Vehicle and method of controlling the same

Abstract

The present application relates to a vehicle and a control method thereof. The vehicle is capable of adaptively adjusting a sensing distance of an ultrasonic sensor according to an operation of the vehicle, the vehicle comprising: a steering device for steering a wheel; a power device for transmitting power to the wheel; a brake device for braking the wheel; an ultrasonic sensor for detecting an external object; an input device for receiving an input from a user; a transceiver for communicating with a user terminal; and a controller for adjusting the sensing distance of the ultrasonic sensor based on whether a user input for automatic parking is received through the input device or the transceiver, and controlling at least one of the steering device, the power device or the brake device based on an output of the ultrasonic sensor and the user input.

Description

[0001] Cross-reference to related applications

[0002] This application is based on and claims priority to Korean Patent Application No. 10-2019-0149621 filed with the Korean Intellectual Property Office on November 20, 2019, the disclosure of which is incorporated herein by reference. Technical Field

[0003] This invention relates to a vehicle for adaptively adjusting the sensing distance of an ultrasonic sensor and a control method thereof. Background Technology

[0004] In recent years, vehicles have offered remote smart parking assist (RSPA) to help enter or exit garages or narrow right-angle parking spaces. Specifically, the vehicle can move forward or backward in a narrow parking space based on forward or reverse commands received via the smart key.

[0005] In addition, the vehicle provides a parking distance warning (PDW) to assist parking, for which ultrasonic sensors are installed.

[0006] However, to ensure the sensing distance used to provide PDW (Power Delivery), ultrasonic sensors may have blind spots in the vicinity. In this case, if an object is present in the blind spot, forward or backward movement will not be performed even if there is no risk of collision, thus potentially failing to provide RSPA (Reverse Spa) smoothly in tight parking spaces.

[0007] The information disclosed in the above background section is intended to help understand the background technology of this invention and should not be construed as an admission that such information constitutes any part of the prior art. Summary of the Invention

[0008] Therefore, one aspect of the present invention is committed to providing a vehicle and a control method thereof, wherein the vehicle adaptively adjusts the sensing distance of an ultrasonic sensor according to the operation of the vehicle.

[0009] According to one aspect of the present invention, a vehicle includes: a steering device, a power unit, a braking device, an ultrasonic sensor, an input device, a transceiver, and a controller, wherein the steering device is configured to steer the wheels; the power unit is configured to transmit power to the wheels; the braking device is configured to brake the wheels; the ultrasonic sensor is configured to detect external objects; the input device is configured to receive input from a user; the transceiver is configured to communicate with a user terminal; and the controller is configured to adjust the sensing distance of the ultrasonic sensor based on whether user input for automatic parking is received via the input device or the transceiver, and to control at least one of the steering device, the power unit, or the braking device based on the output of the ultrasonic sensor and the user input.

[0010] The controller can be further configured to adjust the sensing distance of the ultrasonic sensor in a decreasing direction when it receives user input for automatic parking.

[0011] The controller can be further configured to adjust the sensing distance of the ultrasonic sensor in a decreasing direction when user input for remote control is received via the transceiver.

[0012] The controller may be further configured to control at least one of the steering, power, or braking devices based on user input for automatic parking or user input for remote control.

[0013] The controller can be further configured to adjust the sensing distance of the ultrasonic sensor in an increasing direction based on user operation on at least one of the steering, power, or braking devices.

[0014] The controller can be further configured to adjust the sensing distance of the ultrasonic sensor by adjusting the output of the ultrasonic sensor.

[0015] The controller can be further configured to adjust the sensing distance of the ultrasonic sensor to such that the minimum distance at which an external object can be detected is reduced when the sensing distance of the ultrasonic sensor is adjusted in a decreasing direction.

[0016] The controller can be further configured to: determine the degree of collision risk with an external object based on the output of the ultrasonic sensor, and control the braking device to brake when the degree of collision risk with an external object is greater than or equal to a preset value.

[0017] According to one aspect of the present invention, a method for controlling a vehicle, the vehicle comprising: a steering device configured to steer the wheels, a power device configured to transmit power to the wheels, a braking device configured to brake the wheels, an ultrasonic sensor configured to detect an external object, an input device configured to receive input from a user, and a transceiver configured to communicate with a user terminal, the method comprising: adjusting the sensing distance of the ultrasonic sensor based on whether user input for automatic parking is received via the input device or the transceiver; and controlling at least one of the steering device, the power device, or the braking device based on the output of the ultrasonic sensor and the user input.

