Vehicle parking control device and method

Abstract

A parking control device for a vehicle and a method thereof are disclosed. The parking control device includes a processor that searches for at least one parking space in parking control of the vehicle, calculates an estimated route and a required parking time for each of the at least one parking space, and performs parking control on a target parking space that is one parking space selected by a user from the at least one parking space; and a display for displaying the estimated route and the required parking time for each of the at least one parking space.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2019-0077580 filed on June 28, 2019, in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a parking control apparatus and method for a vehicle, and more particularly to an automatic parking control technology that reflects a user's intention. Background Art

[0004] As various sensors and electronic devices for vehicles have been developed, vehicles having a driving assist function for assisting a user in driving and improving driving safety and convenience have attracted attention.

[0005] In particular, there is a growing interest in automatic parking technology that automatically performs parking that is difficult for a user to operate. Therefore, a technology has been developed for detecting a parking line using a sensor such as a camera and performing automatic parking in a parking space detected in the parking line. In addition, a remote intelligent assistance system has been developed as an automatic parking technology.

[0006] However, according to the conventional remote intelligent parking assistance system, when checking an object or a parking line to search for a plurality of parking spaces and displaying the parking spaces, one of the displayed parking spaces is selected by the user, and parking to the selected parking space is controlled. However, it is impossible to know which parking space is optimal for the user among the plurality of parking spaces and whether the parking space reflects the user's tendency.

[0007] That is, since there is not enough information in the parking assistance system based on the conventional remote intelligent parking assistance system for selecting a desired parking space from among a plurality of parking spaces, it is difficult to select an optimal parking space. In addition, since the parking space does not match the user's desired intention after parking control, the user may directly and additionally adjust the position, which may increase user complaints. Summary of the invention

[0008] The present disclosure has been made to solve the above-mentioned problems occurring in the prior art while completely retaining the advantages achieved by the prior art.

[0009] Aspects of the present disclosure provide a parking control apparatus and method thereof, which is capable of providing information about a parking space to a user to support automatic parking so that a parking space suitable for a user's intention can be selected.

[0010] The technical problems to be solved by the present inventive concept are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present disclosure belongs from the following description.

[0011] According to an aspect of the present disclosure, a parking control apparatus includes a processor that searches for at least one parking space in parking control of a vehicle, calculates an estimated route and a required parking time for each of the at least one parking space, and performs parking control on a target parking space that is one parking space selected by a user from among the at least one parking space; and a display that displays the estimated route and the required parking time for each of the at least one parking space.

[0012] The processor may perform parking control based on a parking target pattern or a parking alignment pattern input by a user.

[0013] The parking target mode may include a parking target mode including a shortest time parking mode, in which the parking is completed in the shortest time; and an optimal alignment parking mode, in which the vehicle is parked in a target parking space and arranged to maintain a certain distance from a parking line or an obstacle.

[0014] The processor may calculate an estimated parking route and required parking time for the target parking space in the parking target mode and the parking alignment mode, and the display may display the estimated parking route and required parking time in the parking target mode and the parking alignment mode.

[0015] The parking alignment modes may include an obstacle approaching parking mode in which the vehicle approaches an obstacle, a center alignment parking mode, a driver seat convenience parking mode, and a passenger seat convenience parking mode.

[0016] When the user does not select one of the at least one parking space, the processor may determine whether the vehicle is driving, and search for a parking space when the vehicle is driving.

[0017] During parking control for the target parking space, the processor may calculate a remaining time until parking is completed within the required parking time, and the display may display the remaining time.

[0018] When a parking space is touched, the display may transmit information about one of the at least one parking space shifted on the screen to the processor.

[0019] The display may list and display the parking target modes or the parking alignment modes, and receive a user selection of one of the listed menus.

[0020] The processor may list the parking target mode or the parking alignment mode on the screen and deactivate a menu having no selection information among the listed menus.

[0021] According to another aspect of the present disclosure, a parking control apparatus includes: a processor that searches for at least one parking space in automatic parking, calculates an estimated route and a required parking time for each of the at least one parking space, and performs parking control on a target parking space, the target parking space being one parking space selected by a user from among the at least one parking space; and a display that displays the estimated route and the required parking time for each of the at least one parking space.

[0022] When the user selects the parking realignment mode after manual parking of the vehicle is completed, the processor may calculate an estimated route and required parking time to realign the parking space in which the vehicle is currently parked and control the parking realignment.

[0023] The processor may receive a parking realignment mode input from a user when performing the parking realignment, and control the parking realignment based on the input parking realignment mode.

[0024] According to another aspect of the present disclosure, a parking control device includes: a processor, which searches for an exit space when entering an exit mode, calculates an estimated route and a required exit time in each exit direction, and controls the exit of a vehicle in an exit direction selected by a user; and a display, which displays the estimated route and the required exit time in each exit direction.

