향인 Y축 및 지면에 수직한 방향인 Z축 3개의 축을 기준으로 감지값을 측정할 수 있고, 이 경우 x축 감지값, y축 감지값 및 z축 감지값의 3개의 감지값이 측정될 수 있다. 이는, 하나의 축으로 감지값을 측정할 경우, 차량(10)에 금속재질이 없는 부위를 통과하여 차량(10)이 주차공간에 배치되어 있음에도 지자기 변화량이 감지되지 않아 감지값이 측정되지 않는 문제를 해결하기 위함이다.The sensor unit 110 may measure the detected value by detecting the amount of geomagnetic change in not only one axis but also a plurality of axes. In this case, since the sensor unit 110 measures detection values for each of a plurality of axes, a plurality of detection values may be measured. As an example, the sensor unit 110 calculates a detection value based on three axes of the left and right directions parallel to the ground, the Y-axis parallel to the ground, and the Z-axis perpendicular to the ground. In this case, three detection values of an x-axis detection value, a y-axis detection value, and a z-axis detection value can be measured. This is a problem in that when the detection value is measured with one axis, the detection value is not measured because the amount of geomagnetic change is not detected even though the vehicle 10 is disposed in the parking space by passing through a portion of the vehicle 10 without metal material. It is to solve the problem.
차량검지부(121)는 센서부(110)에서 측정한 감지값을 기초로 차량(10)이 주차공간에 배치되었는지를 검지하여 검지신호를 생성할 수 있는 수단이다. 상세히, 차량검지부(121)는 기 설정된 검지기준값이 저장될 수 있다. 이러한 검지기준값은 차량(10)이 검지되기 위한 기준값을 정의한 것으로, 복 수의 축에서 각각 서로 동일하거나 다른값으로 복 수개 설정될 수 있다. 이에 따라, 차량검지부(121)는 각각의 축마다 기 설정된 검지기준값과 감지값을 서로 비교한 제1 차이값을 검출하고, 검출된 제1 차이값을 기준으로 차량(10)이 주차공간에 존재하는지 여부를 판단하는 검지신호를 생성할 수 있다. The vehicle detection unit 121 is a means capable of generating a detection signal by detecting whether the vehicle 10 is disposed in a parking space based on a detection value measured by the sensor unit 110. In detail, the vehicle detection unit 121 may store a preset detection reference value. These detection reference values define reference values for the vehicle 10 to be detected, and may be set in a plurality of values that are the same or different from each other in a plurality of axes. Accordingly, the vehicle detection unit 121 detects a first difference value obtained by comparing a preset detection reference value and a detection value for each axis, and the vehicle 10 exists in the parking space based on the detected first difference value. It is possible to generate a detection signal to determine whether or not.
아래에서는 차량검지부(121)가 제1 차이값을 활용하여 차량(10)이 주차공간에 존재하는지 여부를 판단하는 자세한 구성을 설명한다. Hereinafter, a detailed configuration in which the vehicle detection unit 121 determines whether the vehicle 10 exists in the parking space by using the first difference value will be described.
이에 대한 전제로, 관리부(130)에는 제1 설정값과 제2 설정값이 저장될 수 있다. 여기서 제1 설정값은 차량(10)이 존재여부가 변화되는 경우, 차량(10)의 존재여부를 확정할 수 있는 지자기 변화값의 최소값일 수 있고, 제2 설정값은 차량(10)의 존재여부가 변화하지 않은 상태에서 변화될 수 있는 지자기 변화값의 최대값, 즉 동일한 상태가 유지되는 경우 변화될 수 있는 노이즈 값일 수 있다. 관리부(130)는 제1 설정값 및 제2 설정값을 통신부(140)를 통해 차량검지부(121)로 전송할 수 있다.As a premise for this, the management unit 130 may store a first set value and a second set value. Here, the first set value may be a minimum value of a geomagnetic change value capable of determining the existence of the vehicle 10 when the presence or absence of the vehicle 10 changes, and the second set value is the presence of the vehicle 10. It may be a maximum value of a geomagnetic change value that can be changed in an unchanged state, that is, a noise value that can be changed when the same state is maintained. The management unit 130 may transmit the first set value and the second set value to the vehicle detection unit 121 through the communication unit 140.
차량검지부(121)는 복 수의 축에서 검지기준값과 감지값의 비교값으로 검출된 제1 차이값 중 하나의 축 이상에서 검출된 제1 차이값이 제1 설정값을 초과하면 차량(10)이 주차공간에 존재한다고 판단하여, 차량(10)이 검지되었다는 검지신호를 생성할 수 있다. 상세히, 차량검지부(121)는 차량(10)이 주차공간에서 검지되는 순간 감지값이 큰 폭으로 변화하면서 검지기준값과 감지값의 변위인 제1 차이값이 증가하고, 증가된 제1 차이값이 제1 설정값을 초과하는 경우, 지자기 변화량이 차량(10)이 주차공간에 배치됨에 따라 큰 폭으로 증가하였다고 판단하여 차량(10)이 검지되었다고 판단할 수 있다. 즉, 복 수의 축 중 하나의 축에서만 제1 차이값이 제1 설정값을 초과하면 차량(10)이 주차공간에 검지되었다는 검지신호를 생성할 수 있다.When the first difference value detected in more than one axis among the first difference values detected as a comparison value of the detection reference value and the detection value in a plurality of axes exceeds the first set value, the vehicle 10 It is determined that it exists in this parking space, and a detection signal indicating that the vehicle 10 has been detected can be generated. In detail, when the vehicle 10 is detected in the parking space, the vehicle detection unit 121 greatly changes the detected value, the first difference value, which is the displacement of the detection reference value and the detection value, increases, and the increased first difference value increases. When it exceeds the first set value, it is determined that the amount of geomagnetic change has increased significantly as the vehicle 10 is disposed in the parking space, and thus it may be determined that the vehicle 10 is detected. That is, when the first difference value exceeds the first set value only in one of the plurality of axes, a detection signal indicating that the vehicle 10 is detected in the parking space may be generated.
반대로, 차량검지부(121)는 모든 복 수의 축에서 검출된 제1 차이값이 제2 설정값 미만이면 차량(10)이 주차공간에 존재하지 않는다고 판단하여, 차량(10)이 검지되지 않았다는 검지신호를 생성할 수 있다. 상세히, 차량검지부(121)는 차량(10)이 주차공간에서 검지되지 않는 경우에도 일정범위만큼 변화가 나타날 수 있기 때문에, 제1 차이값이 미비한 경우, 즉 검지기준값과 감지값의 변위가 미미한 경우에는 차량(10)이 존재하지 않는다고 판단할 수 있다. 이 경우, 복수의 축 모두에서 검출된 제1 차이값이 제2 설정값 미만이어야 한다.On the contrary, if the first difference value detected in all the plurality of axes is less than the second set value, the vehicle detection unit 121 determines that the vehicle 10 does not exist in the parking space, and detects that the vehicle 10 has not been detected. Can generate signals. In detail, since the vehicle detection unit 121 may change by a certain range even when the vehicle 10 is not detected in the parking space, the first difference value is insufficient, that is, when the displacement between the detection reference value and the detection value is insignificant. It can be determined that the vehicle 10 does not exist. In this case, the first difference value detected in all of the plurality of axes must be less than the second set value.
상기한 제1 설정값과 제2 설정값은 제1 오차범위만큼 차이날 수 있다. 상세히, 제1 설정값은 제2 설정값보다 제1 오차범위보다 큰 값을 가질 수 있고, 이 경우 제1 오차범위란 차량(10)이 존재하는지 부존재하는지 여부에 대하여 오차가 나타날 수 있는 범위로, 제1 설정값과 제2 설정값 사이의 값은 차량(10)의 검지여부에 대하여 판단할 수 없는 구간이라 이해될 수 있다.The first set value and the second set value may be different by a first error range. In detail, the first set value may have a value greater than the first error range than the second set value. In this case, the first error range is a range in which an error can appear as to whether the vehicle 10 is present or not. , A value between the first set value and the second set value may be understood as a section in which it is impossible to determine whether or not the vehicle 10 is detected.