[0018] Adjusting the sensing distance of an ultrasonic sensor may include adjusting the sensing distance of the ultrasonic sensor in a decreasing direction when user input for automatic parking is received.

[0019] The control method may further include: when a user input for remote control is received via a transceiver, adjusting the sensing distance of the ultrasonic sensor in a decreasing direction.

[0020] Controlling at least one of the steering, power, or braking devices may include: controlling at least one of the steering, power, or braking devices based on user input for automatic parking or user input for remote control.

[0021] The control method may further include adjusting the sensing distance of the ultrasonic sensor in an increasing direction based on user operation of at least one of the steering device, power device, or braking device.

[0022] Adjusting the sensing distance of an ultrasonic sensor can include adjusting the sensor's output to change its sensing distance.

[0023] Adjusting the sensing distance of an ultrasonic sensor can include adjusting the sensing distance of the ultrasonic sensor in a decreasing direction to reduce the minimum distance at which an external object can be detected.

[0024] The control method may further include: determining the degree of collision risk with an external object based on the output of the ultrasonic sensor; and controlling the braking device to brake when the degree of collision risk with an external object is greater than or equal to a preset value. Attached Figure Description

[0025] These and / or other aspects of the invention will become clearer and more readily understood from the following description of embodiments in conjunction with the accompanying drawings, in which:

[0026] Figure 1 This is a control block diagram of a vehicle according to an exemplary embodiment of the present invention.

[0027] Figure 2 This is a schematic diagram illustrating the sensing distance of an ultrasonic sensor in a vehicle according to an exemplary embodiment of the present invention.

[0028] Figure 3 This is a schematic diagram illustrating a situation where a vehicle receives input for automatic parking or remote control according to an exemplary embodiment of the present invention.

[0029] Figure 4 This is a schematic diagram illustrating a situation where a vehicle performs a parking operation based on a user operation according to an exemplary embodiment of the present invention.

[0030] Figure 5 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment of the present invention, in which the sensing distance of an ultrasonic sensor is adjusted based on whether user input for automatic parking or remote control is received. Detailed Implementation

[0031] Throughout this specification, the same reference numerals refer to the same elements. Not all elements of embodiments of the invention are described; rather, descriptions of elements well-known in the art or those overlapping in the embodiments are omitted.

[0032] It should be understood that when an element is referred to as being “connected” to another element, that element is capable of being directly or indirectly connected to the other element, wherein indirect connection includes “connection” via a wireless communication network.

[0033] Similarly, when a component “comprises” or “includes” an element, the component may further include other elements, without excluding other elements, unless there is a specific description to the contrary.

[0034] As used herein, the singular forms “a,” “one,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0035] As used herein, the terms “part,” “unit,” “block,” “component,” and “module” refer to a unit capable of performing at least one function or operation. For example, these terms may refer to at least one process performed by at least one piece of hardware (e.g., field-programmable gate arrays (FPGAs) and application-specific integrated circuits (ASICs)) and at least one piece of software stored in memory or a processor.

[0036] The use of reference numerals in the accompanying drawings is for ease of description and is not intended to indicate the order of each step. Each step may be performed in a different order than that shown, unless the context clearly indicates otherwise.

[0037] In the following, exemplary embodiments of a vehicle and methods for controlling the vehicle according to one aspect will be described in detail with reference to the accompanying drawings.

[0038] Figure 1 This is a control block diagram of a vehicle according to an exemplary embodiment of the present invention. Figure 2 This is a schematic diagram illustrating the sensing distance of an ultrasonic sensor in a vehicle according to an exemplary embodiment of the present invention.

[0039] refer to Figure 1 According to an exemplary embodiment, a vehicle 10 includes: an ultrasonic sensor 110, a transceiver 120, a storage device 130, a controller 140, a steering device 150, a power unit 160, a braking device 170, and an input device 180. The ultrasonic sensor 110 senses external objects; the transceiver 120 communicates with a user terminal 20; the storage device 130 stores various information required to control the vehicle 10; the controller 140 adjusts the sensing distance of the ultrasonic sensor 110 based on whether user input for automatic parking is received; the steering device 150 steers the wheels; the power unit 160 transmits power to the wheels; the braking device 170 brakes the wheels; and the input device 180 receives input from the user regarding automatic parking. However, according to an exemplary embodiment, each component included in the vehicle 10 may be omitted.

