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

Abstract

The present invention provides an apparatus for controlling vehicle parking, a system having the apparatus and a method thereof. The apparatus for controlling vehicle parking includes a communication device that communicates with a remote controller located inside or outside the vehicle; and a processor that, when receiving a vehicle control command from the remote controller, receives information about surrounding obstacles from a sensor and performs avoidance steering control of the vehicle to avoid collision with the surrounding obstacles.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Korean Patent Application No. 10-2018-0101227 filed on August 28, 2018, in the Korean Intellectual Property Office, 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 for performing obstacle avoidance control during remote forward / reverse control and for aligning a vehicle so as to be spaced apart from an obstacle by a specific distance. Background Art

[0004] Various driving assistance systems have been developed and installed in vehicles to improve driver convenience and assist the driver in driving the vehicle. Specifically, a remote smart parking assist system (RSPA) that remotely assists vehicle parking can remotely control the forward / reverse function of the vehicle to control the vehicle to park in or exit from a parking space.

[0005] However, when an obstacle is sensed in the traveling direction while the remote forward / reverse function is executed, the conventional RSPA performs deceleration control or braking control while maintaining neutral steering, thereby preventing a collision with the obstacle because the obstacle cannot be avoided.

[0006] Therefore, in an obstacle environment, in order to move the vehicle to a parking space desired by the driver, remote forward / reverse control is possible only when the vehicle is fully aligned in the parking space. 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 a device for controlling vehicle parking, a system having the device, and a method thereof, which determines whether an obstacle can be avoided during remote forward / reverse control, performs avoidance control when the obstacle can be avoided, and controls the vehicle by identifying a wall or a side surface of the vehicle so that a specific interval distance is maintained while aligning, thereby being able to perform parking control, avoid obstacles, and align the vehicle in the parking space at a specific interval when the vehicle position does not match the direction of the parking space, thereby reducing the risk of minor collisions during parking. The technical problems solved by the present invention are not limited to the aforementioned problems, and 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.

[0009] According to one aspect of the present invention, an apparatus for controlling vehicle parking includes a communication device that communicates with a remote controller located inside or outside the vehicle; and a processor that, when receiving a vehicle control command from the remote controller, receives information about surrounding obstacles from a sensor and performs avoidance steering control of the vehicle to avoid collision with the surrounding obstacles.

[0010] According to an embodiment, the processor is configured to sense obstacles around the vehicle when a vehicle forward or reverse command is received from a remote controller.

[0011] According to the embodiment, the processor is configured to determine whether the vehicle is currently in an ignition-on state or whether a driving history speed is not less than a predetermined reference value, thereby determining whether the vehicle is in an entry mode or an exit mode.

[0012] According to the embodiment, the processor is configured to determine that the vehicle is in the entry mode when the vehicle is currently in an ignition-on state and the driving history speed is not less than a predetermined reference value.

[0013] According to an embodiment, the processor is configured to determine that the vehicle is in the exit mode when the vehicle is not currently in an ignition-on state, or when the vehicle is started by a command received from a remote controller and a driving history speed is less than a predetermined reference value.

[0014] According to an embodiment, the device further comprises a storage device configured to store the sensing results of the surrounding obstacles.

[0015] According to the embodiment, in the entry mode, the processor is configured to determine whether an obstacle exists in the driving direction of the vehicle, and when the obstacle exists, extract the outline of the obstacle to store the outline of the obstacle in the storage device.

[0016] According to an embodiment, when an obstacle is sensed, the processor is configured to determine whether a contour length of the obstacle is greater than a predetermined reference value.

[0017] According to an embodiment, the processor is configured to align the vehicle in the parking space based on the outline of the obstacle when the outline length of the obstacle is equal to or greater than a predetermined reference value.

[0018] According to an embodiment, the processor is configured to align the vehicle in the parking space so that the vehicle is spaced a certain distance from the obstacle based on a profile of the obstacle, an average value of the distance between the vehicle and the obstacle, and a margin value of the distance between the vehicle and the obstacle.

[0019] According to an embodiment, the processor is configured to control the vehicle so that the vehicle is aligned in the parking space relative to a direction angle before the vehicle enters the entry mode when the outline length of the obstacle is less than a predetermined reference value.

[0020] According to an embodiment, in the exit mode, the processor is configured to compare feature points of the outline of the obstacle stored in the storage device with feature points of the currently sensed obstacle.

[0021] According to the embodiment, the processor is configured to perform avoidance steering control based on the outline of the obstacle when the feature points of the outline of the obstacle stored in the storage device are identical to the feature points of the currently sensed obstacle.