또한, 차량검지부(121)가 복 수의 축 모두에서 검출된 제1 차이값이 제2 설정값 미만이면 차량(10)이 검지되지 않는다는 검지신호를 생성함과 동시에, 검지기준값이 감지값과 동일해질때까지 검지기준값을 변화시킬 수 있다. 상세히, 차량검지부(121)는 검지기준값이 감지값과 동일해질때까지 검지기준값을 제1 설정시간 간격으로 제1 설정범위만큼 변화시킬 수 있다. 일 예로, 검지기준값이 5, 감지값이 3, 제2 설정값이 3인 경우, 제1 차이값은 2의 값으로 제2 설정값인 3 미만이고, 이 경우 차량검지부(121)는 검지기준값을 1초 간격으로 1의 범위값만큼 2초간 변화시켜 검지기준값을 감지값과 동일한 3의 값으로 변화시킬 수 있다.In addition, when the vehicle detection unit 121 generates a detection signal indicating that the vehicle 10 is not detected when the first difference value detected in all of the plurality of axes is less than the second set value, the detection reference value is the same as the detection value. The detection reference value can be changed until sunset. In detail, the vehicle detection unit 121 may change the detection reference value by a first set range at a first set time interval until the detection reference value becomes the same as the detection value. For example, when the detection reference value is 5, the detection value is 3, and the second set value is 3, the first difference value is a value of 2 and is less than the second set value of 3, and in this case, the vehicle detection unit 121 is the detection reference value. The detection reference value can be changed to the same value of 3 as the detection value by changing the value of 1 at 1 second intervals for 2 seconds.
이와 같이 검지기준값을 감지값과 동일하게 변화시키는 이유는, 검출된 모든 제1 차이값이 제2 설정값 미만인 경우는 차량(10)이 검지되지 않은 상태이기 때문에 검지기준값과 감지값의 변위인 제1 차이값을 0으로 재설정하여 차량(10)이 배치되지 않은 상태에서 다시 차량(10)이 존재하는지 여부를 검지할 수 있는 상태로 초기화시키기 위함이다. The reason for changing the detection reference value to be the same as the detection value is because the vehicle 10 is in an undetected state when all the detected first difference values are less than the second set value. 1 This is to reset the difference value to 0 and initialize it to a state in which the vehicle 10 can be detected again in a state in which the vehicle 10 is not disposed.
또한, 상기에 기재한 바와 같이 차량검지부(121)는 차량(10)이 주차공간에 배치되었는지, 즉 존재하는지 여부를 판단할 수 있는 구성이고, 차량(10)이 주차공간에 주차를 유지하는지 여부는 주차인식부(122) 및 출차판단부(123)가 판단할 수 있다.In addition, as described above, the vehicle detection unit 121 is a configuration capable of determining whether the vehicle 10 is placed in the parking space, that is, whether it is present, and whether the vehicle 10 maintains parking in the parking space. May be determined by the parking recognition unit 122 and the exit determination unit 123.
주차인식부(122)는 차량검지부(121)가 차량(10)이 검지되었다는 검지신호를 생성하는 경우, 즉, 차량검지부(121)가 복 수의 축에서 검출된 하나 이상의 제1 차이값이 제1 설정값을 초과한다고 판단한 경우에 동작하며, 차량(10)이 주차공간에 주차를 유지하고 있는지 여부를 판단할 수 있는 수단이다. 반대로, 차량검지부(121)가 차량(10)이 검지되었다는 검지신호를 생성하지 못하거나, 차량(10)이 검지되지 않았다는 검지신호를 생성하면 주차인식부(122)를 동작하지 않는다.When the vehicle detection unit 122 generates a detection signal indicating that the vehicle 10 is detected, that is, the vehicle detection unit 121 determines at least one first difference value detected on a plurality of axes. 1 It operates when it is determined that the set value is exceeded, and it is a means for determining whether the vehicle 10 maintains a parking in the parking space. Conversely, if the vehicle detection unit 121 fails to generate a detection signal indicating that the vehicle 10 has been detected, or generates a detection signal indicating that the vehicle 10 is not detected, the parking recognition unit 122 is not operated.
또한, 주차인식부(122)는 기 설정된 인식기준값이 저장될 수 있다. 인식기준값은 차량(10)이 주차를 유지한다는 조건을 달성하기 위한 기준값을 정의한 것으로, 복 수의 축에서 각각 서로 동일하거나 다른 값으로 복 수개 설정될 수 있다. 이에 따라, 주차인식부(122)는 각각의 축마다 기 설정된 인식기준값과 감지값을 서로 비교한 제2 차이값을 검출하고, 검출된 제2 차이값을 기준으로 차량(10)이 주차공간에서 주차를 유지하는지 여부를 1차적으로 판단한 인식결과를 생성할 수 있다. In addition, the parking recognition unit 122 may store a preset recognition reference value. The recognition reference value defines a reference value for achieving the condition that the vehicle 10 maintains parking, and may be set in a plurality of values equal to or different from each other in a plurality of axes. Accordingly, the parking recognition unit 122 detects a second difference value obtained by comparing the recognition reference value and the detection value set in advance for each axis, and the vehicle 10 in the parking space based on the detected second difference value. It is possible to generate a recognition result that primarily determines whether or not parking is maintained.
아래에서는 주차인식부(122)가 제2 차이값을 활용하여 차량(10)이 주차공간에 주차하였는지를 인식할 수 있는 주차인식 여부를 판단하는 자세한 구성을 설명한다.Hereinafter, a detailed configuration for determining whether or not parking recognition capable of recognizing whether the vehicle 10 is parked in the parking space by using the second difference value will be described.
이에 대한 전제로, 관리부(130)에는 제3 설정값 및 제4 설정값이 저장될 수 있다. 여기서 제3 설정값은 차량(10)의 주차여부를 인식할 수 있는 지자기 변화값, 즉 차량(10)이 주차공간에서 존재하다 사라지거나, 없는 상태에서 존재하는 등 상태가 변화된 경우를 확정할 수 있는 최소값이고, 제4 설정값은 차량(10)의 주차여부가 인식되지 않는 지자기 변화값의 최대값, 즉 차량(10)의 주차유지여부 판단과 무관하게 변화될 수 있는 노이즈값일 수 있다. 관리부(130)는 제3 설정값 및 제4 설정값을 주차인식부(122) 및 출차판단부(123)로 전송할 수 있다. As a premise for this, the management unit 130 may store a third set value and a fourth set value. Here, the third set value is a geomagnetic change value capable of recognizing whether the vehicle 10 is parked, that is, a case in which the vehicle 10 exists and disappears in the parking space, or exists in the absence of the vehicle 10 can be determined. It is a minimum value that is present, and the fourth set value may be a maximum value of a geomagnetic change value in which whether or not parking of the vehicle 10 is recognized, that is, a noise value that may change regardless of whether or not parking of the vehicle 10 is maintained. The management unit 130 may transmit the third set value and the fourth set value to the parking recognition unit 122 and the exit determination unit 123.
또한, 제3 설정값 및 제4 설정값은 제1 설정값 및 제2 설정값과는 무관한 값인 바, 서로간의 연관관계는 사용자가 값을 설정하는 정도에 따라 달라질 수 있음을 밝혀둔다. In addition, since the third set value and the fourth set value are values that are not related to the first set value and the second set value, it should be noted that the relationship between each other may vary depending on the degree to which the user sets the value.