[0025] When controlling exit of the vehicle in the selected exit direction, the processor may control exit of the vehicle based on the exit target mode.

[0026] The exit target modes may include: a shortest time exit mode, in which the exit of the vehicle is completed in the shortest time; and an optimal separation exit mode, in which the vehicle is controlled to maintain a specified distance from the obstacle.

[0027] Whenever the user changes the exit target mode, the processor may calculate an estimated route and required exit time in each exit direction, and the display may display the estimated route and required exit time in each exit direction in the changed exit target mode.

[0028] According to yet another aspect of the present disclosure, a parking control method includes: searching for at least one parking space in parking control of a vehicle; calculating an estimated route and a required parking time for each of the at least one parking space; displaying the estimated route and the required parking time calculated for each of the at least one parking space; receiving a user's selection of one of the at least one parking space as a target parking space; and performing parking control on the target parking space.

[0029] Performing the parking control on the target parking space may include performing the parking control based on a parking target pattern or a parking alignment pattern input from a user.

[0030] The parking target mode may include a shortest time parking mode, in which parking is completed in the shortest time; and an optimal alignment parking mode, in which the vehicle is parked in a target parking space and arranged to maintain a certain distance from a parking line or an obstacle, and the parking alignment mode may include an obstacle approaching parking mode in which the vehicle approaches an obstacle, a center alignment parking mode, a driver seat convenience parking mode, and a passenger seat convenience parking mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and other objects, features and advantages of the present disclosure will become more apparent through the following detailed description in conjunction with the accompanying drawings:

[0032] Figure 1 is a block diagram showing a configuration of a vehicle system including a parking control apparatus according to an embodiment of the present invention;

[0033] 2A is a view showing an example of searching for a plurality of parking spaces by a parking control device according to an embodiment of the present disclosure;

[0034] 2B is a diagram showing an example of displaying required parking times on a plurality of parking space search screens of the parking control device according to an embodiment of the present disclosure;

[0035] 2C is a diagram showing an example of remaining time during parking control of the parking control apparatus according to an embodiment of the present disclosure;

[0036] Figure 3 is a flow chart showing a parking control method according to an embodiment of the present disclosure;

[0037] 4A is a view showing a screen for selecting a parking target mode by a parking control apparatus according to an embodiment of the present disclosure;

[0038] 4B is a diagram showing an example of a shortest time parking mode of the parking control apparatus according to an embodiment of the present disclosure;

[0039] 4C is an exemplary view showing an optimal alignment parking mode of the parking control apparatus according to an embodiment of the present disclosure;

[0040] 4D is an exemplary view showing a screen for selecting a parking alignment mode of a parking control device according to an embodiment of the present disclosure;

[0041] FIG. 4E is an exemplary view showing that a pillar / wall of a parking control device according to an embodiment of the present disclosure is not identified;

[0042] Figure 5 is an exemplary view showing the setting of the shortest time parking mode of the parking control device according to the embodiment of the present disclosure;

[0043] Figure 6 is an exemplary view showing setting of an optimal alignment parking mode of a parking control apparatus according to an embodiment of the present disclosure;

[0044] Figure 7 is a flow chart showing a smart exit control method according to an embodiment of the present disclosure;

[0045] Figure 8 is a flowchart illustrating a parking control method for performing parking realignment after manual parking is completed according to an embodiment of the present disclosure; and

[0046] Fig. 9 is a diagram illustrating a computing system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0047] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. When adding reference numerals to the components of each drawing, it should be noted that even if the same or equivalent components are shown on other drawings, they are represented by the same reference numerals. In addition, when describing the embodiments of the present disclosure, detailed descriptions of well-known features or functions will be excluded so as not to unnecessarily make the subject matter of the present disclosure unclear.

[0048] When describing components according to embodiments of the present disclosure, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are intended only to distinguish one component from another, and these terms do not limit the nature, sequence, or order of the constituent components. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by those skilled in the art to which the present disclosure belongs. Terms defined in general dictionaries should be interpreted as having the same meanings as the contextual meanings associated with the relevant field and should not be interpreted as having ideal or overly formal meanings unless explicitly defined as having such meanings in this application.

[0049] The present disclosure may be applied to Remote Smart Parking Assist (RSPA) technology.

[0050] In the following, reference will be made to Figures 1 to 9 Embodiments of the present disclosure are described in detail.

[0051] Figure 1 is a block diagram showing a configuration of a vehicle system including a parking control apparatus according to an embodiment of the present disclosure.

