Device for controlling vehicle parking, system having the same and method thereof

Abstract

The present invention relates to a device for controlling vehicle parking, a system having the device and a method thereof. The device for controlling vehicle parking comprises: a processor, when a parking space is scanned between a first object and a second object, determining whether to generate a virtual object according to the length of the parking space and the current position of the vehicle, determining a parking target space in the parking space based on the virtual object when generating the virtual object, and generating a parking trajectory for parking the vehicle in the parking target space, so as to perform parking control based on the parking trajectory; and a storage device, which stores information generated by the processor.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on and claims the benefit of priority from Korean Patent Application No. 10-2018-0101226 filed in the Korean Intellectual Property Office on August 28, 2018, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an apparatus for controlling parking of a vehicle, a system having the apparatus, and a method thereof, and more particularly, to a technology capable of supporting parking assistance for a next parking space for a vehicle in a parking lot. Background Art

[0004] As automobile technology has developed, as systems that facilitate parking of vehicles have been developed, the systems solve parking difficulties caused by a narrow parking space or a driver's lack of driving experience.

[0005] This parking assist system identifies a parking space based on information about the distance to surrounding objects by using ultrasonic sensors, radar, and LiDAR, and automatically controls steering, vehicle speed, and gear shifting without the driver having to operate the steering wheel, so that the vehicle is safely parked in the identified parking space.

[0006] On the other hand, the conventional parking assistance system supports parking in the space before the object (parking vehicle) relative to the object; even if the next parking space of the parking vehicle is empty, the conventional parking assistance system may not be able to perform parking assistance in the next parking space of the empty parking vehicle, but may perform parking assistance in the previous parking space of the parking vehicle. Therefore, the space efficiency of parking assistance is low. Summary of the invention

[0007] The present invention is intended to solve the above-mentioned problems in the prior art while completely maintaining the advantages achieved by the prior art.

[0008] One aspect of the present invention provides an apparatus for controlling parking of a vehicle, a system having the same, and a method thereof, which are capable of performing parking control on a next parking space of an object (parked vehicle) in a parking control mode.

[0009] The technical problems solved by the present invention are not limited to the aforementioned problems. According to the following description, those skilled in the art to which the present invention belongs will clearly understand any other technical problems not mentioned herein.

[0010] According to one aspect of the present invention, a device for controlling vehicle parking includes: a processor, which determines whether to generate a virtual object based on the length of the parking space and the current position of the vehicle when scanning a parking space between a first object and a second object, determines a parking target space in the parking space based on the virtual object when generating the virtual object, generates a parking trajectory for parking the vehicle in the parking target space, and performs parking control based on the parking trajectory; and a storage device, which stores information generated by the processor.

[0011] According to an embodiment, the processor is configured to determine that the entire scanned parking space is a parking target space when the length of the parking space between the first object and the second object is less than a predetermined reference value.

[0012] According to an embodiment, the processor is configured to: when the length of the parking space between the first object and the second object is greater than a predetermined reference value, determine a parking target space in the parking space so that when parking control is performed at the current position of the vehicle, the vehicle is parked with a minimum number of parking steps and at a specific distance from the object.

[0013] According to an embodiment, the processor is configured to determine that the parking space includes a first parking space adjacent to the first object and a second parking space between the first parking space and the second object when the length of the parking space between the first object and the second object is greater than a predetermined reference value.

[0014] According to an embodiment, when the current position of the vehicle is located in front of the second object, the processor is configured to generate a virtual object in the second parking space and determine that the first parking space is a parking target space.

[0015] According to an embodiment, the processor is configured to determine that the second parking space is a parking target space when the current position of the vehicle is located beside or behind the second object.

[0016] According to an embodiment, the processor is configured to determine the position of the virtual object based on whether there is a curb or a wall and the tilt direction of the first object.

[0017] According to an embodiment, when there is a curb or a wall, the processor is configured to: determine the position of the total length or total width of the vehicle moving from the first object in the direction of the curb or the wall as the X coordinate of the virtual object; determine the position of the total width or total length of the vehicle moving from the curb in a direction perpendicular to the curb or the wall as the Y coordinate of the virtual object; and determine the angle of the virtual object by utilizing the direction of the curb or the wall.

[0018] According to an embodiment, when there is no curb or wall, the processor is configured to extract the inclination of the first object to determine the position of the total length or total width of the moving vehicle at each corner point of the first object along the inclination direction of the first object as the X coordinate of the virtual object, determine the position same as each corner point of the first object in the inclination direction of the first object as the Y coordinate of the virtual object, and determine the angle of the virtual object by using the inclination of the first object.

[0019] According to an embodiment, when there is no curb or wall and the inclination of the first object cannot be extracted, the processor is configured to determine a position moved by the total length or total width of the vehicle from each corner point of the first object along the spatial scanning direction of the vehicle as the X coordinate of the virtual object; determine a position identical to each corner point of the first object in the spatial scanning direction of the vehicle as the Y coordinate of the virtual object; and determine the angle of the virtual object by using the spatial scanning direction of the vehicle.

[0020] According to an embodiment, the processor is configured to generate a parking trajectory based on the first object and the virtual object.

[0021] According to the embodiment, the processor is configured to generate a plurality of parking trajectories by utilizing at least one or more of a steering ratio of the vehicle, a current position of the vehicle, and a parking target space, extract a trajectory in which each of the first object and the second object does not collide with the vehicle from the plurality of parking trajectories, and select a trajectory having a shortest path from the extracted trajectories.

[0022] According to one aspect of the present invention, a vehicle system includes: a sensor that scans an object and a parking space; and a vehicle parking control device, which is configured to: when a parking space is scanned out between a first object and a second object, determine whether to generate a virtual object based on the length of the parking space and the current position of a vehicle; when the virtual object is generated, determine a parking target space in the parking space based on the virtual object; and generate a parking trajectory that allows the vehicle to be parked in the parking target space to perform parking control based on the parking trajectory.

[0023] According to an embodiment, the vehicle system further comprises: a display device which displays the scanned object, the scanned parking space and the parking trajectory.