또한, 제3 설정값은 제4 설정값보다 제2 오차범위만큼 큰 값을 가질 수 있고, 이 경우 제2 오차범위란 차량(10)이 주차를 유지하는지 여부에 대하여 오차가 나타날 수 있는 범위로, 제3 차이값과 제4 차이값 사이의 값은 차량(10)의 주차 유지여부에 대하여 판단할 수 없는 구간이라 이해할 수 있다. In addition, the third set value may have a value larger than the fourth set value as much as the second error range. In this case, the second error range is a range in which an error may appear as to whether the vehicle 10 maintains parking. , It can be understood that a value between the third difference value and the fourth difference value is a section in which it is impossible to determine whether or not the vehicle 10 is parked.
주차인식부(122)는 복 수의 축에서 검출된 인식기준값과 감지값의 비교값인 제2 차이값이 모두 제3 설정값을 초과하면 차량(10)이 주차공간에서 주차를 유지한다고 1차적으로 판단할 수 있다. 즉, 주차공간에 차량(10)이 유지하고 있기 때문에 주차유지가 1차적으로 이루어지고 그 뒤 2차적으로 확인된 결과에 따라 주차완료여부가 결정날 수 있다. The parking recognition unit 122 primarily states that the vehicle 10 maintains parking in the parking space when the second difference value, which is the comparison value of the detection reference value and the detection value detected in the plurality of axes, exceeds the third set value. It can be judged as. That is, since the vehicle 10 is maintained in the parking space, maintenance of parking is performed primarily, and then it may be determined whether or not parking is completed according to the result confirmed secondarily.
상기 주차인식부(122)는 1차적으로 주차유지가 이루어진 상태에서, 제2 차이값과 제4 설정값을 비교할 수 있고, 복 수의 축에서 검출된 제2 차이값이 모두 제4 설정값 미만으로 변화하면 2차적으로 주차가 유지되지 않았다고 판단할 수 있다. 즉, 이 경우는 차량(10)이 주차공간에 잠시 머물렀다가 바로 출발하는 경우일 수 있고, 2차적으로 주차가 유지되지 않았기 때문에 주차상태가 아니라고 판단하는 인식신호를 생성할 수 있다.The parking recognition unit 122 may compare a second difference value and a fourth set value in a state in which parking is primarily maintained, and the second difference values detected in the plurality of axes are all less than the fourth set value. If it changes to, it can be judged that parking has not been maintained secondary. That is, in this case, the vehicle 10 may stay in the parking space for a while and then start immediately, and since the parking has not been maintained secondary, a recognition signal for determining that the parking state is not in the parking state may be generated.
이와 더불어, 주차인식부(122)는 현재 주차가 유지되지 않았기 때문에 감지값과 동일해질 때까지 복 수의 축에서 검출된 모든 인식기준값을 변화시킬 수 있다. 상세히, 주차인식부(122)는 모든 인식기준값이 감지값과 동일해질 때까지 모든 인식기준값을 제2 설정시간동안 제2 설정값만큼 변화시킬 수 있다. 여기서 변화된 인식기준값은 ‘제1 변화인식기준값’으로 정의될 수 있다.이는 차량(10)의 주차가 감지되지 않는 경우, 감지값은 기본세팅값일 수 있고, 차량(10)의 주차여부 인식을 위한 초기단계로 돌아가기 위해 인식기준값과 감지값을 동일하게 맞추기 위함이다. 또한, 제2 설정시간 및 제2 설정값은 제1 설정시간 및 제1 설정값과 동일할 수 있으나, 설정에 따라 서로 차이가 날 수 있고, 서로 연관관계는 없음을 밝혀둔다. In addition, since the current parking is not maintained, the parking recognition unit 122 may change all recognition reference values detected in a plurality of axes until the same as the detected value. In detail, the parking recognition unit 122 may change all the recognition reference values by the second set value during the second set time until all the recognition reference values become the same as the detection values. Here, the changed recognition reference value may be defined as a'first change recognition reference value'. This is, when parking of the vehicle 10 is not detected, the detection value may be a basic setting value, and It is to match the recognition reference value and the detection value equally to return to the initial stage. In addition, it should be noted that the second set time and the second set value may be the same as the first set time and the first set value, but may differ from each other according to the setting, and there is no correlation with each other.
이와 반대로, 주차인식부(122)가 1차적으로 주차유지가 이루어진 상태에서, 복 수의 축에서 검출된 감지값이 모두 기 설정된 주차감지시간동안 동일한 값을 유지하면 2차적으로 주차가 유지되고 있다고 판단할 수 있다. 즉, 이 경우는 1차적으로 차량(10)이 주차가 유지되고 있다고 판단한 상태에서 주차감지시간동안 차량(10)의 움직임이 없는 것으로 해석될 수 있기 때문에 차량(10)이 주차공간에 주차를 완료하였다고 2차적으로 결정할 수 있고, 이에 따라 차량(10)이 주차상태를 유지한다고 판단하는 인식신호를 생성할 수 있다. On the contrary, in the state in which the parking recognition unit 122 primarily maintains parking, if all the detected values detected in a plurality of axes maintain the same value for a preset parking detection time, it is said that parking is maintained secondarily. I can judge. That is, in this case, it can be interpreted that the vehicle 10 does not move during the parking detection time in a state that it is determined that the parking is maintained by the vehicle 10, so that the vehicle 10 completes parking in the parking space. It can be determined secondarily, and accordingly, a recognition signal for determining that the vehicle 10 maintains the parking state can be generated.
이와 더불어, 주차인식부(122)는 현재 주차가 유지된 상태에서 후술할 출차판단부(123)의 동작을 위해 복 수의 축마다 모든 인식기준값이 감지값과 동일해질 때까지 모든 인식기준값을 변화시킬 수 있다. 즉, 모든 인식기준값과 감지값을 동일하게 유지시킴으로써 제2 차이값을 0이라는 기본 세팅값으로 세팅하고 차량(10)의 출차여부를 추후 판단하기 위함이다. 여기서 변화된 인식기준값은 ‘제2 변화인식기준값’으로 정의될 수 있다.In addition, the parking recognition unit 122 changes all the recognition reference values until all the recognition reference values are the same as the detection values for the operation of the exit determination unit 123, which will be described later, while the current parking is maintained. I can make it. That is, by keeping all the recognition reference values and detection values the same, the second difference value is set to a default setting value of 0, and it is to determine later whether the vehicle 10 is out of the vehicle. Here, the changed recognition reference value may be defined as a'second change recognition reference value'.
출차판단부(123)는 주차인식부(122)가 차량(10)이 주차공간에 주차를 유지하여 주차가 완료되었다는 인식신호를 생성한 후에 동작하여, 차량(10)이 주차공간에서 출차되는지 여부를 판단할 수 있는 수단이다. 즉, 주차인식부(122)가 주차를 완료하였다는 인식신호를 생성하지 못하거나 차량(10)이 주차공간에 주차되지 않았다는 인식신호를 생성한 경우에는 동작하지 않는다.The exit determination unit 123 operates after the parking recognition unit 122 generates a recognition signal indicating that the vehicle 10 is parked in the parking space and parking is complete, and whether the vehicle 10 is exited from the parking space. It is a means to judge. That is, when the parking recognition unit 122 fails to generate a recognition signal indicating that parking has been completed or generates a recognition signal indicating that the vehicle 10 is not parked in the parking space, the operation does not operate.