[0022] According to the embodiment, the processor is configured to verify the blind spot based on a result obtained by sensing the current obstacle when the feature points of the outline of the obstacle stored in the storage device are different from the feature points of the currently sensed obstacle, thereby performing the avoidance steering control.

[0023] According to an embodiment, the processor is configured to perform the steering neutral control when a user request to turn off the evasive steering control function is received.

[0024] According to the implementation scheme, when a request for terminating the system is received during steering neutral control, the processor is configured to determine the slope of the current ground and when the slope is less than a predetermined reference value, control the vehicle to turn on the ignition and turn off the power in the "N" gear without the electronic parking brake (EPB) being engaged.

[0025] According to the embodiment, the processor is configured to control the vehicle to turn off the ignition in the “P” gear with the electronic parking brake engaged when the slope is not less than a predetermined reference value.

[0026] According to an embodiment, the processor is configured to perform avoidance steering control of the vehicle based on the parking line information or based on the parking line information and the distance information.

[0027] According to one aspect of the present invention, a vehicle system includes a remote controller that sends commands for vehicle control at a remote location, receives vehicle status information from the vehicle, and displays the vehicle status information; and a vehicle parking control device that, when receiving a vehicle control command from the remote controller, senses surrounding obstacles and performs avoidance steering control of the vehicle to avoid collision with the surrounding obstacles.

[0028] According to one aspect of the present invention, a method for controlling vehicle parking includes: when a vehicle control command is received from a remote controller, sensing surrounding obstacles to determine whether evasive steering control for avoiding collision with surrounding obstacles is available; when evasive steering control is available, determining whether the vehicle is in entry mode or exit mode; in entry mode, performing alignment control according to the outline of surrounding obstacles or the direction angle of the vehicle; and in exit mode, performing evasive steering control according to the outline of surrounding obstacles or currently sensed information. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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:

[0030] Figure 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;

[0031] Figure 2A is an exemplary view of an operation of notifying a remote controller that a space can be entered according to an embodiment of the present invention;

[0032] Figure 2B is an exemplary view of an operation of notifying a remote controller that a space cannot be entered according to an embodiment of the present invention;

[0033] Figure 2C is an exemplary view of a state in which an evasive steering button of a remote controller is turned on according to an embodiment of the present invention;

[0034] Figure 3A and Figure 3B is a view for describing a vehicle alignment control method of a parking control device for a vehicle in an entry mode according to an embodiment of the present invention;

[0035] Figure 4A and Figure 4B is a view for describing an avoidance steering control method based on sensor information in an exit mode of a parking control device for a vehicle according to an embodiment of the present invention;

[0036] Figure 5A , Figure 5B and Figure 5C is a view for describing a contour-based avoidance steering control method of a parking control device for a vehicle in an exit mode according to an embodiment of the present invention;

[0037] Fig. 6A , Figure 6B and Figure 6C is an exemplary view for describing a parking situation of an evasive steering control according to an embodiment of the present invention;

[0038] Fig. 7A and Figure 7B is a view for describing a parking line-based alignment control method according to an embodiment of the present invention;

[0039] Fig. 8A , Figure 8B and Figure 8C is a view for describing an alignment control method based on a parking line and a vehicle approaching a parking line according to an embodiment of the present invention;

[0040] Fig. 9 is a flowchart for describing a method for controlling vehicle parking according to an embodiment of the present invention;

[0041] Fig.10 A computing system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0042] 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.

[0043] 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.

[0044] In the following, reference will be made to Figures 1 to 10 Various embodiments of the present invention are described in detail.

[0045] Figure 1 is a block diagram of a system for controlling vehicle parking according to an embodiment of the present invention.

[0046] refer to Figure 1 According to an embodiment of the present invention, a system for controlling vehicle parking including a device for controlling vehicle parking may include a vehicle parking control device 100, a sensing module 200, a remote controller 300, a steering controller 400, a driving controller 500, a braking controller 600 and a shift controller 700. Figure 1 The vehicle parking control device 100, sensing module 200, steering controller 400, drive controller 500, brake controller 600 and shift controller 700 shown can be installed in a vehicle, and the remote controller 300 can wirelessly communicate with the vehicle parking control device 100 inside or outside the vehicle.