[0024] According to one aspect of the present invention, a method for controlling vehicle parking includes: when a parking space is scanned out between a first object and a second object, determining whether to generate a virtual object according to the length of the parking space and the current position of the vehicle, thereby generating a virtual object; determining a parking target space in the parking space based on the virtual object; generating a parking trajectory for parking the vehicle in the parking target space; and performing parking control based on the parking trajectory.

[0025] According to an embodiment, determining the parking target space includes: when a length of the parking space between the first object and the second object is less than a predetermined reference value, determining the entire scanned parking space as the parking target space.

[0026] According to the embodiment, determining the parking target space includes: when the length of the parking space between the first object and the second object is greater than a predetermined reference value, determining the parking target space in the parking space so that when parking control is performed at the current position of the vehicle, the vehicle is parked with a minimum number of parking steps and at a specific distance from the object.

[0027] According to the embodiment, determining the parking target space includes: when a length of the parking space between a first object and a second object is greater than a predetermined reference value, determining that the parking space includes a first parking space adjacent to the first object and a second parking space located between the first parking space and the second object; when a current position of the vehicle is located in front of the second object, generating a virtual object in the second parking space, and determining that the first parking space is the parking target space; and when the current position of the vehicle is located next to or behind the second object, determining that the second parking space is the parking target space.

[0028] According to an embodiment, generating the virtual object includes determining a position of the virtual object according to whether a curb or a wall exists and a tilt direction of the first object.

[0029] According to an embodiment, generating a parking trajectory includes: generating a parking trajectory based on a first object and a virtual object; or generating a plurality of parking trajectories by utilizing at least one or more of a steering ratio of the vehicle, a current position of the vehicle, and a parking target space, extracting a trajectory in which each of the first object and the second object does not collide with the vehicle from the plurality of parking trajectories, and selecting a trajectory having a shortest path from the extracted trajectories. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description presented in conjunction with the accompanying drawings, in which:

[0031] Figure 1 A block diagram showing a structure of a vehicle system including a vehicle parking control device according to an embodiment of the present invention;

[0032] Figure 2 A schematic diagram illustrating the operation of a sensor of a vehicle according to an embodiment of the present invention;

[0033] Figure 3A , Figure 3B and Figure 3C A view for describing a reference for determining a parking position when controlling parallel parking according to an embodiment of the present invention;

[0034] Figure 4A , Figure 4B and Figure 4C A view for describing a reference for determining a parking position when controlling perpendicular parking according to an embodiment of the present invention;

[0035] Figure 5A is a view for describing a method of performing parking control by setting a next parking space of a first object as a target parking space when controlling parallel parking according to an embodiment of the present invention;

[0036] Figure 5B is a view for describing a method of performing parking control by setting a parking space before a second object as a target parking space when controlling parallel parking according to an embodiment of the present invention;

[0037] Fig. 6A is a view for describing a method of performing parking control by setting a next parking space of a first object as a target parking space when controlling perpendicular parking according to an embodiment of the present invention;

[0038] Figure 6B is a view for describing a method of performing parking control by setting a parking space before a second object as a target parking space when controlling perpendicular parking according to an embodiment of the present invention;

[0039] Figure 7 A diagram for describing a method for controlling parking of a vehicle according to another embodiment of the present invention;

[0040] Figure 8 is a flowchart for describing a method for controlling vehicle parking according to an embodiment of the present invention;

[0041] Fig. 9 is a flow chart for describing a method for controlling vehicle parking according to another embodiment of the present invention;

[0042] Fig.10 A computing system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0043] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals are used throughout to identify the same or equivalent elements. In addition, in order not to unnecessarily obscure the subject matter of the present invention, detailed descriptions of well-known features or functions will be omitted.

[0044] When describing the elements of the exemplary embodiments of the present invention, the terms first, second, A, B, (a), (b), etc. may be used herein. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements, regardless of the order or priority of the corresponding elements. In addition, unless otherwise defined, all terms including the technical and scientific terms used herein should be interpreted as the conventions of the field to which the present invention belongs. It should be understood that the terms used herein should be interpreted as having a meaning consistent with the meaning in the context of the present invention and the related art, and should not be interpreted as an ideal or overly formal meaning, unless expressly provided herein.

[0045] In the following, reference will be made to Figures 1 to 10 Various embodiments of the present invention are described in detail.

[0046] Figure 1 1 is a block diagram showing a structure of a vehicle system including a vehicle parking control device according to an embodiment of the present invention. Figure 2 is a schematic diagram illustrating the operation of a sensor of a vehicle according to an embodiment of the present invention.

[0047] refer to Figure 1 , the vehicle parking control apparatus 100 according to the embodiment of the present invention may include a sensor 200 , a warning device 300 , and a steering device 400 .

[0048] When the sensor module 200 finds a parking space between a first object and a second object after entering the parking lot, the vehicle parking control device 100 determines whether to generate a virtual object according to the length of the parking space and the current position of the vehicle, determines a parking target space in the parking space based on the virtual object when generating the virtual object, and generates a parking trajectory for parking the vehicle in the parking target space, so as to perform parking control based on the parking trajectory.

[0049] The vehicle parking control apparatus 100 may include a communication device 110 , a storage device 120 , a display device 130 , and a processor 140 .

[0050] The communication device 110 may be a hardware device implemented with various electronic circuits, and is used to send and receive signals via wireless or wired connections; in the present invention, the communication device 110 may perform communication in the vehicle via CAN communication, LIN communication, etc., and may communicate with sensors 200, warning devices 300, steering devices 400, etc.

[0051] The storage device 120 may store the sensing result of the sensor 200 and the information obtained by the processor 140. The storage device 120 may include at least one type of storage medium among a flash memory type memory, a hard disk type memory, a micro memory and a card type (e.g., a secure digital (SD) card or an extreme digital (XD) card) memory, a random access memory (RAM) type memory, a static RAM (SRAM) type memory, a read-only memory (ROM) type memory, a programmable ROM (PROM) type memory, an electrically erasable PROM (EEPROM) type memory, a magnetic RAM (MRAM) type memory, a magnetic disk type memory, and an optical disk type memory.