출차판단부(123)는 차량검지부(121)와 주차인식부(122)의 동작이 역순으로 진행되어 차량(10)의 출차여부를 판단하는 것으로 이해될 수 있다. 상세히, 출차판단부(123)는 1차적으로는 차량(10)이 주차를 유지하는지 여부를 재판단하고, 차량(10)이 주차공간에서 주차를 유지하지 않는다고 판단하면 차량(10)이 검지되는지 여부를 재판단할 수 있다. 아래에서는 각 동작에 대하여 상세히 설명한다. The exit determination unit 123 may be understood as determining whether or not the vehicle 10 is exited by performing the operations of the vehicle detection unit 121 and the parking recognition unit 122 in reverse order. In detail, the exit determination unit 123 primarily judges whether the vehicle 10 maintains parking, and if it determines that the vehicle 10 does not maintain parking in the parking space, whether the vehicle 10 is detected. You can judge whether or not. Hereinafter, each operation will be described in detail.
출차판단부(123)는 1차적으로 차량(10)이 주차를 유지하는지 판단하기 위하여, 복 수의 축마다 주차인식부(122)에 의해 주차가 완료되어 변화된 제2 변화인식기준값 모두를 감지값과 각각 비교하여 제3 차이값을 검출할 수 있다. 즉, 복 수의 축마다 제3 차이값이 검출될 수 있고 제3 차이값을 제3 설정값을 비교할 수 있다. 여기서 제3 차이값은 주차인식부(122)에서 제2 차이값과 비교된 제3 설정값과 동일한 값일 수 있다. 비교 결과, 복 수의 축에서 검출된 제3 차이값 중 하나 이상의 제3 차이값이 제3 설정값 이하이면 차량(10)이 주차상태를 계속 유지하고 있다고 판단할 수 있다. In order to primarily determine whether the vehicle 10 maintains parking, the exit determination unit 123 detects all of the changed second change recognition reference values after parking is completed by the parking recognition unit 122 for each of a plurality of axes. The third difference value may be detected by comparing with and respectively. That is, a third difference value may be detected for each of a plurality of axes, and a third difference value may be compared with a third set value. Here, the third difference value may be the same as the third set value compared to the second difference value by the parking recognition unit 122. As a result of the comparison, if at least one third difference value among the third difference values detected in the plurality of axes is less than or equal to the third set value, it may be determined that the vehicle 10 continues to maintain the parking state.
반대로 제3 차이값 모두가 제3 설정값을 초과하면 출차판단부(123)는 2차적으로 차량(10)이 검지되는지 여부를 재판단할 수 있다. 이 경우, 출차판단부(123)는 복 수의 축에서 검출된 제1 차이값 각각을 제2 설정값과 비교할 수 있다. 비교 결과, 제1 차이값이 모두 제2 설정값 미만이라고 판단되면 출차판단부(123)는 주차종간에서 차량(10)이 출차하였다고 판단하는 출차신호를 생성할 수 있다. Conversely, when all of the third difference values exceed the third set value, the exit determination unit 123 may secondarily determine whether or not the vehicle 10 is detected. In this case, the outgoing vehicle determination unit 123 may compare each of the first difference values detected in the plurality of axes with the second set value. As a result of the comparison, if it is determined that all of the first difference values are less than the second set value, the vehicle exit determination unit 123 may generate a vehicle exit signal that determines that the vehicle 10 has exited between parking types.
즉, 출차판단부(123)는 1차적으로 차량(10)이 주차를 유지하고 있지 않다고 판단되고, 2차적으로 차량(10)이 검지되지 않는다고 판단하면, 해당 차량(10)이 주차공간에 존재하지 않는다고 판단하여 차량(10)이 출차하였다는 출차신호를 생성할 수 있다. That is, if the vehicle 10 is primarily determined that the vehicle 10 is not parking, and secondly, the vehicle 10 is determined not to be detected, the vehicle 10 is present in the parking space. It is determined not to do so, and may generate an exit signal indicating that the vehicle 10 has exited.
또한, 출차판단부(123)는 차량(10)이 주차공간으로부터 출차하였다는 출차신호가 생성되면, 주차검지부를 통해 복 수의 축에서 검출된 검지기준값 및 차량(10)인식부를 통해 복 수의 축에서 검출되고 변화된 제2 변화인식기준값 모두가 감지값과 각각 동일해질 때까지 검지기준값과 제2 변화인식기준값 모두를 변화시킬 수 있다. 이 경우, 검지기준값 및 제2 변화인식기준값은 제3 설정시간 간격으로 제3 설정범위만큼 변화될 수 있고, 해당 시단과 설정범위는 사용자의 설정범위에 따라 변화될 수 있다.In addition, when the exit determination unit 123 generates a vehicle exit signal indicating that the vehicle 10 exits from the parking space, the vehicle 10 detects the detection reference value detected in a plurality of axes through the parking detection unit and the vehicle 10 recognizes multiple numbers. Both the detection reference value and the second change recognition reference value may be changed until all of the second change recognition reference values detected and changed in the axis are the same as the detection values, respectively. In this case, the detection reference value and the second change recognition reference value may be changed by the third set range at the third set time interval, and the corresponding start and set range may be changed according to the user's set range.
통신부(140)는 주차 감지시스템의 각 구성간 통신을 수행할 수 있는 수단이다. 상세히, 통신부(140)는 차량검지부(121), 주차인식부(122) 및 출차판단부(123)에서 판단된 신호, 상세히 검지신호, 인식신호 및 출차신호를 관리부(130)로 전송할 수 있고, 관리부(130)에 저장된 다양한 설정값, 예를 들어 제1 설정값 내지 제4 설정값을 차량검지부(121), 주차인식부(122) 및 출차판단부(123)로 전송할 수 있다. 이 외에도 각종 검출값, 예를 들어 인식기준값이나 검지기준값, 제1 및 제2 변화인식기준값이 필요 시 통신부(140)를 통해 각 구성으로 송수신될 수 있다.The communication unit 140 is a means capable of performing communication between each component of the parking detection system. In detail, the communication unit 140 may transmit a signal determined by the vehicle detection unit 121, the parking recognition unit 122 and the exit determination unit 123, a detailed detection signal, a recognition signal, and an exit signal to the management unit 130, Various set values stored in the management unit 130, for example, a first set value to a fourth set value, may be transmitted to the vehicle detection unit 121, the parking recognition unit 122, and the exit determination unit 123. In addition, various detection values, for example, a recognition reference value, a detection reference value, and first and second change recognition reference values may be transmitted and received in each component through the communication unit 140 when necessary.
관리부(130)는 복 수의 설정값이 저장될 수 있고, 주차 검지시스템을 통해 검출된 판단신호를 관리할 수 있는 수단이다. 상세히, 관리부(130)에는 제1 설정값 내지 제4 설정값이 저장될 수 있고, 해당 설정값들은 관리자가 세팅값 조절 등 필요에 따라 조절가능하다. 또한, 차량검지부(121), 주차인식부(122) 및 출차판단부(123)에서 판단된 신호, 상세히 검지신호, 인식신호 및 출차신호를 통신부(140)로부터 전송받고 이를 차량소유자 단말기 또는 관리자 단말기로 전송할 수 있다. 이에 따라 차량소유자나 관리자는 실시간으로 차량(10)의 주차상태를 확인할 수 있고, 이를 활용하여 차량(10)의 주차위치 등을 파악할 수 있다.The management unit 130 is a means capable of storing a plurality of set values and managing a determination signal detected through a parking detection system. In detail, the management unit 130 may store a first setting value to a fourth setting value, and the corresponding setting values may be adjusted by an administrator as necessary, such as setting value adjustment. In addition, the vehicle detection unit 121, the parking recognition unit 122, and the signal determined by the exit determination unit 123, the detailed detection signal, the recognition signal and the exit signal are transmitted from the communication unit 140, and the vehicle owner terminal or the manager terminal Can be transferred to. Accordingly, the vehicle owner or manager can check the parking status of the vehicle 10 in real time, and can use this to determine the parking position of the vehicle 10 and the like.
아래에서는 각 구성들의 동작방식을 단계별로 구분하여 상세히 설명한다. 도 2는 본 발명의 실시예에 따른 차량 주차 감지시스템의 동작을 도시한 플로우차트이다.In the following, the operation method of each component is divided into stages and described in detail. 2 is a flowchart showing the operation of the vehicle parking detection system according to an embodiment of the present invention.