[0052] Reference Figure 1 , a vehicle system according to an embodiment of the present disclosure may include a parking control apparatus 100 , a sensing device 200 , a steering control device 300 , a braking control device 400 , and an engine control device 500 .

[0053] The parking control apparatus 100 may search for at least one parking space in parking control of a vehicle, calculate an estimated route and a required parking time for each of the at least one parking space, and perform parking control on a target parking space that is one parking space selected by a user from among the at least one parking space.

[0054] The parking control device 100 may include a communicator 110 , a storage device 120 , a display 130 , and a processor 140 .

[0055] The communicator 110 is a hardware device implemented by various electronic circuits for sending and receiving signals through wireless or wired connections. In the present disclosure, vehicle-mounted communication can be performed through CAN communication, LIN communication, Ethernet communication, etc., and the communicator 110 can communicate with the sensing device 200, the steering control device 300, the brake control device 400, the engine control device 500, etc.

[0056] The storage device 120 may store the sensing result of the sensing device 200, and the parking space information, estimated parking route information, required parking time, etc. obtained by the processor 140. The storage device 120 may include a storage medium of at least one type of memory, a flash memory type, a hard disk type, a micro type, a card type (e.g., a secure digital (SD) card or an extreme digital (XD) card), etc., as well as a random access memory (RAM), a static RAM, a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable PROM (EEPROM), a magnetic memory (MRAM), a magnetic disk, and an optical disk type of memory.

[0057] The display 130 may display parking spaces, estimated parking routes for each parking space, and required parking time, remaining time until parking is completed during parking control, a parking alignment mode menu list, a parking target mode menu list, an exit target mode menu list, an estimated exit route in each exit direction, required exit time, etc., and receive menu selections from the user. The display 130 may be implemented as a head-up display (HUD), an instrument panel, an audio video navigation (AVN), etc. In addition, the display 130 may include at least one of the following: a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFTLCD), a light emitting diode (LED) display, an organic light emitting diode (OLED) display, an active matrix OLED (AMOLED) display, a flexible display, a curved display, and a 3D display. Some of these displays may be implemented as a transparent display that is transparent or translucent to enable viewing of the outside. In addition, the display 130 may be provided as a touch screen including a touch panel, and may be used as an input device in addition to an output device.

[0058] The processor 140 may be electrically connected to the communicator 110 , the storage device 120 , the display 130 , etc. to electrically control each configuration, and may be a circuit that executes software commands, thereby performing various data processing and calculations, as described below.

[0059] The processor 140 may search for at least one parking space in parking control of the vehicle, calculate an estimated route and a required parking time for each of the at least one parking space, and perform parking control for a target parking space that is one parking space selected by a user from among the at least one parking space.

[0060] The processor 140 may perform parking control based on a parking target mode or a parking alignment mode input by a user. In this case, the parking target mode may include a shortest time parking mode in which parking is completed in the shortest time and an optimal alignment parking mode in which the vehicle is parked in the target parking space and arranged to maintain a certain distance from a parking line or an obstacle (e.g., a neighboring vehicle, a pillar, a wall, etc.). That is, the shortest time parking mode is a mode in which parking control is performed based on the shortest time even if the alignment of the vehicle is skewed or offset to one side. The optimal alignment parking mode is a mode in which the vehicle is arranged to be spaced apart from a parking line or an obstacle even if parking takes a long time.

[0061] In addition, the parking alignment mode may include an obstacle approach parking mode in which the vehicle approaches an obstacle; a center alignment parking mode in which the vehicle is arranged in the center of the parking space; a driver seat convenience parking mode in which the vehicle is arranged so that the distance between the driver seat and an obstacle on the driver seat side is greater than the distance between the passenger seat and the obstacle on the passenger seat side, so that the driver can easily leave the driver's seat; and a passenger seat convenience parking mode in which the vehicle is arranged so that the distance between the passenger seat and an obstacle on the passenger seat side is greater than the distance between the driver seat and the obstacle on the driver seat side, so that the passenger can easily leave the passenger seat.

[0062] For the target parking space, the processor 140 may calculate an estimated parking route and required parking time based on the parking target mode and the parking alignment mode. In this case, the estimated parking route and required parking time calculated in the parking target mode and the parking alignment mode may be displayed by the display 130.

[0063] The processor 140 may determine whether the vehicle is driving when the user does not select one of the at least one parking space, and search for the parking space again when the vehicle is driving.

[0064] The processor 140 may calculate the remaining time until parking in the parking is completed during parking control for the target parking space, and may display the remaining time through the display 130. In this case, when at least one parking space displayed on the screen is touched, the display 130 transmits information of the touched parking space to the processor 140, so that the processor 140 determines the touched parking space as the target parking space.