[0052] The display device 130 may display a parking space, a target parking space, a virtual object, images of surrounding vehicles, an image of a vehicle, etc. during the parking control mode.

[0053] When generating a parking track, the display device 130 may display the fact that the scanning of the next parking space of the object has been completed. In addition, the display device 130 may display the fact that the parking space before the object has been found when scanning the space before the object, and may preferentially display the picture that the scanning of the next parking space of the previous object has been completed before the picture of the parking space before the new object is found. In addition, the display device 130 may display the picture that the scanning of the parking space before the object has been completed when generating a track of the parking space before the new object, and may preferentially display the picture that the scanning of the parking space before the new object has been completed before the picture of the scanning of the next parking space of the previous object has been completed.

[0054] The display device 130 can be implemented with a head-up display (HUD), a cluster, an audio video navigation (AVN), etc. In addition, the display device 130 can directly receive color input from the user through a user settings menu (USM) of the cluster. In addition, the display device 130 may include at least one of a liquid crystal display (LCD), a thin film transistor-LCD (TFT LCD), a light emitting diode (LED) display, an organic LED (OLED) display, an active matrix OLED (AMOLED) display, a flexible display, a curved display, and a 3D display. Some displays can be implemented with a transparent or optically transparent transparent display to observe the outside. In addition, the display device 130 can be provided as a touch screen including a touch panel, and can be used as an input device in addition to an output device.

[0055] The processor 140 may be electrically connected to the communication device 110, the storage device 120, the display device 130, etc., and may electrically control each component. The processor 140 may be a circuit that executes software instructions, and may perform various data processing and calculations described below.

[0056] The processor 140 determines whether to generate a virtual object based on the length of the parking space when scanning the parking space between the first object and the second object and the current position of the vehicle. When generating the virtual object, the processor 140 determines a parking target space in the parking space based on the virtual object, and generates a parking trajectory for parking the vehicle in the parking target space, so as to perform parking control based on the parking trajectory.

[0057] When the length of the parking space between the first object and the second object is less than a predetermined reference value, the processor 140 may determine that the entire scanned parking space is a parking target space.

[0058] When the length of the parking space between the first object and the second object is greater than a predetermined reference value, the processor 140 can determine a parking target space in the parking space so that when the vehicle is parked at the current position of the vehicle, the vehicle is parked with a minimum number of parking steps and at a specific distance from the object.

[0059] When the length of the parking space between the first object and the second object is greater than a predetermined reference value, the processor 140 may determine that the parking space includes a first parking space adjacent to the first object and a second parking space between the first parking space and the second object.

[0060] When the current position of the vehicle is located in front of the second object, the processor 140 may generate a virtual object in the second parking space, and may determine that the first parking space is a parking target space.

[0061] When the current position of the vehicle is located next to or behind the second object, the processor 140 may determine that the second parking space is a parking target space.

[0062] The processor 140 may determine the position of the virtual object according to whether there is a curb or a wall and the tilt direction of the first object.

[0063] When there is a curb or a wall, the processor 140 can determine the position of the total length or total width of the vehicle moving from the first object along the direction of the curb or the wall as the X coordinate of the virtual object, and can determine the position of the total width or total length of the vehicle moving from the curb in a direction perpendicular to the curb or the wall as the Y coordinate of the virtual object, and can determine the angle of the virtual object by utilizing the direction of the curb or the wall.

[0064] When there is no curb or wall, the processor 140 can extract the inclination of the first object to determine the position of the total length or total width of the moving vehicle at each corner point of the first object along the inclination direction of the first object as the X coordinate of the virtual object, and can determine the position same as each corner point of the first object in the inclination direction of the first object as the Y coordinate of the virtual object, and can determine the angle of the virtual object by utilizing the inclination of the first object.

[0065] When there is no curb or wall and the inclination of the first object cannot be extracted, the processor 140 can determine the position of the total length or total width of the vehicle moved from each corner point of the first object along the spatial scanning direction of the vehicle as the X coordinate of the virtual object, and can determine the position the same as each corner point of the first object in the spatial scanning direction of the vehicle as the Y coordinate of the virtual object, and can determine the angle of the virtual object by utilizing the spatial scanning direction of the vehicle.

[0066] The processor 140 may generate a parking trajectory based on the first object and the virtual object. In addition, the processor 140 may generate a plurality of parking trajectories by utilizing at least one or more of the steering ratio of the vehicle, the current position of the vehicle, and the parking target space, and may extract a trajectory in which the first object and the second object do not collide with the vehicle from among the plurality of parking trajectories, and may select a trajectory having the shortest path from among the extracted trajectories.

[0067] The sensor 200 may include a plurality of sensors for sensing an object outside the vehicle, and may obtain information about the position of the external object, the speed of the external object, the moving direction and / or the type (e.g., vehicle, pedestrian, bicycle, motorcycle, etc.) of the external object. To this end, the sensor 200 may include an ultrasonic sensor, a radar, a camera, a laser scanner and / or a corner radar, a LiDAR, an acceleration sensor, a yaw rate sensor, a torque measurement sensor and / or a wheel speed sensor, etc. In the present invention, the parking space can be scanned by using only an ultrasonic sensor, and an image for parking control can be obtained using a camera. Reference Figure 2 , ultrasonic sensors are installed on the left and right sides of the vehicle to scan close parking spaces, and can be installed on the front and rear of the vehicle as needed.

[0068] When the vehicle parking control device 100 determines the speed, collision risk, etc. of surrounding vehicles, the warning device 300 may warn by outputting a warning sound or by turning on and off the headlights or emergency lights.

[0069] The steering device 400 may be controlled by the vehicle parking control apparatus 100 to drive the vehicle to steer for parking control.

[0070] In the following, reference will be made to Figures 3A to 7A method for determining whether to generate a virtual object and a method for generating a virtual object are described in detail.

[0071] Figure 3A , Figure 3B and Figure 3C is a view for reference for describing determination of a parking location when controlling parallel parking according to an embodiment of the present invention.