도 2를 참조하면, 본 발명의 실시예에 따른 주차 감지시스템은 차량(10)의 주차여부를 파악하기 위해 차량센싱단계(S100), 차량검지단계(S200), 주차인식단계(S300) 및 출차판단단계(S400)로 동작할 수 있다. Referring to FIG. 2, the parking detection system according to the embodiment of the present invention includes a vehicle sensing step (S100), a vehicle detection step (S200), a parking recognition step (S300), and a vehicle in order to determine whether the vehicle 10 is parked. It can operate as a determination step (S400).
차량센싱단계(S100)는 센서부(110)가 차량(10)여부에 따라 감지값을 측정하는 단계이고, 차량검지단계(S200)는 차량검지부(121)가 차량(10)이 주차공간에 검지되는지 여부를 판단할 수 있는 단계이다. 주차인식단계(S300)는 주차인식부(122)가 차량(10)이 주차공간에 주차상태를 유지하는지 판단할 수 있는 단계이고, 출차판단단계(S400)는 차량(10)이 주차공간에서 주차상태를 유지하다가 출차하였는지 판단할 수 있는 단계이다. In the vehicle sensing step (S100), the sensor unit 110 measures a detection value according to whether the vehicle 10 is present, and in the vehicle detection step (S200), the vehicle detection unit 121 detects the vehicle 10 in the parking space. It is a step to determine whether or not. The parking recognition step (S300) is a step in which the parking recognition unit 122 can determine whether the vehicle 10 remains parked in the parking space, and the departure determination step (S400) is the vehicle 10 parked in the parking space. This is a step in which you can determine whether you have left the vehicle while maintaining the state.
여기서 차량검지단계(S200)에서 차량(10)이 주차공간에 검지된 경우에만 주차인식단계(S300)로 넘어가고, 주차인식단계(S300)에서 차량(10)이 주차상태를 유지한다고 판단된 경우에만 출차판단단계(S400)로 넘어갈 수 있다. 아래에서는 각 단계에 대하여 상세히 설명한다.Here, when the vehicle 10 is detected in the parking space in the vehicle detection step (S200), the process proceeds to the parking recognition step (S300), and it is determined that the vehicle 10 maintains the parking state in the parking recognition step (S300). Only can proceed to the departure determination step (S400). Each step will be described in detail below.
도 3은 차량센싱단계 및 차량검지단계의 상세한 동작을 도시한 플로우차트이다.3 is a flowchart showing detailed operations of the vehicle sensing step and the vehicle detecting step.
도 3을 참조하면, 차량센싱단계(S100)에서 센서부(110)가 지자기를 활용하여 복 수의 축마다 감지값을 측정할 수 있다(S110). 이 상태에서 주차인식단계(S300)로 넘어가는데, 주차인식단계(S300)에서 차량검지부(121)는 복 수의 축마다 기설정된 검지기준값과 감지값을 각각 비교한 제1 차이값을 검출할 수 있고(S210), 검출된 제1 차이값 중 하나 이상의 제1 차이값이 관리부(130)에 설정된 제1 설정값을 초과하는지 여부를 판단할 수 있다(S220).Referring to FIG. 3, in the vehicle sensing step (S100 ), the sensor unit 110 may measure a sensing value for each of a plurality of axes by using geomagnetic (S110). In this state, the process proceeds to the parking recognition step (S300). In the parking recognition step (S300), the vehicle detection unit 121 can detect a first difference value obtained by comparing the detection reference value and the detection value preset for each of the plurality of axes. In operation S210, it may be determined whether at least one first difference value among the detected first difference values exceeds a first set value set in the management unit 130 (S220).
출차판단부(123)는 하나 이상의 제1 차이값이 제1 설정값을 초과하면 차량(10)이 주차공간에 존재한다고 판단할 수 있고(S230), 이를 통해 주차인식단계(S300)로 넘어갈 수 있다.When one or more first difference values exceed the first set value, the exit determination unit 123 may determine that the vehicle 10 exists in the parking space (S230), and through this, the vehicle may proceed to the parking recognition step (S300). have.
반대로, 주차인식부(122)는 하나 이상의 제1 차이값이 제1 설정값을 초과하지 않는 경우, 복 수의 축에서 검출된 모든 제1 차이값이 제2 설정값 미만인지 여부를 판단할 수 있다(S240). 제1 차이값 중 하나 이상의 제1 차이값이 제2 설정값 이상인 경우에는 센서부(110)가 복 수의 축마다 감지값을 측정하는 단계(S110)로 회귀하여 차량센싱단계(S100)가 재수행될 수 있다.Conversely, when one or more of the first difference values do not exceed the first set value, the parking recognition unit 122 may determine whether all the first difference values detected in the plurality of axes are less than the second set value. Yes (S240). If the first difference value of at least one of the first difference values is greater than or equal to the second set value, the sensor unit 110 returns to the step (S110) of measuring the detected value for each of the plurality of axes, and the vehicle sensing step (S100) is repeated. Can be done.
반대로 차량검지부(121)는 제1 차이값 모두가 제2 설정값 미만이라고 판단되면 차량(10)이 주차공간에 존재하지 않는다는 검지신호를 생성하고(S250), 모든 검지기준값을 제1 설정시간마다 제1 설정범위만큼 변화시킬 수 있다(S261). 검지기준값이 변화하다가 복 수의 축마다 검지기준값이 감지값과 동일해지는 경우, 차량(10)이 부존재한다고 판단함과 동시에 다시 차량센싱단계(S100)가 수행될 수 있다. Conversely, when it is determined that all of the first difference values are less than the second set value, the vehicle detection unit 121 generates a detection signal indicating that the vehicle 10 does not exist in the parking space (S250), and sets all detection reference values at every first set time. It can be changed as much as the first setting range (S261). When the detection reference value changes and the detection reference value becomes the same as the detection value for each of a plurality of axes, it is determined that the vehicle 10 does not exist and the vehicle sensing step S100 may be performed again.
도 4는 주차인식단계의 상세한 동작을 도시한 플로우차트이다.4 is a flowchart showing a detailed operation of the parking recognition step.
도 4를 참조하면, 차량검지단계(S200)에서 차량(10)이 존재한다고 판단된 경우(S230), 주차인식단계(S300)가 수행될 수 있다.Referring to FIG. 4, when it is determined that the vehicle 10 exists in the vehicle detection step S200 (S230), the parking recognition step S300 may be performed.
주차인식단계(S300)에서 주차인식부(122)는 차량(10)이 주차를 유지하는지 여부를 판단하기 위해 복 수의 축마다 기설정된 인식기준값과 감지값을 각각 비교한 제2 차이값을 검출할 수 있고(S310), 검출된 모든 제2 차이값이 제3 설정값을 초과하는지 여부를 1차적으로 판단할 수 있다(S320). In the parking recognition step (S300), the parking recognition unit 122 detects a second difference value obtained by comparing a preset recognition reference value and a detection value for each of a plurality of axes in order to determine whether the vehicle 10 maintains parking. It may be done (S310), and it may be primarily determined whether or not all of the detected second difference values exceed the third set value (S320).
1차 판단결과, 복 수의 축에서 검출된 모든 제2 차이값이 제3 설정값을 초과한다고 판단하면 주차유지부는 1차적으로 차량(10)이 주차공간에 주차를 유지한다고 판단하고(S330), 모든 제2 차이값이 제4 설정값 미만인지 여부를 2차적으로 판단할 수 있다(S340).As a result of the first determination, if it is determined that all the second difference values detected in the plurality of axes exceed the third set value, the parking maintenance unit primarily determines that the vehicle 10 maintains parking in the parking space (S330). , It may be secondarily determined whether all the second difference values are less than the fourth set value (S340).