[0065] The processor 140 may list the parking target mode or the parking alignment mode on the screen, but may disable a menu having no selection information among the listed menus. For example, when the parking alignment mode includes the obstacle approaching parking mode, the center alignment parking mode, the driver seat convenience parking mode, and the passenger seat convenience parking mode, when no obstacle (pillar, wall) is recognized, the obstacle approaching parking mode menu may be disabled to prevent the user from selecting the obstacle approaching parking mode menu.

[0066] The processor 140 may search for at least one parking space in automatic parking of the vehicle, calculate an estimated route and a required parking time for each of the at least one parking space, and perform parking control for a target parking space that is one parking space selected by a user from among the at least one parking space.

[0067] When the user selects the parking realignment mode after manual parking of the vehicle is completed, the processor 140 may calculate an estimated route and required parking time to realign the parking space where the vehicle is currently parked and control the parking realignment.

[0068] The processor 140 may receive a parking realignment mode input from a user when performing the parking realignment, and may control the parking realignment based on the input parking realignment mode.

[0069] The processor 140 may search for an exit space when entering the exit mode, calculate an estimated route and required exit time in each exit direction, and control the exit of the vehicle in the exit direction selected by the user.

[0070] The processor 140 may control the exit of the vehicle based on the exit target mode selected by the user when the selected exit direction controls the exit of the vehicle. In this case, the exit target mode may include a shortest time exit mode, in which the exit of the vehicle is completed in the shortest time; and an optimal separation exit mode, in which the vehicle is controlled to maintain a specified distance from the obstacle.

[0071] Processor 140 may calculate an estimated route and required exit time in each exit direction each time the user changes the exit target mode, and display the estimated route and required exit time in each exit direction in the changed exit target mode through display 130 .

[0072] The sensing device 200 may include a plurality of sensors for sensing a parking space, an exit space, a parking lot line, and an object outside the vehicle. To this end, the sensing device 200 may include an ultrasonic sensor 210, a camera 220, and the like. Figure 1 As shown in FIG. 1 , the sensing device 200 may include a radar, a laser scanner, a corner radar, a LIDAR, an acceleration sensor, a yaw rate sensor, a torque measurement sensor, a wheel speed sensor, a steering angle sensor, etc. to search for a parking space and calculate the required parking time.

[0073] In the present disclosure, the parking space may be detected by using the ultrasonic sensor 210. Whether there is an obstacle may be determined by using the camera 220. The current position of the vehicle may be estimated by using a wheel speed sensor, a steering angle sensor, an ultrasonic sensor, etc. to generate a parking route. In addition, the position of the target parking space, the size of the target parking space, and parking information (e.g., an estimated parking route, required parking time, etc.) may be obtained through the sensing device 200.

[0074] The steering control device 300 may be configured to control a steering angle of a vehicle, and may include a steering wheel, an actuator interacting with the steering wheel, and a controller for controlling the actuator.

[0075] The brake control device 400 may be configured to control braking of a vehicle, and may include a controller for controlling the brake.

[0076] The engine control device 500 may be configured to control engine driving of the vehicle, and may include a controller that controls the speed of the vehicle.

[0077] The steering control device 300 , the brake control device 400 , and the engine control device 500 cooperate with the parking control apparatus 100 to move the vehicle to a target parking space.

[0078] FIG. 2A is a view illustrating an example of searching for a plurality of parking spaces through a parking control apparatus according to an embodiment of the present disclosure.

[0079] 2B is a view showing an example of displaying required parking time on a plurality of parking space search screens of a parking control apparatus according to an embodiment of the present disclosure. Referring to FIG. 2B , it can be understood that the parking control apparatus 100 displays an estimated route and required time of a searched parking space.

[0080] Fig. 2C is a diagram showing an example of the remaining time during parking control of the parking control apparatus according to the embodiment of the present disclosure. Referring to Fig. 2C, it can be understood that the parking control apparatus 100 displays the remaining time during control.

[0081] In the following, reference will be made to Figure 6A parking control method according to an embodiment of the present disclosure is described. Figure 3 is a flowchart illustrating a parking control method according to an embodiment of the present disclosure.

[0082] In the following, it is assumed Figure 1 The parking control device 100 performs Figure 3 In addition, Figure 3 In the description, it can be understood that the description is that the processor 140 of the parking control device 100 controls the device to perform operations.

[0083] Reference Figure 3 In operation S101, the parking control apparatus 100 moves to search for a parking space when entering a parking mode.

