Device and method for controlling remote parking in a vehicle

Abstract

The present disclosure relates to an apparatus and method for controlling remote parking in a vehicle. The apparatus for controlling remote parking in the vehicle includes an ultrasonic sensor for measuring a distance from a vehicle to an obstacle and a receiver for receiving a surrounding view monitoring (SVM) image. A controller performs remote parking of the vehicle by selectively using the distance to the obstacle and the SVM image received by the receiver, the distance being measured by the ultrasonic sensor.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority to Korean Patent Application No. 10-2019-0021942, filed on February 25, 2019, which is hereby incorporated by reference in its entirety. Technical Field

[0003] The present disclosure relates to an apparatus and method for controlling remote parking in a vehicle, and more particularly, to an apparatus and method for controlling remote parking (remote parking) of a vehicle in a narrow parking space using an ultrasonic sensor and a surrounding view monitoring image. Background Art

[0004] The Remote Smart Parking Assist (RSPA) system remotely receives a parking signal through a driver's remote controller operation signal, uses an ultrasonic sensor and an obstacle determination device to identify a parking space in which the vehicle can be parked, and automatically parks the vehicle in the parking space, to remotely drive and park without driver intervention or control, and to improve driver convenience.

[0005] Since the ultrasonic sensor cannot detect an obstacle located closer than the minimum sensing distance, the ultrasonic sensor cannot detect other vehicles as obstacles when the interval distance to other vehicles parked on both sides of the parking space is less than the minimum sensing distance due to the narrow parking space. Thus, since the parking space is narrow, the conventional RSPA system cannot park the vehicle when the interval distance to other vehicles parked on both sides of the parking space is less than the minimum sensing distance of the ultrasonic sensor.

[0006] Further, the conventional RSPA system may use ultrasonic sensors to measure the spacing distances from other vehicles parked on both sides of the parking space and may park the vehicle based on the measured spacing distances. Thus, the conventional RSPA system may still park the vehicle in the center between other vehicles, but may not park the vehicle in the center of the parking space, thereby providing a less accurate parking system. Summary of the invention

[0007] The present disclosure provides an apparatus and method for controlling remote parking in a vehicle to park the vehicle in a narrow parking space and provide various parking modes based on an ultrasonic sensor and a surrounding view monitoring (SVM) image. The technical problems solved by the inventive concept are not limited to the above problems, and any other technical problems not mentioned here can be clearly known to those skilled in the art from the following description.

[0008] According to one aspect of the present disclosure, an apparatus may include: an ultrasonic sensor configured to measure a distance to an obstacle; a receiver configured to receive a surround view monitoring (SVM) image; and a controller configured to perform remote parking of a vehicle by selectively using the distance to the obstacle and the SVM image received by the receiver, the distance being measured by the ultrasonic sensor.

[0009] The device may further include a communicator configured to transmit the distance to the obstacle and the SVM image to the user terminal. The controller may be configured to perform remote parking of the vehicle based on the parking mode transmitted from the user terminal. The parking mode may include a space center mode, a line center mode, a right line mode, and a left line mode. When the width of the parking space is greater than a threshold value in the space center mode, the controller may be configured to perform remote parking of the vehicle based on the distance to the obstacle, and the above distance is measured by an ultrasonic sensor.

[0010] In addition, when the width of the parking space is less than or equal to a threshold value in the spatial center mode, the controller may be configured to perform remote parking of the vehicle based on the SVM image. When the distance to the obstacle measured by the ultrasonic sensor in the spatial center mode is less than the minimum sensing distance, the controller may also be configured to perform remote parking of the vehicle based on the distance from the vehicle to the obstacle measured using the SVM image. Remote parking of the vehicle may be performed based on the distance to the obstacle measured using the SVM image in the line center mode.

[0011] Further, the controller may be configured to perform remote parking of the vehicle based on the distance from the right line of the parking space measured using the SVM image in the right line mode. The controller may be configured to perform remote parking of the vehicle based on the distance from the left line of the parking space measured using the SVM image in the left line mode.