2차 판단결과, 복 수의 축에서 검출된 제2 차이값 중 하나 이상의 제2 차이값이 제4 설정값 이상인 경우, 즉 제2 차이값 모두가 제4 설정값 미만이 아닌 경우에 주차인식부(122)는 센서부(110)에서 측정한 지자기 감지값이 주차감지시간, 일 예로 5분동안 동일값을 지속적으로 유지하는 경우(S350), 최종적으로 차량(10)이 주차공간에 주차상태라고 판단할 수 있다.As a result of the second determination, when at least one second difference value among the second difference values detected in a plurality of axes is greater than or equal to the fourth set value, that is, when all of the second difference values are not less than the fourth set value, the parking recognition unit In the case where the geomagnetic detection value measured by the sensor unit 110 continuously maintains the same value for the parking detection time, for example, 5 minutes (S350), the vehicle 10 is finally parked in the parking space. I can judge.
이와 동시에, 주차인식부(122)는 인식기준값이 감지값과 동일해질때까지 인식기준값을 제2 설정시간마다 제2 설정범위만큼 변화시킨 제2 변화인식기준값을 검출할 수 있고(S361), 인식기준값이 감지값과 동일해지면(S362) 주차인식단계(S300)가 완료될 수 있다. At the same time, the parking recognition unit 122 may detect a second change recognition reference value in which the recognition reference value is changed by a second setting range every second setting time until the recognition reference value becomes the same as the detection value (S361), and When the reference value becomes the same as the detected value (S362), the parking recognition step (S300) may be completed.
그러나 아래와 같은 경우는 주차인식단계(S300)가 재 수행될 수 있다. However, in the following case, the parking recognition step (S300) may be performed again.
출차판단부(123)가 1차적으로 복 수의 축에서 검출된 모든 제2 차이값이 제3 설정값을 초과하지 않는다고 판단하거나(S320), 2차적으로 모든 제2 차이값이 제4 설정값 미만으로 판단하거나(S340), 센서부(110)에서 측정한 감지값이 주차감지시간동안 동일값을 유지하지 못하면(S350), 출차판단부(123)는 차량(10)이 주차공간에 주차를 유지하지 못한다고 판단할 수 있다(S380).The outgoing vehicle determination unit 123 primarily determines that all the second difference values detected in the plurality of axes do not exceed the third set value (S320), or, secondly, all the second difference values are the fourth set values. If it is determined to be less than (S340), or if the detected value measured by the sensor unit 110 does not maintain the same value during the parking detection time (S350), the vehicle exit determination unit 123 will allow the vehicle 10 to park in the parking space. It can be determined that it cannot be maintained (S380).
이 경우, 주차인식부(122)는 인식기준값이 감지값과 동일해질때까지 인식기준값을 제2 설정시간마다 제2 설정범위만큼 변화시킨 제1 변화인식기준값이 검출할 수 있고(S391), 인식기준값이 감지값과 동일해지면(S392) 다시 주차인식단계(S300)가 재수행될 수 있다. In this case, the parking recognition unit 122 may detect the first change recognition reference value that has changed the recognition reference value by the second setting range every second setting time until the recognition reference value becomes the same as the detection value (S391), and recognizes When the reference value becomes the same as the detected value (S392), the parking recognition step (S300) may be performed again.
도 5는 출차판단단계의 상세한 동작을 도시한 플로우차트이다.5 is a flowchart showing a detailed operation of the step of determining the vehicle leaving the vehicle.
도 5를 참조하면, 주차인식단계(S300)에서 차량(10)이 주차를 유지한다고 판단된 경우 출차판단단계(S400)가 수행될 수 있다. Referring to FIG. 5, when it is determined in the parking recognition step S300 that the vehicle 10 maintains parking, the exit determination step S400 may be performed.
출차판단단계(S400)에서 출차판단부(123)는 차량(10)이 주차상태에서 다시 출차하여 주차공간에 차량(10)이 부존재하는지 여부를 판단하기 위해 복 수의 축마다 기설정된 변화인식기준값과 감지값을 각각 비교한 제3 차이값을 검출할 수 있고(S410), 검출된 모든 제3 차이값이 제3 설정값을 초과하는지 여부를 1차적으로 판단할 수 있다(S420).In the departure determination step (S400), the departure determination unit 123 is a preset change recognition reference value for each of a plurality of axes in order to determine whether the vehicle 10 exits from the parking state again and the vehicle 10 does not exist in the parking space. A third difference value obtained by comparing each of the detected values with and may be detected (S410), and it may be primarily determined whether all of the detected third difference values exceed the third set value (S420).
1차 판단결과, 복 수의 축에서 검출된 모든 제3 차이값이 제3 설정값을 초과한다고 판단되면 출차판단부(123)는 모든 제1 차이값이 제2 설정값 미만인지 여부를 2차적으로 판단할 수 있다(S430).As a result of the first determination, if it is determined that all the third difference values detected in the plurality of axes exceed the third set value, the exit determination unit 123 secondarily determines whether all the first difference values are less than the second set value. It can be determined as (S430).
2차 판단결과, 복 수의 축에서 검출된 제1 차이값 모두가 제2 설정값 미만이라고 판단되면 출차판단부(123)는 차량(10)이 출차하였다고 판단할 수 있다(S440). 그러나, 출차판단부(123)는 하나 이상의 제3 차이값이 제3 설정값 이하로 측정되거나, 하나 이상의 제1 차이값이 제2 설정값 이상으로 측정되면 차량(10)이 출차하였다고 판단하지 않고 다시 복 수의 축마다 제3 차이값을 검출하는 단계(S410)를 시작할 수 있다.As a result of the second determination, if it is determined that all of the first difference values detected in the plurality of axes are less than the second set value, the exit determination unit 123 may determine that the vehicle 10 has exited (S440). However, when the one or more third difference values are measured to be less than or equal to the third set value, or if one or more of the first difference values are measured to be greater than or equal to the second set value, the vehicle 10 does not determine that the vehicle has been discharged. The step S410 of detecting the third difference value for each of the plurality of axes may be started again.
2차 판단결과, 출차판단부(123)가 차량(10)이 출차하였다고 판단한 경우(S440)에 출차판단부(123)는 검지기준값과 변화인식기준값 모두가 감지값과 동일해질때까지 검지기준값과 변화인식기준값을 각각 제3 설정시간마다 제3 설정범위만큼 변화시킬 수 있고(S451), 검지기준값과 변화인식기준값이 모두 감지값과 동일해지면(S452, S453) 출차판단단계(S400)가 완료될 수 있다. As a result of the second determination, when the departure determination unit 123 determines that the vehicle 10 has left the vehicle (S440), the exit determination unit 123 determines the detection reference value and the detection reference value until both the detection reference value and the change recognition reference value become the same as the detection value. The change recognition reference value can be changed by the third setting range at each third setting time (S451), and when both the detection reference value and the change recognition reference value become the same as the detection value (S452, S453), the outgoing determination step (S400) will be completed. I can.
상기와 같은 구성을 이루는 본 발명의 실시예에 따른 차량(10) 주차 감지시스템에 의하면 다음과 같은 효과가 있다. According to the vehicle 10 parking detection system according to the embodiment of the present invention having the configuration as described above has the following effects.
우선, 지자기센서를 활용하되, 측정된 지자기 변화량을 기초로 주차공간에 차량(10)이 지나가는지를 검지하는 구성과, 차량(10)이 주차공간에 배치되어 주차를 유지하는지 여부를 인식하는 구성을 별도로 구비하여, 주차공간에 차량(10)이 검지되고, 차후로 일정 요건을 충족하면 주차여부를 결정함에 따라, 차량(10)이 주차공간에 주차하는지 여부를 명확하게 구분할 수 있는 효과가 있다.First, a geomagnetic sensor is used, but a configuration that detects whether the vehicle 10 passes through the parking space based on the measured geomagnetic variation, and a configuration that recognizes whether the vehicle 10 is placed in the parking space to maintain parking. Separately provided, if the vehicle 10 is detected in the parking space, and whether or not to park when a certain requirement is met in the future, there is an effect of being able to clearly distinguish whether or not the vehicle 10 is parked in the parking space.