[0084] The parking control apparatus 100 determines whether a parking space is found in operation S102, and when a parking space is found, the parking control apparatus 100 calculates an estimated route and required time for each parking space and displays on a parking space screen in operation S103. In this case, the estimated route and required time for each parking space may be output through the display 130. In this case, the types of parking spaces that can be supported may include reverse right angle parking, forward right angle parking, reverse parallel parking, rearward diagonal parking, forward diagonal parking, etc. In addition, the parking control apparatus 100 may estimate a driving route of a vehicle to park the vehicle in a parking space to calculate an estimated route, and calculate the time taken to drive along the estimated route.

[0085] In operation S104, the parking control apparatus 100 may determine whether the user has selected a target parking space. When the target parking space is not selected, in operation S105, the parking control apparatus 100 may determine whether the vehicle is in a driving state. When the vehicle is in a driving state, the parking control apparatus 100 may determine that the vehicle is driving to re-search for a parking space.

[0086] Meanwhile, in operation S106, when the user selects a target parking space, the parking control apparatus 100 determines whether a parking target mode is selected. In this case, when the user touches a parking space output to the display 130, the corresponding parking space may be selected.

[0087] When the parking target mode is selected, the parking control apparatus 100 receives the selected shortest parking mode or the optimal alignment parking mode as the parking target mode in operation S107 .

[0088] Meanwhile, when the parking target mode is not selected, or when one of the shortest time parking mode and the optimal alignment parking mode is selected, the parking control apparatus 100 receives a selection of the parking alignment mode in operation S108 .

[0089] When the parking alignment mode is selected, the parking control apparatus 100 may receive a selection of one of an obstacle (e.g., a pillar, a wall, etc.) proximity parking mode, a center alignment parking mode, a driver seat convenience parking mode, and a passenger seat convenience parking mode. In this case, the optimal alignment parking mode and the center alignment parking mode may be set as default values, and the user may change the parking target mode and the parking alignment mode.

[0090] When the parking alignment mode is selected, the parking control apparatus 100 performs parking control in the corresponding parking alignment mode in operation S110 .

[0091] When the parking control is performed without selecting the parking target mode in operation S107 and without selecting the parking alignment mode in operation S108 , the parking control apparatus 100 performs the parking control based on the parking target mode and the parking alignment mode set as default values ​​in operation S110 .

[0092] The default setting of the parking target mode in operation S107 corresponds to optimal alignment parking, and the default setting of the parking alignment mode in operation S109 corresponds to center alignment parking.

[0093] The default settings of the parking target mode in operation S107 and the parking alignment mode in operation S109 may be changed through a separate user input device. Figure 1 The user input device is not shown, however, the user input device can be used Fig. 9 It is implemented by the user interface input device 1400.

[0094] As described above, the parking control device 100 of the present disclosure can search for one parking space when the user drives to search for a parking space, and can search for a plurality of parking spaces corresponding to the surrounding environment. In addition, the parking control device 100 can display an estimated parking route and required time of one or more searched parking spaces on the screen so that the user can predict the parking situation, and can support a parking system suitable for personal preferences.

[0095] In addition, when a target parking space is selected, the parking control apparatus 100 selects a parking target mode to select whether to perform parking in the shortest time even if the parking alignment slightly changes or to complete the optimal alignment even if parking takes longer, thereby supporting a parking system suitable for user preferences.

[0096] In addition, the parking control device 100 selects the parking alignment mode, and the default setting is the central parking mode. However, the user can select at least one of the pillar / wall approach parking, the center alignment parking, the driver's seat convenience parking, etc.

[0097] The parking control apparatus 100 can then start parking control by reflecting the parking target and mode thus set on the control mode.

[0098] 4A is a view showing a screen for selecting a parking target mode by a parking control device according to an embodiment of the present disclosure. FIG4A shows an example (401) in which the required time taken when the optimal alignment parking mode is selected is 1 minute and 10 seconds, and an example (402) in which the required time taken when the shortest time parking mode is selected is 48 seconds.

[0099] FIG. 4B is a diagram showing an example of a minimum time parking mode of the parking control apparatus according to an embodiment of the present disclosure. FIG. 4C is an exemplary view showing an optimal alignment parking mode of the parking control apparatus according to an embodiment of the present disclosure. FIG. 4B shows an example in which the alignment of the vehicle is slightly skewed after parking is completed in the minimum time parking mode. FIG. 4C shows an example in which the vehicle is parked in a center alignment when parking is completed in the optimal alignment parking mode. When the minimum time parking mode is selected, the parking control apparatus 100 completes parking when it is determined that parking is completed, even if the parking alignment is skewed. In the optimal alignment parking mode, the parking control apparatus 100 completes parking in parallel based on the left target vehicle or the right target vehicle or the recognized parking line, even if it takes a long time. When the user changes the parking target mode, the parking control apparatus 100 may change and display the desired time and route corresponding to the target parking mode. In addition, when there is no input from the user for selecting the target parking mode and the parking alignment mode, the parking control apparatus 100 may perform automatic parking control in a preset basic mode (e.g., the optimal alignment parking mode or the center alignment mode).