[0040] According to an exemplary embodiment, the ultrasonic sensor 110 can detect objects located outside the vehicle 10.

[0041] Specifically, the ultrasonic sensor 110 can transmit ultrasonic waves to the outside of the vehicle 10 and can detect the position and size of objects located outside the vehicle 10 based on ultrasonic echoes reflected from and received from objects located outside the vehicle 10.

[0042] Therefore, the ultrasonic sensor 110 can be disposed on the body of the vehicle 10, and can be disposed at least at the front, side, or rear of the vehicle 10. For example, as Figure 2 As shown, the ultrasonic sensor 110 may include: a first ultrasonic sensor 110a disposed on the right front side of the vehicle body 10, a second ultrasonic sensor 110b disposed on the left front side, a third ultrasonic sensor 110c disposed on the left rear side, and a fourth ultrasonic sensor 110d disposed on the right rear side. However, the position and number of the ultrasonic sensors 110 are not limited as long as they are capable of detecting the position and number of external objects of the vehicle 10.

[0043] The transceiver 120 according to an exemplary embodiment can communicate with the user terminal 20.

[0044] Specifically, transceiver 120 can receive user input from user terminal 20 instructing vehicle 10 to park automatically. For example, transceiver 120 can receive user input instructing vehicle 10 to perform any of the following operations: parking, forward, or reverse.

[0045] For this purpose, transceiver 120 can communicate with user terminal 20 wirelessly. Wireless communication can be carried out using known communication methods and can include both wireless communication over a network and direct wireless communication without a network.

[0046] According to an exemplary embodiment of the present invention, transceiver 120 may be a hardware device implemented by various electronic circuits (e.g., a processor) to transmit and receive signals via a wireless or wired connection.

[0047] At this time, the user terminal 20 may be a smart key corresponding to the vehicle 10, or a smartphone that can communicate with the vehicle 10 through authentication. However, the type of user terminal 20 is not limited to the above examples. As long as the user terminal 20 is an electronic device capable of receiving user input (which indicates operation for the vehicle 10) and sending it to the vehicle 10, the type of user terminal 20 is not limited.

[0048] Storage device 130 can store various information required for controlling vehicle 10. For example, storage device 130 can store information about the correlation between the operation of vehicle 10 and the sensing distance of ultrasonic sensor 110.

[0049] Thus, storage device 130 can be implemented as a known type of storage medium to store various information required by vehicle 10.

[0050] According to an exemplary embodiment, the controller 140 can adjust the sensing distance of the ultrasonic sensor 110 based on whether user input instructing automatic parking or remote control is received.

[0051] Specifically, the controller 140 can receive user input instructing automatic parking or remote control from the user terminal 20 via the transceiver 120, or receive user input instructing automatic parking via the input device 180. That is, when the user is outside the vehicle 10, the vehicle 10 can receive user input instructing automatic parking or remote control via the transceiver 120; when the user is inside the vehicle 10, the vehicle 10 can receive user input instructing automatic parking via the input device 180.

[0052] At this time, remote control can mean that no user in vehicle 10 is remotely controlling vehicle 10 using user terminal 20, and can correspond to a control command that commands vehicle 10 to move forward or backward.

[0053] Automatic parking can mean parking a vehicle 10 automatically using sensors such as ultrasonic sensors 110, cameras (not shown), and radar (not shown) without user intervention.

[0054] When the controller 140 receives user input instructing automatic parking or remote control, it can adjust the sensing distance of the ultrasonic sensor 110 in a decreasing direction.

[0055] Additionally, when there is user operation on at least one of the steering device 150, power unit 160, or braking device 170 without receiving user input instructing automatic parking, the controller 140 can adjust the sensing distance of the ultrasonic sensor 110 in the increasing direction.

[0056] Thus, when the vehicle is operating without user intervention, it can adjust the sensing distance of the ultrasonic sensor 110 in the decreasing direction when the vehicle is operating according to user intervention, and in the increasing direction when the vehicle is operating according to user intervention.