[0072] When the vehicle enters the parking lot to scan the parking space, the vehicle parking control device 100 can determine whether the length of the scanned parking space is greater than or less than "the total length of the vehicle + 2 meters". Figure 3A In “101”, the scanned length of the parking space may refer to the length of the space between the first object 11 and the second object 12 , that is, the distance between the front of the first object 11 and the rear of the second object 12 .

[0073] Figure 3A “101” shows that the length of the scanned parking space is less than “the total length of the vehicle + 2 meters”, and the parking space between the first object 11 and the second object 12 may correspond to a space in which a vehicle can be parked; the vehicle parking control device 100 performs parking control so that the vehicle is parked in the corresponding space 13 relative to the first object 11 and the second object 12.

[0074] Figure 3B "102" shows that the length of the scanned parking space is greater than "the total length of the vehicle + 2 meters", and the vehicle 10 is just in front of the second object 12. At this time, the parking steps in the case of parking in the parking space 13 are shorter than the parking steps in the case of parking in the parking space 14. Therefore, the vehicle parking control device 100 can determine that the parking space 13 is the parking position. However, since the parking space 13 is not the space just before the first object 11 or the second object 12, but the next space of the first object 11, it is necessary to generate a virtual object in the parking space 14 to make parking control possible. In this way, after the vehicle parking control device 100 generates a virtual object in the parking space 14 and uses the parking space 13 as the parking target space, the vehicle parking control device 100 can generate a parking trajectory based on the virtual object and the first object 11.

[0075] Figure 3C"103" shows that the length of the scanned parking space is greater than "the total length of the vehicle + 2 meters", and the vehicle 10 is located next to the second object 12. At this time, when the vehicle 10 is located next to the second object 12, the parking steps in the case of parking in the parking space 14 are shorter than the steps in the case of parking in the parking space 13. Therefore, the vehicle parking control device 100 determines that the parking space 14 is a parking position, and generates a parking trajectory based on the second object 12. At this time, since the parking space 14 corresponds to the space just before the second object 12, the parking trajectory can be generated based on the second object 12, and thus there is no need to generate a virtual object. At this time, when the vehicle scans the parking space of the next space of the second object 12, the vehicle parking control device 100 can determine that the vehicle has advanced to the periphery of the side of the second object 12, and in order to determine whether the current position of the vehicle is the periphery of the side of the second object 12, the vehicle parking control device 100 determines the position of the vehicle through a navigation device or the like. In addition, in Figure 3B The "102" and Figure 3C For the vehicle parked in "103", the parking trajectory is generated so that it is advantageous to keep a distance of 1.5 meters from the object. However, 1.5 meters can be changed as needed.

[0076] Figure 4A , Figure 4B and Figure 4C is a view for reference for describing determination of a parking position when controlling perpendicular parking according to an embodiment of the present invention.

[0077] Figure 4A The "104" of shows that the length of the scanned parking space is less than 4 meters of the vehicle, and the parking space between the first object 21 and the second object 22 may correspond to a space capable of parking one vehicle; the vehicle parking control device 100 performs parking control so that the vehicle is parked in the corresponding space 23 relative to the first object 21 and the second object 22. At this time, the length of the scanned parking space may refer to the length of the space between the right side surface of the first object 21 and the left side surface of the second object 22. In addition, "4 meters" as a reference for determining the length of the parking space is not limited, but can be changed through experiments as needed; in particular, in parking spaces for disabled people, charging spaces for electric vehicles, etc., the reference may be set to be greater than 4 meters.

[0078] Figure 4B"105" shows that the length of the scanned parking space is greater than 4 meters, and the vehicle 10 is located before the second object 22. At this time, the parking steps in the case of parking in the parking space 23 are shorter than the steps in the case of parking in the parking space 24. Therefore, the vehicle parking control device 100 can determine that the parking space 23 is the parking position. However, since the parking space 23 is not the space just before the first object 21 or the second object 22, but the next space of the first object 21, it is necessary to generate a virtual object in the parking space 24 to make parking control possible. In this way, after the vehicle parking control device 100 generates a virtual object in the parking space 24 and uses the parking space 23 as the parking target space, the vehicle parking control device 100 can generate a parking trajectory based on the virtual object and the first object 21.

[0079] Figure 4C '106' of FIG. 1 shows that the length of the scanned parking space is greater than 4 meters of the vehicle, and the vehicle 10 is located at the periphery of the side of the second object 22. At this time, when the vehicle 10 is located next to the second object 22, the parking step in the case of parking in the parking space 24 is shorter than the step in the case of parking in the parking space 23. Therefore, the vehicle parking control device 100 determines that the parking space 24 is a parking position, and generates a parking trajectory based on the second object 22. At this time, since the parking space 24 corresponds to the space just before the second object 22, the parking trajectory can be generated based on the second object 22, and thus there is no need to generate a virtual object.

[0080] In such Figure 4B and Figure 4C During the vertical parking shown in "105" and "106", it is advantageous to generate the parking trajectory so that the vehicle 10 maintains a spacing of 0.35 to 0.65 meters from the surrounding objects. At this time, the spacing of 0.35 to 0.65 meters can be adjusted to a width that allows getting off after parking as needed.

[0081] Figure 5A 1 is a view for describing a method of performing parking control by setting the next parking space of the first object 11 as a target parking space when controlling parallel parking according to an embodiment of the present invention. That is, Figure 5A Shown in Figure 3B The length of the parking space scanned in “102” is greater than “the total length of the vehicle + 2 meters”, and the vehicle 10 is just in front of the second object 12; Figure 5A It is shown that a parking trajectory is generated by generating a virtual object 15, thereby executing parking control.

[0082] Figure 5A "301" indicates scanning of two parking spaces 13 and 14 between the first object 11 and the second object 12; Figure 5A“ 302 ” indicates that a virtual object 15 is generated in the parking space 14 next to the target parking space 16 .

[0083] Subsequently, “ 303 ” shows that the parking trajectory 20 is generated with respect to the virtual object 15 and the first object 11 ; and “ 304 ” shows that the parking control is performed according to the parking trajectory.

[0084] At this time, when there is a curb or a wall, the vehicle parking control device 100 may generate the virtual object 15 assuming that there is no curb or wall.

[0085] 1) A method for determining the position of a virtual object when a curb / wall is present.