[0100] FIG. 4D is an exemplary view showing a screen for selecting a parking alignment mode of a parking control device according to an embodiment of the present disclosure. FIG. 4E is an exemplary view showing that a pillar / wall of a parking control device according to an embodiment of the present disclosure is not recognized. Referring to FIG. 4D , a required time ( 403 ) is displayed when a driver's seat convenience parking mode is selected, and a required parking time ( 404 ) is displayed in a center alignment parking mode. FIG. 4E shows an example of deactivating a pillar / wall approach parking mode button when a pillar / wall is not recognized.

[0101] The parking control apparatus 100 may receive selection of a parking alignment mode after selecting a parking target mode, which is basically set to center alignment parking. In addition, when the user changes the parking alignment mode, the parking control apparatus 100 may change and display an estimated required time and route of a target parking space.

[0102] Figure 52 is an exemplary view illustrating setting of a minimum time parking mode of a parking control apparatus according to an embodiment of the present disclosure. Figure 5 Examples are shown in the pillar / wall approach parking mode (501), the center alignment parking mode (502), the driver seat convenience parking mode (503), and the passenger seat convenience parking mode (504) when the parking control device 100 controls parking in the shortest time parking mode. That is, even if the alignment of the vehicle is skewed, the parking control device 100 can perform parking alignment in the shortest time.

[0103] Figure 6 2 is an exemplary view illustrating setting of an optimum alignment parking mode of a parking control apparatus according to an embodiment of the present disclosure. Figure 6 Examples of a pillar / wall approach parking mode (601), a center alignment parking mode (602), a driver seat convenience parking mode (603), and a passenger seat convenience parking mode (604) are shown when the parking control device 100 controls parking in the optimal alignment parking mode. In the pillar / wall approach parking mode, parking should be performed as close to the pillar as possible. In the center alignment parking mode, parking is performed in the center while being spaced the same distance from the stop lines on both sides. In addition, in the driver seat convenience parking mode, parking can be performed to further increase the distance from the stop line on the driver seat side to the vehicle, so that the user of the driver seat can easily get off the vehicle. In the passenger seat convenience parking mode, parking can be performed to further increase the distance from the stop line on the passenger seat side to the vehicle, so that the user of the passenger seat can easily get off the vehicle.

[0104] Figure 7 is a flow chart showing a smart exit control method according to an embodiment of the present disclosure.

[0105] In the following, it is assumed Figure 1 The parking control device 100 performs Figure 7 In addition, Figure 7 In the description, it can be understood that the operations described as being performed by the device are controlled by the processor 140 of the parking control device 100.

[0106] Reference Figure 7 In operation S201, when the parking control apparatus 100 enters the smart exit mode, the parking control apparatus 100 searches for a space for exit.

[0107] The parking control apparatus 100 determines whether an exit space is detected in operation S202 , and releases the smart exit mode when the exit space is not found in operation S203 .

[0108] In operation S204, when an exit space is found, the parking control apparatus 100 calculates an estimated route and required time in each exit direction and outputs the estimated route and required time through the display 130. The user touches each exit direction displayed on the display 130 and may select a corresponding exit direction.

[0109] In operation S205, the parking control apparatus 100 receives a selection of an exit direction from the user. When the exit direction is not selected, in operation S206, the parking control apparatus 100 determines whether the vehicle is traveling. When the vehicle is traveling, the parking control apparatus 100 determines in operation S201 that the vehicle is traveling to exit and searches for an exit space again.

[0110] Meanwhile, when the user selects the exit direction, the parking control apparatus 100 receives a selection of the exit target mode in operation S207. When the exit target mode is not selected, the parking control apparatus 100 performs exit control in the basic exit target mode in operation S209.

[0111] Meanwhile, when one of the shortest time exit mode and the optimum separation exit mode of the exit target mode is selected in operation S208 , the parking control apparatus 100 performs exit control in the selected exit mode in operation S209 .

[0112] As described above, when the space search for the smart exit is completed, the parking control device 100 of the present disclosure simultaneously displays the estimated route and the required time on the parking space display screen and receives the exit target mode from the user. In this case, when the shortest time exit mode is selected as the exit target mode, since the parking distance warning sound may frequently appear, anxiety may be caused and a strong braking feeling against an obstacle may occur.

[0113] In addition, when the optimal separation exit mode is selected as the exit target mode, the exit time may take longer, but the parking distance warning sound may not occur, and a smooth braking feeling against an obstacle can be provided.

[0114] Figure 8 is a flowchart illustrating a parking control method for parking realignment after completing manual parking according to an embodiment of the present disclosure.