[0057] At this time, the controller 140 can adjust the sensing distance of the ultrasonic sensor 110 by adjusting the output of the ultrasonic sensor 110. That is, when the sensing distance is adjusted in the decreasing direction, the ultrasonic sensor 110 can emit a weak ultrasonic signal by reducing the transmission sensitivity; when the sensing distance is adjusted in the increasing direction, the ultrasonic sensor 110 can emit a strong ultrasonic signal by increasing the transmission sensitivity.

[0058] When the transmission sensitivity decreases, due to the shape of the vehicle 10, the coherence of the ultrasonic signal near the ultrasonic sensor 110 and the ring time of the ultrasonic sensor 110 decrease, thereby reducing the minimum distance at which external objects can be sensed.

[0059] In other words, the controller 140 can adjust the sensing distance of the ultrasonic sensor 110, thereby reducing the minimum distance at which external objects can be detected when the sensing distance of the ultrasonic sensor 110 is adjusted in a decreasing direction.

[0060] For example, controller 140 adjusts the sensing distance of ultrasonic sensor 110 in a decreasing direction, so that when a user input instructing automatic parking or remote control is received, ultrasonic sensor 110 detects external objects within the reduced sensing range 112a, 112b, 112c, and 112d, such as... Figure 2 As shown.

[0061] Additionally, the controller 140 can adjust the sensing distance of the ultrasonic sensor 110 in the increasing direction, so that when operating according to user operation, the ultrasonic sensor 110 detects external objects within the expanded sensing range 111a, 111b, 111c, and 111d, such as... Figure 2 As shown.

[0062] At this time, such as Figure 2 As shown, the reduced sensing ranges 112a, 112b, 112c, and 112d can have a shorter minimum distance for detecting external objects than the expanded sensing ranges 111a, 111b, 111c, and 111d. Thus, even in confined spaces, the vehicle 10 according to the exemplary embodiment can provide operation for automatic parking or remote control.

[0063] According to an exemplary embodiment, the controller 140 can control at least one of the steering device 150, the power unit 160, or the braking device 170 based on the output of the ultrasonic sensor 110 and user input.

[0064] For example, when receiving user input instructing automatic parking or remote control, controller 140 can control at least one of steering device 150, power unit 160, or braking device 170.

[0065] At this time, the controller 140 can determine the collision risk information with external objects based on the output of the ultrasonic sensor 110. When the degree of collision risk with external objects is greater than or equal to a preset value, the controller controls the braking device 170 to apply the brakes and terminates the control of the steering device 150 and the power unit 160. For example, the collision risk information may correspond to the collision time calculated based on the sensed relative distance and relative speed between the external object and the vehicle 10.

[0066] The controller 140 may include at least one non-transitory memory and at least one processor, wherein the memory stores a program for performing the operations described above and below; and the processor executes the stored program. In the presence of multiple memories and processors, they may be integrated into a single chip or disposed in separate locations on the physical surface.

[0067] According to an exemplary embodiment, the steering device 150 can adjust the driving direction of the vehicle 10 by turning the wheels. That is, the steering device 150 can turn the wheels according to the control of the controller 140 or user operation.

[0068] According to the exemplary embodiment, the power unit 160 transmits power to the wheels, enabling the vehicle 10 to move. That is, the power unit 160 can transmit power to the wheels according to the control of the controller 140 or user operation. In this case, depending on the type of vehicle 10, the power unit 160 may correspond to a fossil fuel-powered engine or an electric motor.

[0069] According to the exemplary embodiment, the braking device 170 can brake the vehicle 10 by braking the wheels. That is, the braking device 170 can brake the wheels according to the control of the controller 140 or user operation, and a known type of braking device can be used.

[0070] The input device 180 according to an exemplary embodiment can receive user input instructing automatic parking.

[0071] Therefore, the input device 180 can be arranged on a central instrument panel mounted in the center of the dashboard, and can be implemented using, for example, physical buttons, knobs, touchpads, touchscreens, joysticks, or trackballs. However, the location and type of the input device 180 are not limited to the examples described above. The location and type of the input device 180 are not limited as long as they are capable of receiving user input within the vehicle 10 indicating automatic parking.

[0072] In addition, in order to perform parking operations, vehicle 10 may further include a camera (not shown) for acquiring image data of the external environment of vehicle 10, and a radar for acquiring radar data of the external environment of vehicle 10.