[0047] When receiving a vehicle control command from the remote controller 300, the vehicle parking control device 100 can sense surrounding obstacles and can perform avoidance steering control of the vehicle to avoid collision with surrounding obstacles. That is, during the remote control of the vehicle, the vehicle parking control device 100 can determine whether obstacles can be avoided according to the movement of the vehicle, and can control the steering of the vehicle so that the vehicle can enter or leave while avoiding obstacles, regardless of the current position of the vehicle and the positions of surrounding obstacles.

[0048] The vehicle parking control apparatus 100 may include a communication device 110 , a storage device 120 , and a processor 130 .

[0049] The communication device 110 may be a hardware device implemented with various electronic circuits for sending and receiving signals through wireless or wired connections; in the present invention, the communication device 110 may perform communication in the vehicle through CAN communication, LIN communication, etc., and may communicate with the sensing module 200, the steering controller 400, the drive controller 500, the brake controller 600, the shift controller 700, etc. In addition, the communication device 110 may communicate with the remote controller 300 outside the vehicle through wireless communication.

[0050] The storage device 120 may store information obtained from the sensing module 200, data obtained by the processor 130 (outlines of surrounding obstacles, feature points, etc.), data received from the remote controller 300, etc. 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.

[0051] The processor 130 can be electrically connected to the sensing module 200, the steering controller 400, the drive controller 500, the braking controller 600, the shift controller 700, etc. as well as the communication device 110 and the storage device 120, can electrically control each component, can be a circuit that executes software instructions, and can perform various data processing and calculations described below.

[0052] The vehicle parking control device 100 may include a communication device 110 and a processor 130, wherein the communication device 110 communicates with a remote controller located inside or outside the vehicle, and when a vehicle control command is received from the remote controller, the processor 130 senses surrounding obstacles and performs avoidance steering control on the vehicle to avoid collision with the surrounding obstacles.

[0053] When a vehicle forward or reverse command is received from the remote controller 300 , the processor 130 may receive information on obstacles around the vehicle sensed by and transmitted from the sensing module 200 .

[0054] The processor 130 may receive an on / off signal indicating whether the evasive steering control button is on or off from the remote controller 300 , and when a signal indicating that the evasive steering control button is on is received by the processor, the processor 130 may perform an operation for the evasive steering control.

[0055] That is, the processor 130 can determine whether the vehicle is currently in an ignition-on state, or whether the driving history speed is not less than a predetermined reference value for avoidance steering control, and then can determine whether the vehicle is in an entry mode or an exit mode. At this time, when the vehicle is currently in an ignition-on state and when the driving history speed (e.g., 5kph) is not less than a predetermined reference value, the processor 130 can determine whether the vehicle is in an entry mode, and / or when the vehicle is not currently in an ignition-on state or when the vehicle is remotely started by a command received from the remote controller 300 and the driving history speed is less than a predetermined reference value, the processor 130 can determine whether the vehicle is in an exit mode.

[0056] In the entry mode, the processor 130 may determine whether there is an obstacle in the driving direction of the vehicle; the processor 130 may extract the outline of the obstacle to control the storage device 120 so that when there is an obstacle, the outline of the obstacle is stored in the storage device 120.

[0057] When an obstacle is sensed, the processor 130 may determine whether a contour length of the obstacle is greater than a predetermined reference value; when the contour length of the obstacle is greater than the predetermined reference value, the processor 130 may align the vehicle in the parking space based on the contour of the obstacle.

[0058] The processor 130 may control the vehicle so that it is aligned in the parking space so that the vehicle is spaced a certain distance from the obstacle based on the outline of the obstacle, the average value of the distance between the vehicle and the obstacle, and the margin value of the distance between the vehicle and the obstacle. Before the vehicle enters the entry mode, when the outline length of the obstacle is less than a predetermined reference value, the processor 130 may control the vehicle to align the vehicle in the parking space based on the direction angle.

[0059] In the exit mode, the processor 130 may compare feature points of the outline of the obstacle stored in the storage device 120 with feature points of the currently sensed obstacle.

[0060] When the feature points of the outline of the obstacle stored in the storage device 120 are the same as the feature points of the currently sensed obstacle, the processor 130 can perform avoidance steering control based on the outline of the obstacle. In addition, when the feature points of the outline of the obstacle stored in the storage device 120 are different from the feature points of the currently sensed obstacle, the processor 130 can verify the blind spot based on the result of sensing the current obstacle, thereby performing avoidance steering control.

[0061] When a signal indicating that the avoidance steering control button is turned off is received from the remote controller 300, the processor 130 can determine that the user wants to enter the parallel parking mode, and then the steering neutral control can be performed. When a request to terminate the system is received during the steering neutral control, the processor 130 can determine the current slope of the ground, and when the slope is less than a predetermined reference value, the ignition can be allowed to be turned off at the "N" gear with the electronic parking brake (EPB) engaged. In addition, when the slope is not less than the predetermined reference value, the processor 130 can allow the ignition to be turned off at the "P" gear without the EPB engaged.