[0012] According to another aspect of the present disclosure, a method may include: measuring a distance to an obstacle through an ultrasonic sensor of a vehicle; receiving a surround view monitoring (SVM) image through a receiver of the vehicle; and performing remote parking of the vehicle by a controller of the vehicle by selectively using the measured distance to the obstacle and the received SVM image.

[0013] The method may further include: transmitting the distance to the obstacle and the SVM image to the user terminal through the communicator of the vehicle. Performing remote parking of the vehicle may include: performing remote parking of the vehicle based on the parking mode transmitted from the user terminal. The parking mode may include a space center mode, a line center mode, a right line mode, and a left line mode.

[0014] In addition, performing remote parking of the vehicle may include: when the width of the parking space is greater than a threshold value in the space center mode, performing remote parking of the vehicle based on a distance to an obstacle, the distance being measured by an ultrasonic sensor. Performing remote parking of the vehicle may further include: when the width of the parking space is less than or equal to a threshold value in the space center mode, performing remote parking of the vehicle based on the SVM image.

[0015] Performing remote parking of the vehicle may include: when the distance to the obstacle measured by the ultrasonic sensor in the spatial center mode is less than the minimum sensing distance, performing remote parking of the vehicle based on the distance to the obstacle measured using the SVM image. Further, performing remote parking of the vehicle may include: performing remote parking of the vehicle based on the distance to the obstacle measured using the SVM image in the line center mode.

[0016] Remote parking of the vehicle may further include performing remote parking of the vehicle based on a distance from a right line of the parking space measured using the SVM image in the right line mode. Performing remote parking of the vehicle may include performing remote parking of the vehicle based on a distance from a left line of the parking space measured using the SVM image in the left line mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings:

[0018] Figure 1 is a block diagram showing a configuration of an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure;

[0019] Figure 2 is a block diagram showing a configuration of an SVM system used in an exemplary embodiment of the present disclosure;

[0020] Figure 3 is a diagram showing an example of an SVM image used in an exemplary embodiment of the present disclosure;

[0021] Figure 4A is a diagram showing a first embodiment of a space center mode provided by an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure;

[0022] Figure 4B is a diagram showing a second embodiment of a space center mode provided by an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure;

[0023] Figure 4Cis a diagram showing a third example of a space center mode provided by an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure;

[0024] Figure 5 is a diagram showing a line center pattern provided by an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure;

[0025] Figure 6 is a diagram showing a right lane mode provided by an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure;

[0026] Figure 7 is a diagram showing an example of an RSPA system used in an exemplary embodiment of the present disclosure;

[0027] Figure 8 is a flowchart illustrating a method for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure; and

[0028] Fig. 9 is a block diagram illustrating a computing system for executing a method for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] It should be understood that the terms "vehicle" or "vehicular" or other similar terms used in this document include a broad range of motor vehicles, such as passenger vehicles including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles; watercraft including various boats, sea vessels; spacecraft, etc.; and include hybrid vehicles, electric vehicles, internal combustion vehicles, plug-in hybrid vehicles, hydrogen-powered vehicles and other alternative fuel vehicles (e.g., fuel derived from non-gasoline energy sources).

[0030] Although the exemplary embodiment is described as using multiple units to perform the exemplary process, it should be understood that the exemplary process can also be performed by one or more modules. In addition, it should be understood that the term controller / control unit refers to a hardware device including a memory and a processor. The memory is configured to store the modules, and the processor is specifically configured to execute the modules to perform one or more processes described further below.

[0031] In addition, the control logic of the present disclosure may be embodied as a non-transitory computer-readable medium containing executable program instructions executed by a processor, a controller / control unit, etc. Examples of computer-readable media include, but are not limited to, ROM, RAM, compact disk (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable recording medium may also be distributed in a network-coupled computer system, so that the computer-readable medium is stored and executed in a distributed manner, for example, by a telematics server or a controller area network (CAN).