[0073] Figure 3 This is a schematic diagram illustrating a situation where a vehicle receives input for automatic parking or remote control according to an exemplary embodiment of the present invention. Figure 4 This is a schematic diagram illustrating a situation where a vehicle performs a parking operation based on a user operation according to an exemplary embodiment of the present invention.

[0074] refer to Figure 3 and Figure 4 According to an exemplary embodiment, the controller 140 can adjust the sensing distance of the ultrasonic sensor based on whether user input instructing automatic parking or remote control is received.

[0075] At this time, the controller 140 can adjust the sensing distance of the ultrasonic sensor 110 by adjusting the output of the ultrasonic sensor 110. That is, when the sensing distance is adjusted in the decreasing direction, the ultrasonic sensor 110 can emit a weak ultrasonic signal by reducing the transmission sensitivity; when the sensing distance is adjusted in the increasing direction, the ultrasonic sensor 110 can emit a strong ultrasonic signal by increasing the transmission sensitivity.

[0076] When the transmission sensitivity decreases, due to the shape of the vehicle 10, the coherence of the ultrasonic signal near the ultrasonic sensor 110 and the residual vibration time of the ultrasonic sensor 110 decrease, thereby reducing the minimum distance at which external objects can be sensed.

[0077] In other words, the controller 140 can adjust the sensing distance of the ultrasonic sensor 110, thereby reducing the minimum distance at which external objects can be detected when the sensing distance of the ultrasonic sensor 110 is adjusted in a decreasing direction.

[0078] In other words, such as Figure 3 As shown, the controller 140 can adjust the sensing distance of the ultrasonic sensor 110 so that when it receives user input instructing automatic parking or remote control, it reduces the minimum distance at which external objects can be sensed by adjusting the sensing distance of the ultrasonic sensor 110 in a decreasing direction. In this case, the sensing range of the ultrasonic sensor 110 can correspond to the reduced sensing ranges 112a, 112b, 112c, and 112d.

[0079] As described above, vehicle 10 can control ultrasonic sensor 110 to reduce the minimum sensing distance of ultrasonic sensor 110, thereby enhancing the recognition performance of objects located close to vehicle 10 when controlling steering device 150, power unit 160 and braking device 170 based on remote control, or when controlling steering device 150, power unit 160 and braking device 170 to perform automatic parking. Thus, the Remote Intelligent Parking Assist System (RSPA) can be provided more effectively and accurately in confined spaces.

[0080] In other words, when the transceiver 120 receives user input indicating automatic parking or remote control input from the user terminal 20 but does not receive user operation on the vehicle 10, or when the input device 180 receives user input indicating automatic parking, the vehicle 10 can adjust the sensing distance of the ultrasonic sensor 110 in the decreasing direction.

[0081] Additionally, when operated based on user input (e.g., manual parking), the controller 140 can adjust the sensing distance of the ultrasonic sensor 110, thereby increasing the maximum distance at which external objects can be sensed by adjusting the sensing distance of the ultrasonic sensor 110 in an increasing direction. Figure 4 As shown. In this case, the sensing range of the ultrasonic sensor 110 can correspond to the extended sensing ranges 111a, 111b, 111c, and 111d.

[0082] As described above, vehicle 10 can control ultrasonic sensor 110 to increase the maximum sensing distance of ultrasonic sensor 110, thereby enhancing the recognition performance of objects located at a distance from vehicle 10 when steering device 150, power unit 160 and braking device 170 are controlled to perform manual parking based on user operation. Thus, vehicle 10 can ensure the sensing distance of parking distance warning (PDW) (e.g., 1.2m), thereby providing more stable parking assistance.

[0083] As described above, by adaptively adjusting the sensing distance of the ultrasonic sensor 110 according to the operation of the vehicle 10, the vehicle 10 can provide more efficient operation.

[0084] When a user input instructing automatic parking or remote control is received, vehicle 10 may adjust the sensing distance of ultrasonic sensor 110 in the decreasing direction. When a user operation (e.g., manual parking) is received on at least one of the steering device 150, power unit 160, or braking device 170, vehicle 10 may adjust the sensing distance of ultrasonic sensor 110 in the increasing direction.