[0062] The sensing module 200 may scan a parking space, may sense an obstacle (eg, a vehicle, a pedestrian, a bicycle, or a motorcycle) of the parking space, and may obtain information about the obstacle.

[0063] To this end, the sensing module 200 may include a distance measurement sensor (ultrasonic sensor, radar, etc.), an image sensor (camera, etc.), an acceleration sensor, a yaw rate sensor, a wheel speed sensor, a steering angle sensor, a distance sensor, etc. At this time, the ultrasonic sensor, radar, camera, etc. may be installed on the front side, rear side, left side, and right side of the vehicle to obtain information about obstacles in front of, behind, right, and left of the vehicle. The information about the obstacle may include image information of the obstacle, information about the size of the obstacle, information about the distance to the obstacle, information about the outline of the obstacle, information about the characteristic points of the obstacle, information about the position of the obstacle, information about the speed of the obstacle, information about the acceleration of the obstacle, etc.

[0064] The remote controller 300 can wirelessly communicate with the vehicle parking control device 100 to remotely send commands such as forward movement of the vehicle, reverse movement of the vehicle, opening / closing of vehicle doors, ignition on / off of the vehicle, etc. to the vehicle parking control device 100. To this end, the remote controller 300 may include a smart key, a user terminal (e.g., a smart phone, a PDA, etc.).

[0065] The steering controller 400 can control the steering of the vehicle; the driving controller 500 can control the driving of the vehicle; the braking controller 600 can control the braking of the vehicle; and the shift controller 700 can control the shifting of the vehicle. Such devices 400, 500, 600 and 700 are general in-vehicle devices for performing vehicle parking, and their detailed description will be omitted.

[0066] Therefore, in the case of remote forward / rearward control by RSPA, when the vehicle enters a narrow space or a space in front of a garage, the present invention can perform parking in the corresponding space (garage) even in a state where the position of the vehicle does not match the direction of the parking space. In addition, the present invention can perform obstacle avoidance control or can align the vehicle so as to be spaced a certain distance from an obstacle in the parking space, thereby minimizing the risk of minor collisions when parking.

[0067] Figure 2A is an exemplary view of an operation of notifying a remote controller that a space can be entered according to an embodiment of the present invention. Figure 2B is an exemplary view of an operation of notifying a remote controller that a space cannot be entered according to an embodiment of the present invention. Figure 2C is an exemplary view of a state in which an evasive turn button of a remote controller is turned on according to an embodiment of the present invention.

[0068] refer to Figure 2A As shown in “201”, when the vehicle parking control device 100 receives a remote forward / reverse command signal from the remote controller 300, the vehicle parking control device 100 scans the parking space through the sensing module 200; as shown in “202”, when the scanned parking space can be entered, the vehicle parking control device 100 can notify the user terminal 310 as the remote controller that the scanned parking space can be entered.

[0069] refer to Figure 2B As shown in "203", when a remote forward / reverse command signal is received from the remote controller 300, the vehicle parking control device 100 scans the parking space through the sensing module 200; as shown in "204", when the parking space cannot be found because all vehicles as shown in "203" are parked in the parking space, or when the parking space cannot be entered, the vehicle parking control device 100 notifies the user terminal 310 as the remote controller that the parking space cannot be entered.

[0070] Figure 2C 3 is an exemplary view of a screen for receiving an on / off signal of an avoidance steering button through the user terminal 310. Figure 2CAs shown in "205", when the user turns on or off the avoidance turn button, the vehicle parking control device 100 can directly receive the on / off signal of the avoidance turn button through the user terminal 310, and the user terminal 310 (remote controller) can send the avoidance turn button on signal or the avoidance turn button off signal to the vehicle system.

[0071] Figure 3A and Figure 3B is a view for describing a vehicle alignment control method of a parking control apparatus for a vehicle in an entry mode according to an embodiment of the present invention.