[0032] The wording used herein is only for the purpose of describing specific embodiments and is not intended to limit the present disclosure. Unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" as used herein are also intended to include the plural forms. It should also be understood that when the terms "include" and / or "comprise" are used in this specification, they describe the presence of the features, wholes, steps, operations, elements and / or components described, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof. The term "and / or" as used herein includes any and all combinations of one or more related listed items.

[0033] Unless otherwise expressly indicated or apparent in the context, the term "about" as used herein is understood to be within the normal range of error in the art, such as within 2 mean standard deviations. "About" may be understood to be within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05% or 0.01% of the value. Unless otherwise expressly indicated in the context, all numerical values ​​provided herein are modified by the term "about".

[0034] Hereinafter, some exemplary embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. When adding reference numerals to components in each drawing, it should be noted that the same or equivalent components are represented by the same numerals even when shown in other drawings. Further, when describing the exemplary embodiments of the present disclosure, in order not to make the subject matter of the present disclosure unnecessarily obscure, a detailed description of well-known features or functions will be excluded.

[0035] When describing the components according to the exemplary embodiments of the present disclosure, the terms first, second, "A", "B", (a), (b), etc. may be used. These terms are intended only to distinguish one component from another, but these terms do not limit the nature, order or sequence of the constituent components. In addition, unless otherwise specified, all terms used in the text, including technical and scientific terms, have the same meaning as those commonly understood by personnel in the technical field to which the present disclosure belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with the contextual meanings in the relevant field and as having idealized or overly stereotyped meanings, except for those explicitly defined in this application as having various meanings.

[0036] Figure 1 is a block diagram showing a configuration of an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure. Figure 1 As shown, the apparatus 300 for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure may include a storage device 10, a communicator 20, an ultrasonic sensor 30, a surround view monitoring (SVM) image receiver 40, and a controller 50. Specifically, based on the manner in which the apparatus 300 for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure is performed, the components may be combined with each other to constitute one component, and some components may be omitted according to the manner in which the exemplary embodiment of the present disclosure is performed.

[0037] The storage device 10 may be configured to store various logics, algorithms, and programs required for parking the vehicle in a narrow parking space and providing various parking modes based on the ultrasonic sensor 30 and the SVM image. Further, the storage device 10 may include at least one type of storage medium, such as a flash memory type memory, a hard disk type memory, a micro memory, a card type memory (e.g., a secure digital (SD) card or an extreme digital (XD) card), a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable PROM (EEPROM), a magnetic RAM (MRAM), a magnetic disk, and an optical disk.

[0038] The communicator 20 may be a module configured to provide a communication interface with the user terminal 400, and may be configured to receive various commands from the user terminal 400 and transmit data (e.g., an SVM image or a distance to an obstacle measured by the ultrasonic sensor 30) to the user terminal 400. Here, the user terminal 400 may include a smart phone, a laptop, a digital broadcast terminal, a personal digital assistant (PDA), a portable multimedia player (PMP), a tablet personal computer (PC), a tablet PC, an ultra-thin notebook, or a wearable device.

[0039] For example, the communicator 20 may be configured to receive a parking request signal, a departure request signal, or various parking modes from the user terminal 400 and transmit a real-time SVM image and a distance to an obstacle measured by the ultrasonic sensor 30 during parking to the user terminal 400. The transmitted SVM image and the transmitted distance to the obstacle measured by the ultrasonic sensor 30 may be displayed on the screen of the user terminal 400.

[0040] Here, the parking mode may include a mode for parking the vehicle at the center of a parking space (hereinafter referred to as a "space center mode"), a mode for parking the vehicle at the center of a parking spot (hereinafter referred to as a "line center mode"), a mode for parking the vehicle close to a right line (hereinafter referred to as a "right line mode"), or a mode for parking the vehicle close to a left line (hereinafter referred to as a "left line mode". Specifically, a parking space may refer to a space between two vehicles, and a parking spot may refer to a portion where parking lines are configured.