[0086] - X position: Position 11 "total length of vehicle + (1 meter)" from the first object in the direction of the curb / wall.

[0087] - Y position: The position "the width of the vehicle + (0.4 m)" from the curb in the direction perpendicular to the curb / wall.

[0088] - Angle: direction of the curb / wall

[0089] 2) The position of the virtual object when there is no curb / wall.

[0090] 2-1) A method of determining the position of a virtual object when the inclination of the first object 11 can be extracted and the angle between the inclination and the traveling direction of the vehicle is less than 3 degrees.

[0091] - X position: a position which is "the total length of the vehicle + (1 meter)" away from the corner point of the first object 11 in the tilt direction of the first object 11 .

[0092] - Y position: the position which is the same as the corner point of the first object 11 in the tilt direction of the first object 11 .

[0093] - Angle: the inclination of the first object 11 .

[0094] 2-2) When the inclination of the first object 11 is greater than 3 degrees and the inclination of the first object 11 cannot be extracted, a method of determining the position of the virtual object.

[0095] - X position: the position of the corner point of the first object 11 which is "the total length of the vehicle + (1 meter)" in the spatial scanning direction of the vehicle.

[0096] - Y position: the position that is the same as the corner point of the first object 11 in the spatial scanning direction of the vehicle.

[0097] -Angle: The spatial scanning direction of the vehicle.

[0098] As described above, during parallel parking, the vehicle parking control device 100 can determine the coordinates (X, Y) and the angle of the virtual object according to the situation where there is a curb / wall, the situation where there is no curb / wall and the inclination of the first object 11 can be extracted and the angle between the inclination and the vehicle's driving direction is less than 3 degrees, or the situation where there is no curb / wall and the angle between the inclination and the vehicle's driving direction is greater than 3 degrees or the inclination of the first object 11 cannot be extracted.

[0099] Figure 5B 1 is a view for describing a method for performing parking control by setting a parking space before a second object as a target parking space when controlling parallel parking according to an embodiment of the present invention. That is, Figure 5B Shown in Figure 3C The length of the parking space scanned in "103" is greater than "the total length of the vehicle + 2 meters" or the periphery of the vehicle 10 located on the side of the second object 12; Figure 5B It is shown that because the target parking space corresponds to the space just before the second object 12 , the parking control is performed by generating a parking trajectory without generating a virtual object.

[0100] refer to Figure 5B 305 of the embodiment, as shown in “306”, when the two parking spaces 13 and 14 between the first object 11 and the second object 12 are scanned and the vehicle is located next to the second object 12, after determining that the parking space 14 (i.e., the space just before the second object 12) of the two parking spaces 13 and 14 is the parking target space 16, the vehicle parking control device 100 generates a parking trajectory for controlling parking to the parking target space 16. In this way, as shown in “307”, the vehicle parking control device 100 performs parking control to the parking target space 16 according to the parking trajectory. At this time, the parking trajectory can be generated using a curb, the second object 12, etc. without a virtual object. When the curb is located at a position relative to the object, the vehicle parking control device 100 can generate a trajectory aligned with the curb; or, when there is no curb and the inclination of the second object 12 can be extracted, the vehicle parking control device 100 can generate a trajectory aligned with the position and inclination of the second object 12. Furthermore, when there is no curb and the inclination of the second object 12 cannot be extracted, the vehicle parking control device 100 may generate a trajectory aligned with respect to the scanning direction.

[0101] Fig. 6A is a view for describing a method of performing parking control by setting the next parking space of a first object as a target parking space when controlling vertical parking according to an embodiment of the present invention. That is, Fig. 6A Show Figure 4BThe length of the scanned parking space in “ 105 ” is greater than 4 meters of the vehicle and the vehicle 10 is located just before the second object 22 ; Figure 5A It is shown that a parking trajectory is generated by generating a virtual object, thereby executing parking control.

[0102] Fig. 6A 401 shows that two parking spaces 23 and 24 between the first object 21 and the second object 22 are scanned; Figure 5A 402 of FIG. 2 shows that a virtual object 25 is generated in the parking space 24 next to the target parking space 26 .

[0103] Subsequently, “ 403 ” shows that the parking trajectory 30 is generated with respect to the virtual object 25 and the first object 21 ; and “ 404 ” shows that the parking control is performed according to the parking trajectory.

[0104] At this time, when there is a curb or a wall, the vehicle parking control device 100 may generate the virtual object 25 assuming that there is no curb or wall.

[0105] 1) A method for determining the position of a virtual object when a curb / wall is present.

[0106] - X position: Position 21 "total width of vehicle + (0.8 m)" from the first object in the direction of the curb / wall.

[0107] -Y position: The position of the vehicle's total length from the curb in the direction perpendicular to the curb / wall.

[0108] -Angle: Direction perpendicular to the curb / wall.

[0109] 2) A method for determining the position of a virtual object when a curb / wall is present.

[0110] 2-1) A method of determining the position of a virtual object when the inclination of the first object 21 can be extracted.

[0111] - X position: a position which is “the total width of the vehicle+(0.8 m)” away from the corner point of the first object 21 in the tilt direction of the first object 21 .

[0112] - Y position: the position which is the same as the corner point of the first object 21 in the tilt direction of the first object 21 .

[0113] Angle: a direction perpendicular to the inclination of the first object 21 .

[0114] 2-2) A method of determining the position of a virtual object when the inclination of the first object 21 can be extracted.

[0115] - X position: the position of the corner point of the first object 21 which is "the total width of the vehicle + (0.4 m)" in the spatial scanning direction of the vehicle.

[0116] - Y position: the position that is the same as the corner point of the first object 21 in the spatial scanning direction of the vehicle.

[0117] -Angle: The direction perpendicular to the spatial scanning direction of the vehicle.

[0118] As described above, in vertical parking, the vehicle parking control device 100 can determine the coordinates (X, Y) and angles of the virtual object according to the case where there is a curb / wall, the case where there is no curb / wall and the inclination of the first object 21 can be extracted, or the case where there is no curb / wall and the inclination of the first object 21 cannot be extracted.