[0072] refer to Figure 3A 301, describes that the vehicle parking control device 100 scans the parking space through the sensing module 200, so that the vehicle 10 (the vehicle 10 is at least equipped with or connected to a reference Figure 1 The vehicle parking control device 100 is configured to align the left and right contours 311 and 312 of the left and right vehicles 11 and 12 so that the distance between the vehicle 10 and the contours 311 and 312 is constant based on the left and right contours 311 and 312 of the left and right vehicles 11 and 12, and park the vehicle 10 when a remote forward / reverse command signal is received from the remote controller 300. At this time, the vehicle parking control device 100 can extract the contour by extracting the angle of the left and right vehicles 11 and 12 and the distance between the vehicle 10 and the left and right vehicles 11 and 12, and can align the vehicle 10 based on a value obtained by adding an average value of the contour and a margin of the contour. At this time, when each of the contours 311 and 312 is greater than a predetermined reference value, each of the contours 311 and 312 can be used as a contour.

[0073] Referring to "302", when the profile of an obstacle 15 having a short length (such as a column or a cone) is short, it is difficult to extract the angle profile of the side of the obstacle; it is difficult to use the profile as a reference for vehicle alignment. In this case, the vehicle can be aligned by setting the direction angle 304 of the vehicle to be the same as the initial direction angle 303 of the vehicle when parking.

[0074] Figure 4A and Figure 4B is a view for describing an avoidance steering control method based on sensor information in an exit mode of a parking control apparatus for a vehicle according to an embodiment of the present invention.

[0075] refer to Figure 4A and Figure 4B , in the exit mode of the vehicle, the vehicle parking control device 100 senses surrounding obstacles by using the sensing module 200 installed in the vehicle and performs avoidance steering. Figure 4A "401" of FIG. 4 shows that a collision occurs by controlling the avoidance steering with respect to the front obstacle 15 without verifying the information about the left and right blind spots on the exit. Figure 4BIn “ 402 ” of , the vehicle parking control device 100 may identify the obstacle 15 by acquiring information about the left and right blind spots on the exit, thereby allowing the vehicle to avoid the front obstacle 15 and the vehicles 11 and 12 located beside the vehicle 10 .

[0076] Figure 5A , Figure 5B and Figure 5C is a view for describing a contour-based avoidance steering control method of a parking control apparatus for a vehicle in an exit mode according to an embodiment of the present invention.

[0077] exist Figure 5A In "501", when the vehicle 10 enters the parking space between the surrounding obstacles 11 and 12, the vehicle parking control device 100 can extract the left and right feature points of the surrounding obstacles 11 and 12, can connect the feature points, can extract the contours 311 and 312, and can store the contours 311 and 312.

[0078] exist Figure 5B In "502" of FIG. 1 , in the exit mode, the vehicle parking control device 100 may compare the stored profile with the feature points sensed by the sensing module 200 of the vehicle 10; when the stored profile is similar to the feature points, the vehicle parking control device 100 may determine that there is an obstacle at the exit, and then may control the exit control based on the stored profile. At this time, Figure 5C As shown in “ 503 ” of , when the obstacle 15 is sensed, the vehicle parking control device 100 can perform steering control to avoid the obstacle 15 .

[0079] Fig. 6A , Figure 6B and Figure 6C is an exemplary view for describing a parking situation of evasive steering control according to an embodiment of the present invention.

[0080] Fig. 6A 601 of FIG. 1 shows that when the vehicle 10 enters the parking space, the vehicle 10 may collide with the front obstacle 11 ; Figure 6B '602' of FIG. 1 shows that after avoiding the obstacle 11 through avoidance steering control, the vehicle 10 is parked in the parking space. Figure 6C '603' of FIG. 1 shows that parallel parking is performed when no empty parking space can be scanned because all obstacles 11, 12, and 13 are parked in the parking space.

[0081] Fig. 7A and Figure 7B 2 is a view for describing a parking line-based alignment control method according to an embodiment of the present invention.

[0082] Fig. 7A and Figure 7BIt is shown that when parking control in a parking space is performed based on image data of a camera and a distance information sensor (radar, ultrasonic sensor, etc.), if only a parking line exists, an alignment reference is provided with respect to parking line information. That is, the vehicle can enter the left space or the right space after determining whether to enter the left space or the right space, depending on the offset amount of the vehicle relative to the intersection of the parking lines. Fig. 7A “701” of FIG. 1 shows an evasive turn in a state where the vehicle is offset to the left relative to the parking line; Figure 7B “702” shows an evasive turn in a state where the vehicle is offset to the right relative to the parking line.