[0041] The communicator 20 may include: at least one or more of a mobile communication module, a wireless Internet module, and a short-range communication module. Here, the mobile communication module may be configured to send and receive wireless signals with an autonomous vehicle, a service server, etc. through a mobile communication network established according to a technical standard or communication mode of mobile communication (e.g., Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), Code Division Multiple Access 200 (CDMA2000), Enhanced Voice Data Optimization or Enhanced Voice Data Only (EV-DO), Wideband CDMA (WCDMA), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), Long Term Evolution (LTE), LTE Advanced (LTE-A), etc.).

[0042] The wireless Internet module may be a module for accessing the wireless Internet and may be configured to transmit and receive wireless signals with an autonomous vehicle, a service server, etc. via a wireless local area network (WLAN), wireless fidelity (Wi-Fi), Wi-Fi Direct, Digital Living Network Alliance (DLNA), wireless broadband (WiBro), Worldwide Interoperability for Microwave Access (WiMAX), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), Long Term Evolution (LTE), LTE-Advanced (LTE-A), etc. The short-range communication module may use Bluetooth TM At least one of , Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), and Wireless Universal Serial Bus (USB) technologies supports short-range communication.

[0043] Further, the ultrasonic sensor 30 may be configured to measure the distance to the obstacle using ultrasonic waves. The SVM image receiver 40 may be configured to receive the SVM image from the SVM system 100. Figure 2 A detailed description is given of the configuration of the SVM system 200. Figure 2 is a block diagram showing the configuration of an SVM system used in an exemplary embodiment of the present disclosure. Figure 3 is a diagram showing an example of an SVM image used in an exemplary embodiment of the present disclosure.

[0044] like Figure 2 As shown, the SVM system 100 used in the exemplary embodiment of the present disclosure may include a signal input device 110, a camera 120, a view converter 130, and an SVM controller 140. The signal input device 110 may be configured to receive an activation signal from the driver. The signal input device 110 may be implemented as an SVM button, but is not limited to this and may be implemented as another input device. The SVM button may be configured to receive a signal for indicating operation in the SVM mode. When the SVM button is pressed by the driver or engaged by other means, the SVM button may be configured to generate an activation signal for the SVM mode.

[0045] The camera 120 may be an imaging device configured to capture images around the vehicle and may include a front view camera 121, a rear view camera 122, a left view camera 123, and a right view camera 124. The cameras 121 to 124 may be components included in the SVM system 100 and may be adjusted to capture optimal SVM images. The front view camera 121 may be disposed on the front surface of the vehicle and may be used to obtain an image in front of the vehicle. Specifically, the front view camera 121 may be disposed in, but not limited to, the middle portion between the two headlights of the vehicle. The rear view camera 122 may be disposed in, but not limited to, the middle portion between the two taillights of the vehicle.

[0046] The left view camera 123 may be disposed on the left surface of the vehicle and may be used to obtain an image of the left side of the vehicle. Specifically, the left view camera 123 may be disposed at, but not limited to, the lower portion of the left rearview mirror of the vehicle. The right view camera 124 may be disposed at the right surface of the vehicle and may be used to obtain an image of the right side of the vehicle. Specifically, the right view camera 124 may be disposed at, but not limited to, the lower portion of the right rearview mirror of the vehicle.

[0047] The view converter 130 may be configured to generate an SVM image using images captured by the cameras 121 to 124. The generated SVM image may refer to Figure 3The top view image is shown. The SVM controller 140 may be configured to operate the signal input device 110, the camera 120, and the view converter 130 in the process of generating the SVM image. Figure 1 The controller 50 in the embodiment may be configured to perform overall control so that the corresponding components perform their corresponding functions. The controller 50 may be implemented in hardware or software form or a combination thereof and may be specifically programmed to perform the processing described herein.