[0119] Figure 6B 2 is a view for describing a method of performing parking control by setting a parking space before the second object 22 as a target parking space when controlling vertical parking according to an embodiment of the present invention. That is, Figure 6B Show Figure 4C The length of the scanned parking space in “ 106 ” is greater than 4 meters of the vehicle or the periphery of the side of the vehicle 10 located at the second object 22 ; Figure 6B It is shown that because the target parking space corresponds to the space just before the second object 22 , the parking control is performed by generating a parking trajectory without generating a virtual object.

[0120] refer to Figure 6B As shown in “406”, when two parking spaces 23 and 24 between the first object 21 and the second object 22 are scanned and the vehicle 10 is located next to the second object 22, after determining that the parking space 24 (i.e., the space just before the second object 22) among the two parking spaces 23 and 24 is the parking target space 26, the vehicle parking control device 100 generates a parking trajectory for controlling parking to the parking target space 26. In this way, as shown in “407”, the vehicle parking control device 100 performs parking control to the parking target space 26 according to the parking trajectory. At this time, the parking trajectory can be generated using the curb, the second object 22, etc. without the need for a virtual object. When the curb is located at a position relative to the object, the vehicle parking control device 100 can generate a trajectory aligned with the curb; or, when there is no curb and the inclination of the second object 22 can be extracted, the vehicle parking control device 100 can generate a trajectory aligned with the position and inclination of the second object 22. Furthermore, when there is no curb and the inclination of the second object 22 cannot be extracted, the vehicle parking control device 100 may generate a trajectory aligned with respect to the scanning direction.

[0121] Figure 7 It is a view for describing a method for controlling parking of a vehicle according to another embodiment of the present invention.

[0122] Figure 7 501 shows that two parking spaces 43 and 44 between the first object 41 and the second object 42 are scanned; Figure 7 502 shows that a virtual object 45 is generated in the parking space 44 next to the parking space 43. The vehicle parking control device 100 can generate the virtual object 45 by using the position, inclination, scanning direction, etc. of the first object 41, curb, and wall.

[0123] Subsequently, "503" shows that the space 43 located next to the virtual object 45 and where parking is performed is generated as the parking target space 46; "504" shows that a plurality of parking trajectories are generated. That is, the vehicle parking control device 100 can control the vehicle to park in the parking target space generated according to the current position of the vehicle, and can generate a trajectory that controls the vehicle to park while avoiding only the scanned object. In addition, the vehicle parking control device 100 can generate a plurality of trajectories according to the use of the steering ratio by using the steering ratio, wheelbase, current position of the vehicle, parking target space, etc. of the known vehicle. The vehicle parking control device 100 extracts at least one or more trajectories from the generated plurality of trajectories (wherein, in each of the at least one or more trajectories, the object scanned by identifying the known specifications of the outer surface of the vehicle does not collide with the vehicle), and selects and follows the trajectory with the shortest path among the plurality of trajectories (wherein, no collision occurs in each trajectory).

[0124] Hereinafter, according to the embodiment of the present invention, reference will be made to Figure 8 A method for controlling parking of a vehicle is described in detail. Figure 8 FIG. 1 is a flowchart for describing a method for controlling vehicle parking according to an embodiment of the present invention. Figure 1 The vehicle parking control device 100 performs Figure 8 In addition, Figure 8 As described above, it should be understood that the steps described as being performed by the device 100 are controlled by the processor 140 of the device 100.

[0125] refer to Figure 8 , when the vehicle enters the parking mode in step S101 , in step S102 , the vehicle parking control device 100 scans the parking space and scans objects (surrounding vehicles) through the sensor 200 .

[0126] After the vehicle parking control device 100 scans the parking space behind the position of the first object sensed by the sensor 200 in step S103, in step S104, the vehicle parking control device 100 determines the parking position in the scanned parking space according to the size of the parking space, the parking space and the current position of the vehicle. Figure 3A , Figure 3B and Figure 3C During parallel parking, when the length of the parking space between the first object and the second object is less than "total length + 2 meters", the vehicle parking control device 100 determines the corresponding position as the parking position; during parallel parking, when the length of the parking space between the first object and the second object is greater than "total length + 2 meters", the vehicle parking control device 100 determines that there are two parking spaces and determines one of the two parking spaces as the parking position according to the position of the vehicle. That is, the parking steps are different according to the position of the vehicle; because the vehicle parking control device 100 can quickly perform parking when the control steps of parking become shorter, the vehicle parking control device 100 can determine the space with shorter parking steps as the parking position. As shown in "102", when the vehicle is located in front of the second object, the vehicle parking control device 100 takes into account the parking step and determines the parking space 13, which is the next space of the first object, as the parking position; as shown in "103", when the vehicle is located next to the second object, the vehicle parking control device 100 takes into account the parking step and determines the parking space 14, which is the space before the second object, as the parking position.

[0127] When it is determined in step S104 that the space before the second object is the parking position, in step S105, the vehicle parking control device 100 generates the parking space just before the second object as the parking target space based on the second object, and generates a parking trajectory for following the parking target space. Figure 5B As shown in “ 306 ” of FIG. 1 , the vehicle parking control device 100 determines that the parking space 14 just before the second object 12 is the target parking space 16 , and controls the vehicle so as to park in the target parking space 16 .

[0128] Meanwhile, when it is determined in step S104 that the next space of the first object is the parking position, in step S106, the vehicle parking control device 100 generates a virtual object in the space after the next space of the first object (ie, the parking space before the second object). Figure 5A When it is determined that the next space 13 of the first object among the two parking spaces 13 and 14 between the first object 11 and the second object 12 is the parking position, the vehicle parking control device 100 generates a virtual object 15 in the space 14 before the second object.

[0129] In step S107, the vehicle parking control device 100 generates a parking target space relative to the first object and the virtual object, and generates a parking trajectory so that the vehicle is parked in the parking target space. Figure 5A As shown in “ 303 ” of FIG. 1 , the vehicle parking control device 100 may generate a space between the first object 11 and the virtual object 15 as a parking target space 16 and may generate a parking trajectory 20 that can be followed to the parking target space 16 .