[0083] Fig. 8A , Figure 8B and Figure 8C 1 is a view for describing an alignment control method based on a parking line and a vehicle approaching a parking line according to an embodiment of the present invention. Fig. 8A , Figure 8B and Figure 8C , showing that avoidance steering control is performed based on the parking line and surrounding obstacles. Fig. 8A 801 shows that alignment is performed relative to the left parking line when there are no surrounding obstacles; Figure 8B 802 shows that when the surrounding obstacles 11 and 12 exist and the surrounding obstacles 11 and 12 are parked to cross the parking line, parking alignment is performed based on the parking line and the distance between the vehicle and the surrounding obstacles 11 and 12 . Figure 8C 803 of FIG. 8 shows that when the surrounding obstacle 11 is parked in only one of the left parking space and the right parking space, parking alignment is performed based on the parking line and the distance between the vehicle and the surrounding obstacle 11. At this time, when no surrounding vehicle crosses the parking line, the vehicle parking control device 100 may allow the vehicle to be aligned at the center of the parking line relative to the parking line.

[0084] Hereinafter, according to the 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 is a flowchart for describing a method for controlling parking of a vehicle according to an embodiment of the present invention.

[0085] In the following, it is assumed Figure 1 The vehicle parking control device 100 performs Fig. 9 In addition, Fig. 9 As described above, it will be appreciated that the operations described as being performed by the vehicle parking control device 100 are controlled by the processor 130 of the device 100 .

[0086] refer to Fig. 9In step S102, when the remote forward / reverse button input signal is received in step S101, the vehicle parking control device 100 determines whether an avoidance steering button off signal is received from the user's remote controller 300. Figure 2C As shown, the user can turn off the evasive steering button of the remote controller 300 to allow simple forward / reverse remote control in a parallel parking situation rather than an entry / exit situation.

[0087] In step S103, when the vehicle parking control device 100 receives a signal indicating that the avoidance steering switch is turned on from the user's remote controller 300, the vehicle parking control device 100 determines whether the vehicle is currently in an ignition-on state, or whether the driving history speed is not less than a predetermined reference speed (e.g., 5 kph) to determine whether it is in entry mode or exit mode.

[0088] At this time, when the vehicle is currently in the ignition power-on state and when the driving history speed is not less than the predetermined reference speed, the vehicle parking control device 100 determines in step S104 that the vehicle is in the entry mode, senses an obstacle in the direction of vehicle travel in step S105, and immediately enters the avoidance steering control mode in step S106 when an obstacle is sensed.

[0089] Then, when the current gear position of the vehicle is in the "P" gear, the vehicle parking control device 100 extracts the left and right contours of the sensed obstacle in step S107, and stores the extracted left and right contours of the obstacle in step S108. At this time, step S108 can be executed when the parking control is completed and the system termination condition is met.

[0090] After that, the vehicle parking control device 100 determines whether the length of each of the left and right contours of the obstacle is not less than a predetermined first reference value in step S109, and when the length of each of the left and right contours of the obstacle is not less than the predetermined first reference value, performs parking alignment control based on the contours in step S110. Figure 3A As shown in “301” of FIG. 1 , the vehicle may be aligned so as to be spaced apart from the contour 311 of the left obstacle 11 and the contour 312 of the right obstacle 12 by a specific interval. At this time, the vehicle parking control device 100 may align the vehicle 10 so that the vehicle 10 is spaced apart based on a value obtained by adding an average value of the distances between the vehicle 10 and the contours 311 and 312 of the obstacles and a specific margin value of the distances.

[0091] In step S111, when the length of each of the left and right contours of the obstacle is less than a predetermined first reference value, the vehicle parking control device 100 may align the vehicle based on the initial direction angle of the vehicle. Figure 3BAs shown in "302", when the outline of the obstacle is shorter than the predetermined first reference value, it is difficult to align the vehicle with the corresponding outline. In this case, the vehicle can be aligned according to reference lines 303 and 304 of the initial direction angle (azimuth) in the entry mode.

[0092] Afterwards, in step S113, when the system termination condition in step S112 is satisfied, the vehicle parking control device 100 may turn off the ignition at the "P" gear with the EPB engaged. At this time, the system termination condition may include a case where parking is completed in the entry mode.

[0093] Meanwhile, in step S114 , when the ignition is remotely turned on in step S103 and the driving history speed is less than a predetermined reference speed, the vehicle parking control device 100 determines that the vehicle is parked, and then, continues to determine that the vehicle is in the exit mode.

[0094] Then, in step S115, the vehicle parking control device 100 determines whether the pre-stored contour feature points are similar (or identical) to the feature points sensed by the sensor. At this time, the pre-stored contour feature points may include contour information pre-stored in the entry mode; the feature points sensed by the sensor may include feature point information of the obstacle sensed by the sensing module 200 at the current time point.