[0048] Specifically, the controller 50 may be implemented as, but not limited to, a microprocessor. The exemplary embodiment of the present disclosure is exemplified as implementing the controller 50 independently of the RSPA system 200. However, the exemplary embodiment is not limited thereto. For example, the RSPA 200 may be implemented in a form that performs all functions of the controller 50. Further, the controller 50 may be configured to perform operations based on Figure 1 The ultrasonic sensor 30 and SVM image in the parking space can park the vehicle in a narrow parking space and provide various controls required in the process of various parking modes.

[0049] Further, the controller 50 may be configured to Figure 1 The controller 50 may be configured to operate the RSPA system 200 to park the vehicle according to the parking mode received by the user terminal 400 in the control unit 400. Specifically, the controller 50 may be configured to operate the RSPA system 200 to perform the parking process of the vehicle only when a signal corresponding to the parking mode is continuously received from the user terminal 400. Further, when the parking line cannot be identified or the parking line is not detected or does not exist, the controller 50 may be configured to generate a virtual parking line. Specifically, when the interval (parking space) between parked vehicles exceeds a threshold value, the controller 50 may be configured to generate a virtual parking line. In other words, when the interval between vehicles is narrow, the controller 50 may not generate a virtual parking line. Further, the controller 50 may be configured to park the vehicle based on the virtual parking line.

[0050] In the following, reference will be made to FIG. 4A to FIG. 6 A detailed description is given of the operation of the controller 50 . Figure 4A is a diagram illustrating a first example of a space center mode provided by an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure. Figure 4A 2 shows a case where the interval between the vehicles parked on the left and right sides of the parking space (eg, the parking space) is sufficiently wide. Figure 4A As shown, because only Figure 1 The ultrasonic sensor 30 in the vehicle can park the vehicle, so Figure 1 The controller 50 may be configured to operate based on the data measured by the ultrasonic sensor 30. Figure 1 The RSPA system 200 in FIG.

[0051] Figure 4B is a diagram illustrating a second example of a space center mode provided by an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure. Figure 4B 2 shows a case where the interval (parking space) between the vehicles parked on the left and right sides of the parking space is narrow. Figure 4B As shown, when the host vehicle 410 enters the parking space, the distance d between the host vehicle 410 and obstacles (eg, surrounding vehicles) measured by the ultrasonic sensor 30 is U becomes smaller than the minimum sensing distance d of the ultrasonic sensor 30 Umin , so the host vehicle 410 cannot park using only the ultrasonic sensor 30. In other words, during the process of the host vehicle 410 entering the parking space, because the controller 50 cannot detect the separation distance to the obstacle, the controller 50 can be configured to stop the host vehicle 410.

[0052] Specifically, the controller 50 may be based on Figure 1 The SVM image receiver 40 in the SVM image receiver 40 operates the RSPA system 200. In other words, when the interval ds between the host vehicle 410 and the obstacle measured using the SVM image is greater than or equal to the threshold distance, the controller 50 may continue to park the host vehicle 410. The threshold distance may be less than the minimum sensing distance D of the ultrasonic sensor 30. Umin .

[0053] Figure 4C is a diagram illustrating a third example of a space center mode provided by the apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure. Figure 4C A case is shown in which steering control is performed because the vehicle cannot be parked while traveling substantially straight.

[0054] like Figure 4C As shown, the controller 50 may be configured to perform steering control so that the host vehicle 410 enters the parking space. Specifically, the controller 50 may be configured to use the SVM image to move the host vehicle 410 closer to the obstacle so that the host vehicle 410 enters the parking space and is parked in the parking space. When the controller 50 performs parking using only the ultrasonic sensor 30, because the controller 50 cannot move the host vehicle 410 sufficiently close to the obstacle 420, contact between the rear of the host vehicle 410 and the obstacle 430 may occur during parking.