[0130] Then, in step S108 , the vehicle parking control device 100 may perform parking tracking control according to the generated parking trajectory.

[0131] Hereinafter, according to another embodiment of the present invention, reference will be made to Fig. 9 A method for controlling parking of a vehicle is described in detail. Fig. 9 FIG. 1 is a flowchart for describing a method for controlling vehicle parking according to another embodiment of the present invention. Figure 1 The vehicle parking control device 100 performs Fig. 9 In addition, Fig. 9 As described above, it should be understood that the steps described as being performed by the device 100 are controlled by the processor 140 of the device 100.

[0132] refer to Fig. 9 , when the vehicle enters the parking mode in step S201 , in step S202 , the vehicle parking control device 100 scans the parking space and scans objects (surrounding vehicles) through the sensor 200 .

[0133] After the vehicle parking control device 100 scans the parking space behind the position of the first object sensed by the sensor 200 in step S203, the vehicle parking control device 100 determines the parking position in the scanned parking space according to the size of the parking space, the parking space and the current position of the vehicle in step S204. Figure 3A , Figure 3B and Figure 3CDuring parallel parking, when the length of the parking space between the first object and the second object is less than "total length + 2 meters", the vehicle parking control device 100 determines the corresponding position as the parking position; during parallel parking, when the length of the parking space between the first object and the second object is greater than "total length + 2 meters", the vehicle parking control device 100 determines that there are two parking spaces and determines one of the two parking spaces as the parking position according to the position of the vehicle. That is, the parking steps are different according to the position of the vehicle; because the vehicle parking control device 100 can quickly perform parking when the control steps of parking become shorter, the vehicle parking control device 100 can determine the space with shorter parking steps as the parking position. As shown in "102", when the vehicle is located in front of the second object, the vehicle parking control device 100 takes into account the parking step and determines the parking space 13, which is the next space of the first object, as the parking position; as shown in "103", when the vehicle is located next to the second object, the vehicle parking control device 100 takes into account the parking step and determines the parking space 14, which is the space before the second object, as the parking position.

[0134] When it is determined in step S204 that the space before the second object is the parking position, in step S205, the vehicle parking control device 100 generates the parking space just before the second object as the parking target space based on the second object, and generates a parking trajectory for following the parking target space. Figure 5B As shown in “ 306 ” of FIG. 1 , the vehicle parking control device 100 determines that the parking space 14 just before the second object 12 is the target parking space 16 , and controls the vehicle so as to park in the target parking space 16 .

[0135] Meanwhile, when it is determined in step S204 that the next space of the first object is the parking position, in step S206, the vehicle parking control device 100 generates a virtual object in the space after the next space of the first object (ie, the parking space before the second object). Figure 7 "501" and "502", when it is determined that the next space 43 of the first object among the two parking spaces 43 and 44 between the first object 41 and the second object 42 is the parking position, the vehicle parking control device 100 generates a virtual object 45 in the space 44 before the second object.

[0136] In step S207, the vehicle parking control device 100 generates a parking target space relative to the first object and the virtual object. Figure 7 As shown in “ 503 ” of FIG. 1 , the vehicle parking control device 100 may generate a space between the first object 41 and the virtual object 45 as a parking target space 46 .

[0137] Then, in step S208, the vehicle parking control device 100 may generate a trajectory for parking while avoiding the scanned objects (the first object and the second object) by utilizing the steering ratio, wheelbase position, current position of the vehicle, and parking target space of the vehicle, and may generate a plurality of trajectories according to the utilization of the steering ratio. Figure 7 In “504” of FIG. 4 , it can be understood that a plurality of trajectories of the target parking space 46 are generated.

[0138] Subsequently, in step S209, the vehicle parking control device 100 extracts a trajectory from the generated multiple trajectories (wherein, in each of the trajectories, objects scanned by identifying known specifications of the outer surface of the vehicle do not collide with the vehicle), and selects and follows a trajectory with the shortest path among the multiple trajectories (wherein, no collision occurs in each trajectory).

[0139] Therefore, the present invention can also support parking for the next parking space of the object, thereby improving user convenience.

[0140] Fig.10 A computing system according to an embodiment of the present invention is shown.

[0141] refer to Fig.10 , the computing system 1000 may include at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , a storage device 1600 , and a network interface 1700 connected to each other via a bus 1200 .

[0142] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. Each of the memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) and a random access memory (RAM).

[0143] Therefore, the steps of the method or algorithm described in conjunction with the embodiments disclosed in this specification may be directly implemented by a hardware module, a software module, or a combination of a hardware module and a software module executed by the processor 1100. The software module may be located on a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as RAM, flash memory, ROM, erasable and programmable ROM (EPROM), electrical EPROM (EEPROM), registers, a hard disk, a removable disk, or a compact disk ROM (CD-ROM).

[0144] The storage medium may be connected to the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may be located in an application specific integrated circuit (ASIC). The ASIC may be located in a user terminal. Alternatively, the processor and the storage medium may be independent components in a user terminal.

[0145] As described above, although the present invention has been described with reference to exemplary embodiments and the accompanying drawings, the present invention is not limited thereto, but various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims.

[0146] Therefore, the embodiments of the present invention are not intended to limit the technical spirit of the present invention, but are provided for illustrative purposes only. The protection scope of the present invention should be interpreted by the appended claims, and all equivalent forms thereof should be interpreted as being included within the scope of the present invention.

[0147] The present invention can perform parking control on the next parking space of an object (parked vehicle) in a parking control mode, thereby improving the efficiency of parking control and the convenience of users.

[0148] Furthermore, various effects directly or indirectly realized by the present invention can be provided.

[0149] As described above, although the present invention has been described with reference to exemplary embodiments and the accompanying drawings, the present invention is not limited thereto, but various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims.