[0095] When the profile feature points stored in step S115 are not similar to the feature points sensed by the sensor, since the obstacle sensed in the entry mode is different from the obstacle at the current time point, in step S116, the vehicle parking control device 100 performs avoidance steering control so that the vehicle travels after verifying the left and right blind spots based on the sensor information sensed at the current time point. Figure 4B As shown in "402", after sensing the surrounding obstacles to verify the information about the left and right blind spots, the sensing module 200 of the vehicle enters the avoidance steering control mode. At this time, in order to verify the information about the left and right blind spots, the vehicle 10 can move a specific distance to a position where the ultrasonic sensor of the vehicle can sense.

[0096] In step S115, when the pre-stored contour feature points are similar to the feature points sensed by the sensor, the vehicle parking control device 100 determines that there is a sensed obstacle in the entry mode, and in step S117, performs avoidance steering control so that the vehicle exits based on the contour. Figure 5A , Figure 5B and Figure 5C As shown in “ 501 ” to “ 503 ”, avoidance steering control may be performed based on profiles 311 and 313 .

[0097] In step S201 , when a signal indicating that the avoidance steering control is off is received from the remote controller 300 in step S102 , the vehicle parking control device 100 enters the parallel parking mode (steering neutral control) when the user desires parallel parking.

[0098] Afterwards, in step S203, when the system termination condition is met, the vehicle parking control device 100 determines whether the current slope is greater than a predetermined reference value; when the current slope is less than the predetermined reference value, in step S204, the vehicle parking control device 100 performs ignition power-off ("N" gear control) when the EPB is not engaged; when the current slope is equal to or greater than the predetermined reference value, in step S205, the vehicle parking control device 100 performs ignition power-off in the "P" gear when the EPB is engaged. That is, for the convenience of parallel parking, when the slope is small (flat), the vehicle turns off the ignition in the "N" gear when the EPB is not engaged; when the slope is equal to or greater than the reference value, the vehicle may be pushed. In order to prevent this, the ignition is turned off in the P gear when the EPB is engaged.

[0099] Therefore, even when the driving direction and position of the vehicle during parking assistance by RSPA do not match the direction of the parking space, the present invention can safely assist parking by performing steering avoidance control. In addition, the present invention can control the vehicle by avoiding obstacles so as to align at a specific interval in the parking space, thereby reducing the risk of minor collisions with surrounding vehicles when the vehicle is parked or exited.

[0100] Fig.10 A computing system according to an embodiment of the present invention is shown.

[0101] 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 .

[0102] 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).

[0103] 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 non-transitory or transient 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).

[0104] 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 implemented with separate components in a user terminal.

[0105] 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.

[0106] 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.

[0107] The present invention can determine whether to avoid an obstacle during remote forward / reverse control, can perform avoidance control when the obstacle can be avoided, and can identify a wall or a side surface of the vehicle, thereby allowing the vehicle to be aligned while maintaining a specific interval distance; therefore, the present invention can control parking when the vehicle position does not match the direction of the parking space, can avoid obstacles, and can align the vehicle in the parking space at a specific interval, thereby reducing the risk of minor collisions when parking.

[0108] Furthermore, various effects directly or indirectly realized by the present invention can be provided.

[0109] 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, the device include: a communication device configured to communicate with a remote controller located inside or outside the vehicle; as well as a processor, when receiving a vehicle control command from a remote controller, the processor being configured to receive information about surrounding obstacles from a sensor and configured to perform avoidance steering control of the vehicle to avoid collision with the surrounding obstacles; Wherein, the processor is further configured to: Determine whether there is an obstacle in the direction of travel of the vehicle; Extract the outline of obstacles; Aligning the vehicle in the parking space based on the outline of the obstacle; When the vehicle is in the entry mode, determining whether a contour length of the obstacle is greater than a predetermined reference value; aligning the vehicle in the parking space based on the outline of the obstacle when the outline length of the obstacle is equal to or greater than a predetermined reference value; When the outline length of the obstacle is less than a predetermined reference value, the vehicle is controlled so that the vehicle is aligned in the parking space based on the direction angle of the vehicle.

2. The device for controlling vehicle parking according to claim 1, in, The processor is further configured to: When a vehicle forward or reverse command is received from a remote controller, obstacles around the vehicle are sensed.

3. The device for controlling vehicle parking according to claim 2, in, The processor is further configured to: It is determined whether the vehicle is currently in an ignition-on state or whether the driving history speed is not less than a predetermined reference value, thereby determining whether the vehicle is in an entry mode or an exit mode.