[0055] Figure 5 is a diagram showing a line center pattern provided by an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure. Figure 5As shown, Figure 1 The controller 50 may be configured to operate Figure 1 The RSPA system 200 in FIG. 4 is configured to park the host vehicle 410 in the center of the parking space regardless of the interval between the obstacles 510 and 520 located on both sides of the parking space. Specifically, because the first obstacle 510 is parked close to the left side, the interval between the host vehicle 410 and the first obstacle 510 is wider than the interval between the host vehicle 410 and the second obstacle 520.

[0056] Figure 6 is a diagram showing a right lane mode provided by an apparatus for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure. Figure 6 As shown, because the door is on the left side of the parking space, Figure 1 The controller 50 may be configured to operate Figure 1 The RSPA system in the embodiment enables the host vehicle 410 to be parked close to the right line 610 of the stop line.

[0057] Figure 7 is a diagram showing an example of an RSPA system used in an exemplary embodiment of the present disclosure. Figure 7 As shown, the RSPA system 100 used in an exemplary embodiment of the present disclosure may include a parking switch 210 , a smart key module 220 , an output device 230 , a steering controller 240 , a brake controller 250 , a shift controller 260 , a sensor 270 , a parking controller 280 , and an integrated controller 290 .

[0058] The parking switch 210 may be configured to generate a control command based on the user's operation to instruct the vehicle to park and leave. The smart key module 220 may be configured to perform low frequency (LF) communication or radio frequency (RF) communication with the smart key. The smart key module 220 may be configured to receive a signal from the smart key and remotely perform door control, start control, etc. When receiving a start signal of the engine from the smart key, the smart key module 220 may be configured to perform user authentication and transmit the start signal to the engine controller.

[0059] In addition, the output device 230 may be configured to visually and / or audibly output information about the operating state of the vehicle, guide information for each parking step, etc. and may include a dashboard, a display, a speaker, etc. The steering controller 240 may assist in controlling the steering of the vehicle and may be implemented as a motor-driven power steering (MDPS). The brake controller 250 may assist in adjusting the speed of the vehicle and may be implemented as an electronic stability controller (ESC). The shift controller 260 may assist in shifting the gear (shift end) of the vehicle and may be implemented as a shift-by-wire (SBW).

[0060] The sensor 270 may be configured to sense information about the environment outside the vehicle and information about the behavior of the vehicle (e.g., vehicle status such as speed, ignition on / off, etc.). The sensor 270 may include an ultrasonic sensor, a radar, a light detection and ranging (LiDAR), an image sensor, a vehicle speed sensor, a steering angle sensor, etc. The parking controller 280 may be configured to scan the parking space using the sensor 270 and select any one of the scanned parking spaces as a target parking space. Therefore, the parking controller 280 may be configured to calculate a parking trajectory of the vehicle parked in the target parking space and sequentially generate one or more parking steps (e.g., parking maneuvers) along the parking trajectory. The parking controller 280 may be configured to operate the steering controller 240, the brake controller 250, and the shift controller 260 to sequentially perform the corresponding parking steps.

[0061] The integrated controller 290 may be connected to the steering controller 240, the brake controller 250, the shift controller 260, and the parking controller 280 via a vehicle network such as a chassis controller area network (CAN). Here, the steering controller 240, the brake controller 250, the shift controller 260, and the parking controller 280 may be configured to communicate with each other via the chassis CAN. The integrated controller 290 may be connected to the parking switch 210, the smart key module 220, and the output device 230 via the vehicle body CAN and may be configured to receive the information from the smart key module 220. Figure 1 A control signal sent by the user terminal 400 in.