[0085] In other words, when the transceiver 120 receives user input instructing automatic parking or remote control without user operation of at least one of the steering mechanism 150, power unit 160, or braking device 170, the vehicle 10 can adjust the sensing distance of the ultrasonic sensor 110 in a decreasing direction. Additionally, when the input device 180 receives user input instructing automatic parking without user operation of at least one of the steering mechanism 150, power unit 160, or braking device 170, the vehicle 10 can adjust the sensing distance of the ultrasonic sensor 110 in a decreasing direction.

[0086] Additionally, when there is user operation on at least one of the steering device 150, power unit 160, or braking device 170, the vehicle 10 can adjust the sensing distance of the ultrasonic sensor 110 in an increasing direction. This ensures the sensing distance of the parking distance warning (PDW) (e.g., 1.2m), thereby providing more stable driving or parking.

[0087] Hereinafter, a control method for a vehicle 10 according to an exemplary embodiment will be described. The vehicle 10 according to the above exemplary embodiment can be applied to the control method for the vehicle 10 described later. Therefore, unless specifically mentioned, reference will be made to... Figures 1 to 4 The description also applies to the control method of vehicle 10 according to the exemplary implementation.

[0088] Figure 5This is a flowchart illustrating a vehicle control method according to an exemplary embodiment of the present invention, in which the sensing distance of an ultrasonic sensor is adjusted based on whether a user input instructing automatic parking or remote control is received.

[0089] refer to Figure 5 When a user input instructing automatic parking or remote control is received (Yes in step 510), the vehicle 10 according to the exemplary embodiment can adjust the sensing distance of the ultrasonic sensor 110 in a decreasing direction (step 520).

[0090] In this case, vehicle 10 can control at least one of steering device 150, power unit 160 and braking device 170 based on user input (step 530).

[0091] Additionally, when there is no user input indicating automatic parking or remote control (No in step 510) and there is user operation on vehicle 10 (Yes in step 540), vehicle 10 according to the exemplary embodiment can adjust the sensing distance of ultrasonic sensor 110 in the increasing direction (step 550).

[0092] In other words, when there is a user operation (e.g., manual parking) on ​​at least one of the steering device 150, power device 160 and braking device 170, the vehicle 10 can adjust the sensing distance of the ultrasonic sensor 110 in the increasing direction.

[0093] In this situation, vehicle 10 can perform a parking operation based on user input (step 560). Specifically, at least one of the steering device 150, power unit 160, and braking device 170 can be operated based on user input.

[0094] As described above, vehicle 10 can control ultrasonic sensor 110 to reduce the minimum sensing distance of ultrasonic sensor 110, thereby enhancing the recognition performance of objects located close to vehicle 10 when controlling steering device 150, power unit 160 and braking device 170 based on remote control, or when controlling steering device 150, power unit 160 and braking device 170 to perform automatic parking. Thus, the Remote Intelligent Parking Assist System (RSPA) can be provided more effectively and accurately in confined spaces.

[0095] In other words, when the transceiver 120 receives user input indicating automatic parking or remote control input from the user terminal 20 but does not receive user operation on the vehicle 10, or when the input device 180 receives user input indicating automatic parking, the vehicle 10 can adjust the sensing distance of the ultrasonic sensor 110 in the decreasing direction.

[0096] Additionally, vehicle 10 can control ultrasonic sensor 110 to increase its maximum sensing distance, thereby enhancing the recognition performance of objects located at a distance from vehicle 10 when steering device 150, power unit 160, and braking device 170 are controlled to perform manual parking based on user operation. Thus, vehicle 10 can ensure the sensing distance of parking distance warning (PDW) (e.g., 1.2m), providing more stable parking assistance.

[0097] As a result, by adaptively adjusting the sensing distance of the ultrasonic sensor 110 according to the operation of the vehicle 10, the vehicle 10 can provide more efficient operation.

[0098] According to one aspect of the vehicle and its control method, by adaptively adjusting the sensing distance of the ultrasonic sensor according to the vehicle's operation, remote intelligent parking assistance (RSPA) can be smoothly provided in confined spaces.

[0099] The disclosed exemplary embodiments can also be implemented in the form of a recording medium storing computer-executable instructions. The instructions can be stored as program code, and when executed by a processor, the instructions can generate program modules to perform the steps of the disclosed exemplary embodiments. The recording medium can be implemented as a computer-readable recording medium.