[0115] In the following, it is assumed Figure 1 The parking control device 100 performs Figure 8 In addition, it is understandable that Figure 8 The operations described in the above may be controlled by the processor 140 of the parking control device 100 .

[0116] Reference Figure 8After completing the manual parking in operation S301, the parking control apparatus 100 checks whether the user selects a parking realignment mode in operation S302.

[0117] When the parking realignment mode is not selected, the parking control apparatus 100 determines that parking is completed and ends the vehicle system.

[0118] Meanwhile, when the parking realignment mode is selected, the parking control apparatus 100 calculates an estimated route and a time required for parking realignment and outputs the estimated route and the required time on the screen in operation S303. Then, in operation S304, the parking control apparatus 100 receives a user's selection of the parking realignment mode.

[0119] When the parking alignment mode is not selected, the parking control apparatus 100 starts the parking alignment compensation control with the parking alignment mode set as a default in operation S306 .

[0120] When one of the pillar / wall proximity parking mode, the center alignment parking mode, the driver seat convenience parking mode, and the passenger seat convenience parking mode is selected as the parking alignment mode in operation S305 , the parking control apparatus 100 performs parking alignment compensation control in operation S306 .

[0121] After the user completes manual parking, it may be difficult to park the vehicle at a desired alignment angle or near a pillar / wall depending on personal parking skills. Therefore, when the user selects a parking realignment mode (automatic realignment mode performed by the parking controller 100) after completing manual parking, the parking control device 100 of the present disclosure recognizes the surrounding space conditions through a camera and an ultrasonic sensor, and calculates and displays an estimated route and required time in a basic realignment mode (e.g., center alignment) based on the generated route.

[0122] When the user selects a parking alignment mode for parking realignment, the parking control apparatus 100 may recalculate the required time and route in the selected parking alignment mode and output the estimated time and route. In addition, when a parking mode button for entering the parking mode is input, the parking control apparatus 100 may perform parking alignment compensation control as a final setting.

[0123] As described above, according to the present disclosure, by guiding the estimated required parking time, the user selects a parking mode according to the user's desired intention, and parking is automatically performed, thereby supporting automatic parking by reflecting user trends, thereby increasing the marketability and convenience of individual consumers.

[0124] Furthermore, according to the present disclosure, it is possible to eliminate a user's psychological anxiety regarding a situation when parking near an object during automatic parking by guiding an estimated parking route.

[0125] Fig. 9 is a diagram illustrating a computing system according to an embodiment of the present disclosure.

[0126] Reference Fig. 9 , 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 1600 , and a network interface 1700 connected to each other via a bus 1200 .

[0127] 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).

[0128] Therefore, the operations of the methods or algorithms described in conjunction with the embodiments disclosed herein may be directly embodied in a hardware or software module, or a combination thereof, executed by the processor 1100. The software module may be provided on a storage medium such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, CD-ROM (i.e., memory 1300 and / or storage device 1600).

[0129] 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 be provided in an application specific integrated circuit (ASIC). The ASIC may be provided in a user terminal. In another case, the processor 1100 and the storage medium may be provided in a user terminal as separate components.

[0130] According to the present technology, user convenience can be increased by providing information about parking spaces to users to support automatic parking, so that a parking space suitable for the user's intention can be selected.

[0131] In addition, various effects directly or indirectly understood by the present disclosure can be provided.

[0132] Although the present disclosure has been described above with reference to exemplary embodiments and the accompanying drawings, the present disclosure is not limited thereto, and those skilled in the art to which the present disclosure belongs may make various modifications and changes to the present disclosure without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

[0133] Therefore, the exemplary embodiments of the present disclosure are provided to explain the spirit and scope of the present disclosure, but not to limit them, and therefore, the spirit 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 ideas within the scope equivalent to the claims should be included in the scope of the present disclosure.

Claims

1. A parking control device, include: a processor configured to search for at least one parking space during parking control of the vehicle, calculate an estimated route and a required parking time for each of the at least one parking space, and perform parking control to a target parking space, the target parking space being one parking space selected by a user from among the at least one parking space; as well as a display configured to display the estimated route and the required parking time for each of the at least one parking space, wherein the processor is configured to control display of the estimated route and the required parking time for each of the at least one parking space, wherein the processor is configured to: after completing manual parking of the vehicle, calculate an estimated route and required parking time for realigning the vehicle with a parking space where the vehicle is currently parked according to a parking realignment mode selected by the user from the parking alignment modes, and control the parking realignment, The parking alignment modes include an obstacle approaching parking mode in which the vehicle approaches an obstacle, a center alignment parking mode, a driver seat convenience parking mode, and a passenger seat convenience parking mode.