[0062] In addition, the integrated controller 290 can interoperate with the telematics terminal included in the vehicle to communicate with the user terminal 400 and communicate with the user terminal 400 through short-range communication (e.g., Bluetooth, Wi-Fi, infrared communication, etc.). The integrated controller 290 can be an integrated component module for operating the engine of the vehicle, the chassis of the vehicle, and the electronic convenience device. The integrated controller 290 may include an electronic control unit (ECU) for operating the battery, engine, transmission, steering device, suspension, brake device, etc. Further, the integrated controller 290 may include a body control module (BCM) for operating the air conditioning system, dashboard, digital gauge, windshield wiper, headlight, rear obstacle detection device, anti-theft, multi-way communication, door locks, power windows, power seats, seat belts, airbags, etc.

[0063] The integrated controller 290 may be configured to store a control program in its memory (not shown) and use the control program to operate components within the vehicle. In other words, the integrated controller 290 may be specifically programmed to execute the control program. The integrated controller 290 may be configured to Figure 1The integrated controller 290 may be configured to park the vehicle based on any one of a space center mode, a line center mode, a right line mode, and a left line mode.

[0064] When the parking switch 210 is turned on, the integrated controller 290 can support remote, fully automatic parking functions. Specifically, the integrated controller 290 can be configured to operate the parking controller 280 to scan the parking space and guide the user to leave the vehicle when the scanning of the parking space is completed. Figure 1 When the user terminal 400 in the smart key module 220 enters the parking mode, the integrated controller 290 can be configured to identify the user's location and determine whether the user's safety is ensured. Specifically, the integrated controller 290 can be configured to determine whether the user is within a safe range or distance (for example, avoiding any contact during parking) via wireless communication between the smart key module 220 and the user terminal 400. When the user's safety is ensured, the integrated controller 290 can be configured to operate the parking controller 280 to start parking the vehicle.

[0065] Figure 8 FIG. 8 is a flow chart showing a method for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure. In operation 801, Figure 1 The ultrasonic sensor 30 in the embodiment may be configured to measure the distance to an obstacle. In operation 802, Figure 1 The SVM image receiver 40 in the embodiment may be configured to receive Figure 1 The SVM system 100 in FIG. 8 receives an SVM image. In operation 803, Figure 1 The controller 50 in the embodiment may be configured to perform remote parking of the vehicle by selectively using the distance to the obstacle measured by the ultrasonic sensor 30 and the SVM image received from the SVM image receiver 40 .

[0066] Fig. 9 is a block diagram showing a computing system according to an exemplary embodiment of the present disclosure for executing a method for controlling remote parking in a vehicle. Fig. 9 The method for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure can be implemented by a computing system. 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.

[0067] 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. 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 ROM (Read Only Memory) and a RAM (Random Access Memory).

[0068] Thus, the operation of the method or algorithm described in conjunction with the exemplary embodiments disclosed herein may be directly included in hardware or in a software module executed by the processor 1100, or in a combination thereof. The software module may reside on a storage medium (i.e., memory 1300 and / or storage device 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, register, hard disk, removable disk, CD-ROM, etc. An exemplary storage medium may be coupled to the processor 1100, and the processor 1100 may read information from the storage medium and may record information in the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor 1100 and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In another case, the processor 1100 and the storage medium may reside in a user terminal as independent components.

[0069] An apparatus and method for controlling remote parking in a vehicle according to an exemplary embodiment of the present disclosure may park the vehicle in a narrow parking space based on an ultrasonic sensor and a surround view monitoring (SVM) image and may provide various parking modes.

[0070] In the above, although the present disclosure has been described with reference to exemplary embodiments and the accompanying drawings, the present disclosure is not limited thereto, but various changes and modifications can be made by a person skilled in the art to which the present disclosure belongs without departing from the essence and scope of the present disclosure claimed in the following claims. Therefore, the exemplary embodiments of the present disclosure are provided to illustrate the essence and scope of the present disclosure, but are not limited thereto, so that the essence and scope of the present disclosure are not limited by the embodiments. The scope of the present disclosure should be interpreted based on the attached claims, and all technical concepts within the scope equivalent to the claims should be included in the scope of the present disclosure.