Claims

1. A device for controlling vehicle parking, comprising: a processor configured to determine whether to generate a virtual object based on the length of the parking space and the current position of the vehicle when scanning a parking space between the first object and the second object, determine a parking target space in the parking space based on the virtual object when generating the virtual object, and generate a parking trajectory for parking the vehicle in the parking target space, so as to perform parking control based on the parking trajectory; as well as a storage device for storing information generated by the processor, Wherein, the processor is configured to: When the length of the parking space between the first object and the second object is greater than a predetermined reference value, determining a parking target space in the parking space so that the vehicle is parked at a specific distance from the object with a minimum number of parking steps when parking control is performed at a current position of the vehicle; When the length of the parking space between the first object and the second object is greater than a predetermined reference value, determining that the parking space includes a first parking space adjacent to the first object and a second parking space between the first parking space and the second object; generating a virtual object in the second parking space when the current position of the vehicle is in front of the second object; as well as The first parking space is determined as the target parking space.

2. The device for controlling vehicle parking according to claim 1, wherein: The processor is configured to: When the length of the parking space between the first object and the second object is less than a predetermined reference value, the entire scanned parking space is determined to be a parking target space.

3. The device for controlling vehicle parking according to claim 1, wherein: The processor is configured to: When the current position of the vehicle is located beside or behind the second object, the second parking space is determined to be the parking target space.

4. The device for controlling vehicle parking according to claim 1, wherein: The processor is configured to: The position of the virtual object is determined based on whether there is a curb or a wall and the tilt direction of the first object.

5. The device for controlling vehicle parking according to claim 4, wherein: The processor is configured to: When there is a curb or wall, determining a position of the total length or total width of the moving vehicle from the first object in the direction of the curb or the wall as an X coordinate of the virtual object; determining a position of a total width or a total length of the vehicle moved from the curb or the wall in a direction perpendicular to the curb or the wall as a Y coordinate of the virtual object; as well as The angle of the virtual object is determined by utilizing the direction of the curb or wall.

6. The device for controlling vehicle parking according to claim 4, wherein: The processor is configured to: When there is no curb or wall, Extracting the inclination of the first object to determine the position of the total length or total width of the moving vehicle along the inclination direction of the first object at each corner point of the first object as the X coordinate of the virtual object; Determine the position that is the same as each corner point of the first object in the tilt direction of the first object as the Y coordinate of the virtual object; as well as The angle of the virtual object is determined by utilizing the inclination of the first object.

7. The device for controlling vehicle parking according to claim 4, wherein: The processor is configured to: When there is no curb or wall and the inclination of the first object cannot be extracted, Determine the position of the total length or total width of the vehicle moving from each corner point of the first object along the spatial scanning direction of the vehicle as the X coordinate of the virtual object; Determine the position that is the same as each corner point of the first object in the spatial scanning direction of the vehicle as the Y coordinate of the virtual object; as well as The angle of the virtual object is determined by utilizing the spatial scanning direction of the vehicle.

8. The device for controlling vehicle parking according to claim 1, wherein: The processor is configured to: A parking trajectory is generated based on the first object and the virtual object.

9. The device for controlling vehicle parking according to claim 1, wherein: The processor is configured to: generating a plurality of parking trajectories by using at least one of a steering ratio of the vehicle, a current position of the vehicle, and a parking target space; extracting, from among the plurality of parking trajectories, a trajectory in which the first object and the second object do not collide with the vehicle; and A trajectory having the shortest path is selected among the extracted trajectories.

10. A vehicle system comprising: a sensor configured to scan objects and parking spaces; as well as A vehicle parking control device, wherein the parking control device is configured to: When a parking space is scanned between the first object and the second object, determining whether to generate a virtual object based on the length of the parking space and the current position of the vehicle; When the virtual object is generated, determining a parking target space in the parking space based on the virtual object; and generating a parking trajectory for parking the vehicle in a parking target space, and executing parking control based on the parking trajectory, Wherein, the parking control device is further configured as follows: When the length of the parking space between the first object and the second object is greater than a predetermined reference value, determining a parking target space in the parking space so that the vehicle is parked at a specific distance from the object with a minimum number of parking steps when parking control is performed at a current position of the vehicle; When the length of the parking space between the first object and the second object is greater than a predetermined reference value, determining that the parking space includes a first parking space adjacent to the first object and a second parking space between the first parking space and the second object; generating a virtual object in the second parking space when the current position of the vehicle is in front of the second object; and The first parking space is determined as the target parking space.

11. The vehicle system according to claim 10, further comprising: The display device is configured to display the scanned object, the scanned parking space and the parking trajectory.

12. A method for controlling vehicle parking, the method comprising the following steps: When a parking space is scanned between the first object and the second object, determining whether to generate a virtual object according to the length of the parking space and the current position of the vehicle, thereby generating the virtual object; determining a parking target space in the parking space based on the virtual object; Generate a parking trajectory that allows the vehicle to be parked in a parking target space; as well as executing parking control based on the parking trajectory, Wherein, determining the parking target space includes the following steps: When the length of the parking space between the first object and the second object is greater than a predetermined reference value, determining a parking target space in the parking space so that the vehicle is parked at a specific distance from the object with a minimum number of parking steps when parking control is performed at a current position of the vehicle; When the length of the parking space between the first object and the second object is greater than a predetermined reference value, determining that the parking space includes a first parking space adjacent to the first object and a second parking space between the first parking space and the second object; When the current position of the vehicle is located in front of the second object, a virtual object is generated in the second parking space, and the first parking space is determined to be a parking target space.

13. The method according to claim 12, wherein: Determining the parking target space includes the following steps: When the length of the parking space between the first object and the second object is less than a predetermined reference value, the entire scanned parking space is determined to be a parking target space.

14. The method according to claim 12, wherein: Determining the parking target space includes the following steps: When the current position of the vehicle is located beside or behind the second object, the second parking space is determined to be the parking target space.

15. The method according to claim 14, wherein: Generating a virtual object includes the following steps: The position of the virtual object is determined based on whether there is a curb or a wall and the tilt direction of the first object.

16. The method according to claim 15, wherein: Generating a parking trajectory includes the following steps: generating a parking trajectory based on the first object and the virtual object; or A plurality of parking trajectories are generated by using at least one of a steering ratio of the vehicle, a current position of the vehicle, and a parking target space, a trajectory in which each of a first object and a second object does not collide with the vehicle is extracted from the plurality of parking trajectories, and a trajectory having a shortest path is selected from among the extracted trajectories.

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