[0100] Computer-readable recording media can include all types of recording media that store commands that can be interpreted by a computer. For example, computer-readable recording media can be ROM, RAM, magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0101] Exemplary embodiments of the present invention have been described so far with reference to the accompanying drawings. It will be apparent to those skilled in the art that the present invention can be practiced in other forms than the exemplary embodiments described above without altering the technical concept or essential characteristics of the invention. The exemplary embodiments described above are merely illustrative and should not be interpreted in a limiting sense.

Claims

1. A vehicle comprising: a steering device configured to steer a wheel; a power device configured to transmit power to the wheel; a brake device configured to brake the wheel; an ultrasonic sensor configured to detect an external object; an input device configured to receive an input from a user; a transceiver configured to communicate with a user terminal; and a controller configured to adjust a sensing distance of the ultrasonic sensor based on whether a user input for automatic parking is received through the input device or the transceiver, and to control at least one of the steering device, the power device, or the brake device based on an output of the ultrasonic sensor and the user input, wherein the controller is further configured to decrease the sensing distance of the ultrasonic sensor when operating in an automatic parking mode, and to increase the sensing distance of the ultrasonic sensor when operating in a manual parking mode. The controller is further configured to adjust the sensing distance of the ultrasonic sensor in a decreasing direction when a user input for remote control is received through the transceiver.

2. The vehicle of claim 1, wherein, The controller is further configured to control at least one of the steering device, the power device, or the brake device based on the user input for automatic parking or the user input for remote control.

3. The vehicle of claim 2, wherein, The controller is further configured to adjust the sensing distance of the ultrasonic sensor in an increasing direction based on a user operation of at least one of the steering device, the power device, or the brake device.

4. The vehicle of claim 1, wherein, The controller is further configured to adjust the sensing distance of the ultrasonic sensor by adjusting an output of the ultrasonic sensor.

5. The vehicle of claim 1, wherein, The controller is further configured to adjust the sensing distance of the ultrasonic sensor such that a minimum distance at which the external object is detectable is decreased when adjusting the sensing distance of the ultrasonic sensor in a decreasing direction.

6. The vehicle of claim 5, wherein, The controller is further configured to determine a degree of a risk of collision with the external object based on the output of the ultrasonic sensor, and to control the brake device to brake when the degree of the risk of collision with the external object is greater than or equal to a preset value.

7. The vehicle of claim 1, wherein, A steering device configured to steer a wheel, a power device configured to transmit power to the wheel, a brake device configured to brake the wheel, an ultrasonic sensor configured to detect an external object, an input device configured to receive an input from a user, a transceiver configured to communicate with a user terminal, the method comprising:

8. A control method of a vehicle, the vehicle comprising: adjusting a sensing distance of the ultrasonic sensor based on whether a user input for automatic parking is received through the input device or the transceiver; controlling at least one of the steering device, the power device, or the brake device based on an output of the ultrasonic sensor and the user input, wherein the sensing distance of the ultrasonic sensor is decreased when operating in an automatic parking mode, and the sensing distance of the ultrasonic sensor is increased when operating in a manual parking mode. 9.The control method of claim 8, further comprising: adjusting the sensing distance of the ultrasonic sensor in a decreasing direction when a user input for remote control is received through the transceiver. The controlling at least one of the steering device, the power device, or the brake device includes:

10. The control method according to claim 9, wherein controlling at least one of the steering device, the power device, or the brake device based on the user input for automatic parking or the user input for remote control. ​ 11. The control method according to claim 8, further comprising: adjusting the sensing distance of the ultrasonic sensor in an increasing direction based on a user operation of at least one of the steering device, the power device, or the braking device.

12. The control method according to claim 8, wherein adjusting the sensing distance of the ultrasonic sensor includes: adjusting the sensing distance of the ultrasonic sensor by adjusting an output of the ultrasonic sensor.

13. The control method according to claim 12, wherein adjusting the sensing distance of the ultrasonic sensor includes: when adjusting the sensing distance of the ultrasonic sensor in a decreasing direction, adjusting the sensing distance of the ultrasonic sensor such that a minimum distance at which the external object can be detected decreases.

14. The control method according to claim 8, further comprising: determining a degree of a risk of collision with the external object based on the output of the ultrasonic sensor; when the degree of the risk of collision with the external object is greater than or equal to a preset value, controlling the braking device to brake.

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