또한, 복 수의 축에서 측정되는 지자기 변화량을 감지하여 차량(10)의 주차여부를 인식하기 때문에 하나의 축에서 오류에 의해 지자기 변화량이 검출되지 않더라도 다른 축에서 지자기 변화량이 검출되면 주차로 판단할 수 있어, 주차여부에 대한 인식의 정확도가 높아지는 효과가 있다.In addition, since the vehicle 10 detects whether or not the vehicle 10 is parked by detecting the amount of geomagnetic change measured in a plurality of axes, even if the amount of geomagnetic change is not detected due to an error in one axis, if the amount of geomagnetic change is detected in another axis, it is determined as parking As a result, there is an effect of increasing the accuracy of recognition of whether or not to park.
또한, 차량(10)이 주차공간에 유지된 상태에서 운전자가 차량(10)을 운전하여 주차공간에서 출차하는 경우, 지자기변화값을 활용한 제어알고리즘에 따라 차량(10)의 출차여부를 인식함에 따라, 지자기 센서의 측정값만으로 차량(10)의 주차부터 출차까지 정확하게 판단할 수 있는 효과가 있다. In addition, when the driver drives the vehicle 10 and leaves the parking space while the vehicle 10 is maintained in the parking space, the vehicle 10 is recognized according to the control algorithm using the geomagnetic change value. Accordingly, there is an effect of being able to accurately determine the vehicle 10 from parking to leaving only the measured value of the geomagnetic sensor.
또한, 지자기센서를 활용하여 주차감지를 수행한다는 점에서 종래의 실내주차장뿐만 아니라 실외주차장(ex. 옥상주차장)의 차량(10) 주차감지 역시 수행할 수 있다는 점에서, 주차장 형태에 구애받지 않고 다양하게 활용될 수 있을 뿐 아니라, 설치가 간편하고 유지비용이 저렴하여 동일한 비용으로 타 감지기를 활용한 구성에 비하여 더 많은 주차공간에 활용할 수 있는 효과가 있다.In addition, in that it detects parking using a geomagnetic sensor, it is possible to detect not only the conventional indoor parking lot but also the parking of the vehicle 10 of the outdoor parking lot (ex. rooftop parking lot). In addition to being able to be utilized, there is an effect that it can be used for more parking spaces compared to the configuration using other sensors at the same cost because installation is simple and maintenance cost is low.

Claims (9)

  1. 차량의 주차여부 판단신호를 송신하는 통신부와 상기 판단신호를 제공받고 복 수의 설정값이 저장된 관리부를 포함하는 차량 주차 감지시스템에 있어서,A vehicle parking detection system comprising a communication unit for transmitting a vehicle parking determination signal and a management unit receiving the determination signal and storing a plurality of set values,
    복 수의 축마다 주차공간 내 지자기 변화량을 각각 감지하여 감지값을 측정하는 센서부;A sensor unit for measuring a detected value by detecting a change amount of geomagnetic in the parking space for each of the plurality of axes;
    상기 복 수의 축마다 기 설정된 검지기준값과 상기 감지값을 비교하여 상기 차량의 존재여부를 판단하는 검지신호를 생성하는 차량검지부;를 포함하고,A vehicle detection unit for generating a detection signal for determining whether the vehicle is present by comparing the detection reference value and the detection value set in advance for each of the plurality of axes; and
    상기 차량검지부는,The vehicle detection unit,
    상기 복 수의 축마다 상기 검지기준값과 상기 감지값을 비교한 복 수의 제1 차이값을 검출하고, Detecting a plurality of first difference values obtained by comparing the detection reference value and the detection value for each of the plurality of axes,
    상기 복 수의 축 중 하나 이상의 축에서 상기 제1 차이값이 제1 설정값을 초과하면 상기 차량이 상기 주차공간에 존재한다고 판단하는 검지신호를 생성하는 것을 특징으로 하는 차량 주차 감지시스템.And generating a detection signal for determining that the vehicle exists in the parking space when the first difference value exceeds a first set value in at least one of the plurality of axes.
  2. 제 1 항에 있어서,The method of claim 1,
    상기 차량검지부는, The vehicle detection unit,
    상기 복 수의 축 모두 상기 제1 차이값이 제2 설정값 미만이면 상기 차량이 상기 주차공간에 존재하지 않는다고 판단하는 검지신호를 생성하고,If the first difference value is less than a second set value for all of the plurality of axes, a detection signal for determining that the vehicle does not exist in the parking space is generated, and
    상기 제2 설정값은 상기 제1 설정값보다 제1 오차범위만큼 낮은 것을 특징으로 하는 차량 주차 감지시스템Vehicle parking detection system, characterized in that the second set value is lower than the first set value by a first error range
  3. 제 2 항에 있어서,The method of claim 2,
    상기 차량검지부는,The vehicle detection unit,
    상기 복 수의 축 모두 상기 제1 차이값이 상기 제2 설정값 미만이면, If the first difference value is less than the second set value for all of the plurality of axes,
    상기 복 수의 축마다 상기 검지기준값이 상기 감지값과 동일해지도록 제1 설정시간 간격으로 제1 설정범위만큼 상기 검지기준값을 변화시킨 변화검지기준값을 검출하는 것을 특징으로 하는 차량 주차 감지시스템Vehicle parking detection system, characterized in that for detecting a change detection reference value in which the detection reference value is changed by a first setting range at a first setting time interval so that the detection reference value becomes the same as the detection value for each of the plurality of axes.
  4. 제 1 항에 있어서, The method of claim 1,
    상기 복 수의 축마다 기 설정된 인식기준값과 상기 감지값 각각을 비교하여, 상기 차량이 상기 주차공간에 주차상태를 유지하는지 여부를 판단하는 인식신호를 생성하는 주차인식부;를 더 포함하고, A parking recognition unit for generating a recognition signal for determining whether the vehicle maintains a parking state in the parking space by comparing each of the detection values with a preset recognition reference value for each of the plurality of axes; further comprising,
    상기 주차인식부는,The parking recognition unit,
    상기 복 수의 축마다 상기 인식기준값과 상기 감지값을 각각 비교한 제2 차이값을 검출하고, Detecting a second difference value obtained by comparing the recognition reference value and the detection value for each of the plurality of axes,
    상기 복 수의 축 모두 상기 제2 차이값이 제3 설정값을 초과하면 상기 차량이 상기 주차공간에 주차를 유지한다고 판단하는 인식신호를 생성하는 것을 특징으로 하는 차량 주차 감지시스템And generating a recognition signal for determining that the vehicle maintains parking in the parking space when the second difference value exceeds a third set value for all of the plurality of axes.