4. The device for controlling vehicle parking according to claim 3, in, The processor is further configured to: When the vehicle is currently in an ignition-on state and the driving history speed is not less than a predetermined reference value, it is determined that the vehicle is in the entry mode.

5. The device for controlling vehicle parking according to claim 3, in, The processor is further configured to: When the vehicle is not currently in an ignition-on state, or when the vehicle is started by a command received from a remote controller, and a driving history speed is less than a predetermined reference value, it is determined that the vehicle is in the exit mode.

6. The device for controlling vehicle parking according to claim 3, further comprising: include: The storage device is configured to store the sensing results of the surrounding obstacles.

7. The device for controlling vehicle parking according to claim 6, in, The processor is further configured to: In entry mode, When an obstacle exists, a contour of the obstacle is extracted to store the contour of the obstacle in a storage device.

8. The device for controlling vehicle parking according to claim 1, in, The processor is configured to: The vehicle is aligned in the parking space so that the vehicle is spaced a certain distance from the obstacle based on a profile of the obstacle, an average value of the distance between the vehicle and the obstacle, and a margin value of the distance between the vehicle and the obstacle.

9. The device for controlling vehicle parking according to claim 7, in, The processor is further configured to: In exit mode, The feature points of the outline of the obstacle stored in the storage device are compared with the feature points of the currently sensed obstacle.

10. The device for controlling vehicle parking according to claim 9, in, The processor is configured to: When the feature points of the outline of the obstacle stored in the storage device are identical to the feature points of the currently sensed obstacle, avoidance steering control is performed based on the outline of the obstacle.

11. The device for controlling vehicle parking according to claim 9, in, The processor is further configured to: When the feature points of the outline of the obstacle stored in the storage device are different from the feature points of the currently sensed obstacle, the blind spot is verified based on the result obtained by sensing the current obstacle, thereby performing the avoidance steering control.

12. The device for controlling vehicle parking according to claim 2, in, The processor is further configured to: When a user request to turn off the avoidance steering control function is received, the steering neutral control is performed.

13. The device for controlling vehicle parking according to claim 12, in, The processor is further configured to: When a request to terminate the system is received during the steering neutral control, Determine the current slope of the ground; and When the slope is less than a predetermined reference value, the vehicle is controlled to be in "N" gear with the ignition turned off and the power is turned off without the electronic parking brake being engaged.

14. The device for controlling vehicle parking according to claim 13, in, The processor is configured to: When the slope is not less than a predetermined reference value, the vehicle is controlled to be in "P" gear with the ignition turned off with the electronic parking brake engaged.

15. The device for controlling vehicle parking according to claim 1, in, The processor is configured to: Avoidance steering control of the vehicle is performed based on the parking line information or based on the parking line information and the distance information.

16. A vehicle system, wherein include: a remote controller configured to send commands for vehicle control at a remote location, configured to receive vehicle status information from the vehicle, and configured to display the vehicle status information; as well as a vehicle parking control device configured to sense surrounding obstacles when receiving a vehicle control command from a remote controller, and configured to perform avoidance steering control of the vehicle to avoid collision with the surrounding obstacles; Wherein, the vehicle parking control device is further configured as follows: Determine whether there is an obstacle in the direction of travel of the vehicle; Extract the outline of obstacles; Aligning the vehicle in the parking space based on the outline of the obstacle; When the vehicle is in the entry mode, determining whether a contour length of the obstacle is greater than a predetermined reference value; aligning the vehicle in the parking space based on the outline of the obstacle when the outline length of the obstacle is equal to or greater than a predetermined reference value; When the outline length of the obstacle is less than a predetermined reference value, the vehicle is controlled so that the vehicle is aligned in the parking space based on the direction angle of the vehicle.

17. A method for controlling vehicle parking, the method include: When a vehicle control command is received from a remote controller, sensing surrounding obstacles to determine whether evasive steering control for avoiding collision with the surrounding obstacles is available; When evasive steering control is enabled, determining whether the vehicle is in an entry mode or an exit mode; Determine whether there is an obstacle in the direction of travel of the vehicle; Extract the outline of obstacles; Aligning the vehicle in the parking space based on the outline of the obstacle; In the entry mode, when the outline length of the obstacle is equal to or greater than a predetermined reference value, alignment control is performed based on the outline of the surrounding obstacles, and when the outline length of the obstacle is less than the predetermined reference value, alignment control is performed based on the direction angle of the vehicle; as well as In the exit mode, avoidance steering control is performed based on the outline of surrounding obstacles or currently sensed information.

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