2. The parking control device according to claim 1, in, The processor is configured to perform the parking control based on a parking target pattern or a parking alignment pattern input by the user.

3. The parking control device according to claim 2, in, The parking target mode includes a shortest time parking mode and an optimal alignment parking mode. In the shortest time parking mode, parking is completed in the shortest time; In the optimal alignment parking mode, the vehicle is parked in the target parking space and arranged to maintain a certain distance from a parking line or an obstacle.

4. The parking control device according to claim 2, in, The processor is configured to calculate the estimated route and the required parking time of the target parking space in the parking target mode and the parking alignment mode, and Wherein, the display is configured to display the estimated route and the required parking time in the parking target mode and the parking alignment mode.

5. The parking control device according to claim 1, in, The processor is configured to: determine whether the vehicle is traveling when the user does not select one of the at least one parking space; And while the vehicle is traveling, searching for a parking space.

6. The parking control device according to claim 1, in, The processor is configured to: during parking control of the target parking space, calculate a remaining time until the parking is completed within a required parking time, and Wherein, the display is configured to display the remaining time.

7. The parking control device according to claim 1, in, The display is configured to transmit information about one of the at least one parking space shifted on the screen to the processor when the one parking space is touched.

8. The parking control device according to claim 2, in, The display is configured to list and display the parking target mode or the parking alignment mode, and receive a user selection of one of the listed menus.

9. The parking control device according to claim 2, in, The processor is configured to list the parking target mode or the parking alignment mode on a screen and deactivate a menu having no selection information among the listed menus.

10. A parking control device, include: a processor configured to search for at least one parking space in automatic parking, calculate an estimated route and a required parking time for each of the at least one parking space, and perform parking control to a target parking space, the target parking space being one parking space selected by a user from among the at least one parking space; as well as a display configured to display the estimated route and the required parking time for each of the at least one parking space, wherein the processor is configured to control display of the estimated route and the required parking time for each of the at least one parking space, wherein the processor is configured to: after completing manual parking of the vehicle, calculate an estimated route and required parking time for realigning the vehicle with a parking space where the vehicle is currently parked according to a parking realignment mode selected by the user from the parking alignment modes, and control the parking realignment, The parking alignment modes include an obstacle approaching parking mode in which the vehicle approaches an obstacle, a center alignment parking mode, a driver seat convenience parking mode, and a passenger seat convenience parking mode.

11. The parking control device according to claim 10, in, The processor is further configured to search for an exit space upon entering an exit mode, calculate an estimated route and required exit time in each exit direction, and control the vehicle to exit in the user-selected exit direction; as well as The display is further configured to display the estimated route and the required exit time in each exit direction, wherein the processor is configured to control display of the estimated route and the required exit time in each exit direction, wherein the processor is configured to: when controlling the exit of the vehicle in the selected exit direction, control the exit of the vehicle based on an exit target mode selected by a user, and The processor is configured to calculate and control the display of the estimated route and the required exit time in each exit direction whenever the user changes the exit target mode.

12. The parking control device according to claim 11, in, The exit target modes include: a shortest time exit mode and an optimal separation exit mode. In the shortest time exit mode, the exit of the vehicle is completed in the shortest time; in the optimal separation exit mode, the vehicle is controlled to maintain a specified distance from the obstacle.

13. The parking control device according to claim 11, in, The display is configured to display the estimated route and the required exit time in each of the exit directions in a changed exit target mode.

14. A parking control method, The following steps are involved: searching for at least one parking space during parking control of the vehicle; calculating an estimated route and a required parking time for each of the at least one parking space; displaying the estimated route and the required parking time calculated for each of the at least one parking space so that a user can confirm the estimated route and the required parking time for all of the parking spaces; receiving one of the at least one parking space selected by a user as a target parking space; and performing parking control on the target parking space, wherein, after completing manual parking of the vehicle, an estimated route and required parking time for realigning the vehicle with the parking space where the vehicle is currently parked are calculated according to the parking realignment mode selected by the user from the parking alignment mode, and the parking realignment is controlled, The parking alignment modes include an obstacle approaching parking mode in which the vehicle approaches an obstacle, a center alignment parking mode, a driver seat convenience parking mode, and a passenger seat convenience parking mode.

15. The parking control method according to claim 14, in, The performing the parking control on the target parking space includes performing the parking control based on a parking target pattern or a parking alignment pattern input from the user.

16. The parking control method according to claim 15, in, The parking target mode includes a shortest time parking mode and an optimal alignment parking mode. In the shortest time parking mode, parking is completed in the shortest time; In the optimal alignment parking mode, the vehicle is parked in the target parking space and arranged to maintain a certain distance from a parking line or an obstacle.

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