  5. 제 4 항에 있어서, The method of claim 4,
    상기 주차인식부는,The parking recognition unit,
    상기 차량이 주차를 유지한다고 판단하는 인식신호를 생성한 뒤, 상기 복 수의 축 모두 상기 제2 차이값이 제4 설정값 미만으로 변화하면, 상기 차량이 상기 주차공간에 주차를 유지하지 않는다고 판단하는 인식신호를 생성하고,After generating a recognition signal that determines that the vehicle maintains parking, if the second difference value changes to less than a fourth set value for all of the plurality of axes, it is determined that the vehicle does not maintain parking in the parking space. To generate a recognition signal,
    상기 복 수의 축마다 상기 인식기준값이 상기 감지값과 동일해지도록 제2 설정시간 간격으로 제2 설정범위만큼 상기 인식기준값을 변화시킨 변화인식기준값을 검출하며,For each of the plurality of axes, a change recognition reference value obtained by changing the recognition reference value by a second setting range at a second setting time interval so that the recognition reference value becomes the same as the detection value is detected,
    상기 제4 설정값은 상기 제3 설정값보다 제2 오차범위만큼 낮은 것을 특징으로 하는 차량 주차 감지시스템Vehicle parking detection system, characterized in that the fourth set value is lower than the third set value by a second error range
  6. 제 4 항에 있어서,The method of claim 4,
    상기 주차인식부는,The parking recognition unit,
    상기 복 수의 축 모두 상기 감지값이 기 설정된 주차감지시간을 유지하면, When the detection value maintains a preset parking detection time for all of the plurality of axes,
    상기 복 수의 축마다 상기 인식기준값이 상기 감지값과 동일해지도록 제2 설정시간 간격으로 제2 설정범위만큼 상기 인식기준값을 변화시킨 변화인식기준값을 검출하는 것을 특징으로 하는 차량 주차 감지시스템Vehicle parking detection system, characterized in that for detecting a change recognition reference value in which the recognition reference value is changed by a second set range at a second set time interval so that the recognition reference value becomes the same as the detection value for each of the plurality of axes.
  7. 제 6 항에 있어서,The method of claim 6,
    상기 차량이 주차를 유지한다고 판단된 변화인식기준값이 검출된 후, 상기 차량이 상기 주차공간에서 출차되는지 여부를 판단하는 출차신호를 생성하는 출차판단부를 더 포함하고, After the change recognition reference value determined that the vehicle maintains parking is detected, the vehicle further comprises a departure determination unit for generating a departure signal for determining whether the vehicle is leaving the parking space,
    상기 출차판단부는,The exit determination unit,
    상기 복 수의 축마다 상기 변화인식기준값과 상기 감지값을 각각 비교한 제3 차이값을 검출하여, 상기 복 수의 축 모두 상기 제3 차이값이 상기 제3 설정값을 초과한다고 판단하고, For each of the plurality of axes, a third difference value obtained by comparing the change recognition reference value and the detection value is detected, and it is determined that the third difference value exceeds the third set value in all of the plurality of axes,
    상기 복 수의 축 모두 상기 제1 차이값이 상기 제2 설정값 미만이라고 판단하면,If it is determined that the first difference value is less than the second set value for all of the plurality of axes,
    상기 차량이 상기 주차공간에서 출차하였다고 판단하는 출차신호를 생성하는 것을 특징으로 하는 차량 주차 감지시스템.A vehicle parking detection system, characterized in that for generating an exit signal that determines that the vehicle has exited the parking space.
  8. 제 7 항에 있어서, The method of claim 7,
    상기 출차판단부는, The exit determination unit,
    상기 차량이 출차하였다고 판단하는 출차신호가 생성되면, When the exit signal that determines that the vehicle has exited is generated,
    상기 복 수의 축 모두 상기 검지기준값 및 상기 상기 변화인식기준값이 상기 감지값과 각각 동일해지도록 제3 설정시간 간격으로 제3 설정범위만큼 상기 검지기준값 및 상기 변화인식기준값을 변화시키는 것을 특징으로 하는 차량 주차 감지시스템.And changing the detection reference value and the change recognition reference value by a third set range at a third set time interval so that the detection reference value and the change recognition reference value are the same as the detection value for all of the plurality of axes. Vehicle parking detection system.
  9. 복 수의 축에서 지자기 변화량을 각각 감지하여 복 수의 감지값을 측정하는 센서부;A sensor unit for measuring a plurality of detection values by detecting the amount of geomagnetic change in a plurality of axes, respectively;
    상기 복 수의 축마다 기 설정된 검지기준값과 상기 감지값을 각각 비교하여, 차량이 주차공간에 존재하는지 여부를 판단하는 차량검지부;A vehicle detection unit that compares a preset detection reference value and the detection value for each of the plurality of axes to determine whether a vehicle is present in a parking space;
    상기 차량이 상기 주차공간에 존재한다고 판단되면, 복 수의 축마다 기 설정된 인식기준값과 상기 감지값 각각 비교하여, 상기 차량이 상기 주차공간에 주차상태를 유지하는지 여부를 판단하는 주차인식부;When it is determined that the vehicle exists in the parking space, a parking recognition unit determines whether the vehicle maintains a parking state in the parking space by comparing a preset recognition reference value and the detection value for each of a plurality of axes;
    상기 차량이 주차상태를 유지한다고 판단되면, 상기 차량이 상기 주차공간에서 출차되었는지 출차여부를 판단하는 출차판단부; 및A departure determination unit for determining whether the vehicle is unloaded from the parking space when it is determined that the vehicle remains in the parking state; And
    상기 센서부의 감지값을 상기 차량검지부, 상기 주차인식부 및 상기 출차판단부로 송신하는 통신부를 포함하고, And a communication unit for transmitting the detected value of the sensor unit to the vehicle detection unit, the parking recognition unit, and the vehicle exit determination unit,
    상기 차량검지부는,The vehicle detection unit,
    상기 복 수의 축마다 상기 검지기준값과 상기 감지값을 각각 비교한 제1 차이값을 검출하고, 상기 복 수의 축 중 하나 이상의 축에서 상기 제1 차이값이 제1 설정값을 초과하면 상기 차량이 상기 주차공간에 존재한다고 판단하고, 상기 복 수의 축 모두 상기 제1 차이값이 제2 설정값 미만이면 차량이 부존재한다고 판단하며, A first difference value obtained by comparing the detection reference value and the detection value for each of the plurality of axes is detected, and when the first difference value in at least one of the plurality of axes exceeds a first set value, the vehicle It is determined that it exists in the parking space, and if the first difference value is less than the second set value for all of the plurality of axes, it is determined that the vehicle does not exist,
    상기 주차인식부는,The parking recognition unit,
    상기 복 수의 축마다 상기 인식기준값과 상기 감지값을 각각 비교한 제2 차이값을 검출하고, 상기 복 수의 축 모두 제2 차이값이 제3 설정값을 초과하고 상기 감지값이 기 설정된 주차감지시간을 유지하면 상기 차량이 상기 주차공간에 주차상태를 유지한다고 판단하여 상기 복 수의 축마다 상기 인식기준값이 상기 감지값과 동일해지도록 설정시간 간격으로 설정범위만큼 상기 인식기준값을 변화시킨 변화인식기준값을 검출하며,A second difference value obtained by comparing the recognition reference value and the detection value for each of the plurality of axes is detected, and the second difference value exceeds a third set value for all of the plurality of axes, and the detection value is preset parking. When the detection time is maintained, it is determined that the vehicle maintains the parking state in the parking space, and the recognition reference value is changed by a set range at a set time interval so that the recognition reference value becomes the same as the detection value for each of the plurality of axes. Detects the recognition reference value,
    상기 출차판단부는,The exit determination unit,
    상기 복 수의 축마다 상기 변화인식기준값과 상기 감지값을 각각 비교한 제3 차이값을 검출하여 상기 복 수의 축 모두 상기 제3 차이값이 제3 설정값을 초과하고 상기 제1 차이값이 제2 설정값 미만이면, 상기 차량이 상기 주차공간에서 출차하였다고 판단하고,A third difference value obtained by comparing the change recognition reference value and the detection value for each of the plurality of axes is detected, and the third difference value exceeds a third set value for all of the plurality of axes, and the first difference value is If it is less than the second set value, it is determined that the vehicle has left the parking space,
    상기 제2 설정값은 상기 제1 설정값 미만인 것을 특징으로 하는 차량 주차 감지시스템.The vehicle parking detection system, characterized in that the second set value is less than the first set value.
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