Claims

1. A device for controlling remote parking in a vehicle, comprising: an ultrasonic sensor configured to measure a distance from the vehicle to an obstacle; a receiver configured to receive a surrounding view monitoring image; as well as a controller configured to perform remote parking of the vehicle by selectively using the distance to the obstacle and the surrounding view monitoring image, wherein the controller is configured to perform remote parking of the vehicle based on a parking mode sent from a user terminal, The parking modes include: space center mode, line center mode, right line mode and left line mode. wherein, when the width of the parking space in the space center mode is greater than a threshold, the controller is configured to perform remote parking of the vehicle based on the distance to the obstacle measured by the ultrasonic sensor, Wherein, when the distance to the obstacle measured by the ultrasonic sensor in the spatial center mode is less than a minimum sensing distance, the controller is configured to perform remote parking of the vehicle based on the distance to the obstacle measured using the surrounding view monitoring image.

2. The device according to claim 1, further comprising: A communicator is configured to transmit the distance to the obstacle and the surrounding view monitoring image to the user terminal.

3. The device according to claim 1, wherein: When a width of a parking space is less than or equal to a threshold value in the space center mode, the controller is configured to perform remote parking of the vehicle based on the surrounding view monitoring image.

4. The device according to claim 1, wherein: The controller is configured to perform remote parking of the vehicle based on a distance to the obstacle measured using the surrounding view monitoring image in the line center mode.

5. The device according to claim 1, wherein: The controller is configured to perform remote parking of the vehicle based on a distance to a right line of a parking space measured using the surrounding view monitoring image in the right line mode.

6. The device according to claim 1, wherein: The controller is configured to perform remote parking of the vehicle based on a distance to a left line of a parking space measured using the surrounding view monitoring image in the left line mode.

7. The device according to claim 1, wherein: The controller is configured to: When the stop line is not detected, generating a virtual stop line; and Remote parking of the vehicle is performed based on the virtual parking line.

8. A method for controlling remote parking in a vehicle, comprising the following steps: measuring a distance from the vehicle to an obstacle by an ultrasonic sensor of the vehicle; receiving a surrounding view monitoring image via a receiver of the vehicle; as well as performing, by a controller of the vehicle, remote parking of the vehicle by selectively using the measured distance to the obstacle and the received surrounding view monitoring image, wherein remote parking of the vehicle is performed based on a parking mode sent from a user terminal, The parking modes include space center mode, line center mode, right line mode and left line mode. wherein, when the width of the parking space in the space center mode is greater than a threshold, remote parking of the vehicle is performed based on the distance to the obstacle measured by the ultrasonic sensor, Wherein, when the distance to the obstacle measured by the ultrasonic sensor in the space center mode is less than a minimum sensing distance, remote parking of the vehicle is performed based on the distance to the obstacle measured using the surrounding view monitoring image.

9. The method according to claim 8, further comprising: The distance to the obstacle and the surrounding view monitoring image are transmitted to the user terminal through the communicator of the vehicle.

10. The method according to claim 8, wherein: Performing remote parking of the vehicle includes: When a width of a parking space is less than or equal to a threshold value in the space center mode, remote parking of the vehicle is performed based on the surrounding view monitoring image.

11. The method according to claim 8, wherein: Performing remote parking of the vehicle includes: Remote parking of the vehicle is performed based on the distance to the obstacle measured using the surrounding view monitoring image in the line center mode.

12. The method according to claim 8, wherein: Performing remote parking of the vehicle includes: Remote parking of the vehicle is performed based on the distance to the right line of a parking space measured using the surrounding view monitoring image in the right line mode.

13. The method according to claim 8, wherein: Performing remote parking of the vehicle includes: Remote parking of the vehicle is performed based on the distance to the left line of a parking space measured using the surrounding view monitoring image in the left line mode.

14. The method according to claim 8, wherein: Performing remote parking of the vehicle includes: When the stop line is not detected, generating a virtual stop line by the controller; and Remote parking of the vehicle is performed by the controller based on the virtual parking line.

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