Vehicle and operating method for indicating progress of an automatic parking process

Abstract

A vehicle and an operating method for indicating progress of an automatic parking process are disclosed. One embodiment vehicle includes a collection device for collecting environment information and user input for automatic parking of the vehicle, an automatic parking controller for performing automatic parking based on the environment information and the user input, and a behavior controller for controlling behavior of the vehicle in response to control of the automatic parking controller, wherein the automatic parking controller calculates a first progress corresponding to determining whether the user input is a wake-up request, a second progress corresponding to acquiring control right of the behavior controller, a third progress corresponding to determining whether the user input is an execution request of the automatic parking, a fourth progress corresponding to generation of control information for the behavior controller, and a fifth progress corresponding to control of the behavior of the vehicle.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of Korean Patent Application No. 10-2020-0188346, filed on December 30, 2020, with the Korean Intellectual Property Office, which is incorporated herein by reference. Technical Field

[0003] This disclosure relates to an automatic parking system. Background Technology

[0004] An automatic parking system is a system that uses ultrasonic sensors installed at the front and rear of a vehicle to search for parking spaces and automatically maneuver into and out of those spaces. Automatic parking systems allow users to park their vehicles by operating buttons inside the car or simply by using a smart key outside the vehicle.

[0005] Automatic parking systems can be designed to operate only if the user's input is held for a preset time or longer, to prevent the vehicle from moving in response to incorrect or malicious input from the user.

[0006] However, the time required for an automatic parking system to park and exit a vehicle can vary depending on the parking environment. The parking environment can include factors such as road slope, road resistance, and the presence or absence of obstacles. Therefore, when using an automatic parking system, users cannot intuitively know the time required for the vehicle to move, which may reduce the system's usability. Furthermore, when users cannot discern the progress of the automatic parking system's control over the vehicle, it is difficult to determine whether the system is functioning correctly, thus reducing user convenience. Summary of the Invention

[0007] This disclosure relates to an automated parking system. Specific embodiments relate to a vehicle that transmits progress information to a user for performing an automated parking process. Embodiments of this disclosure address problems existing in the prior art while retaining its advantages.

[0008] In embodiments of this disclosure, the vehicle can activate the automatic parking function based on user input, and the vehicle can be controlled by the automatic parking controller from the activation of the automatic parking function to the movement of the vehicle through the automatic parking function.

[0009] In another embodiment of this disclosure, the vehicle may calculate the progress corresponding to the process of performing automatic parking and output the progress-corresponding information via an output device included in the vehicle or an output device included in an external terminal.

[0010] In another embodiment of this disclosure, the vehicle can provide the user with information corresponding to the progress, allowing the user to intuitively identify the estimated time required for automatic parking, and preventing vehicle operation due to user error or malicious input.

[0011] The technical problems to be solved by the present invention are not limited to those described above, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art from the following description.

[0012] According to embodiments of this disclosure, a vehicle includes a collection device for collecting environmental information and user input for automatic parking, an automatic parking controller for performing automatic parking of the vehicle based on the environmental information and user input, and a behavior controller for controlling the behavior of the vehicle in response to the control of the automatic parking controller. The automatic parking controller calculates a first progress corresponding to the process of determining whether the user input is a wake-up request, a second progress corresponding to the process of acquiring control over the behavior controller based on the user input, a third progress corresponding to the process of determining whether the user input is an execution request for automatic parking, a fourth progress corresponding to the process of generating control information for the behavior controller based on the environmental information, and a fifth progress corresponding to the process of controlling the behavior of the vehicle based on the control information.

[0013] In one embodiment, the vehicle may include an output device that outputs information corresponding to a first progress, a second progress, a third progress, a fourth progress, and a fifth progress, respectively, and the output device may include at least one device selected from the group consisting of a display, a lighting device, an audio output device, and a haptic module.

[0014] In one embodiment, the collection device may include an input device, and user input may be collected through the input device.

[0015] In one embodiment, the automatic parking controller can determine that the user input is a wake-up request, and calculate a first progress when the user input lasts for a first wake-up time or longer.

[0016] In one embodiment, the vehicle may include a communication device that can receive input signals from an external terminal, wherein the collection device is configured to collect user input based on the input signals.

[0017] In one embodiment, the environmental information may include information about the user's location, and the automatic parking controller may determine that the user input is a wake-up request, and calculate a first progress when the user's location is outside the vehicle and the user input based on the input signal lasts for a second wake-up time or longer.

[0018] In one embodiment, the external terminal may include a terminal output device that outputs information corresponding to the first, second, third, fourth, and fifth progress steps; and the automatic parking controller may send the information corresponding to the first, second, third, fourth, and fifth progress steps to the external terminal via a communication device.

[0019] In one embodiment, when the user inputs a continuous automatic control activation time or longer, the automatic parking controller can initiate the acquisition of control over the behavior controller.

[0020] In one embodiment, the behavior controller may include at least one controller selected from the group consisting of: a torque controller that controls the torque of the vehicle, a steering controller that controls the direction of the vehicle, a shift controller that controls the gears of the vehicle, a brake controller that controls the deceleration of the vehicle, and a body controller that controls electronics included in the vehicle; and the automatic parking controller may calculate a second progress based on whether it has control over each of the torque controller, steering controller, shift controller, brake controller, or body controller.

[0021] In one embodiment, the automatic parking controller can determine that the user input is an execution request for automatic parking when the user inputs a continuous automatic parking request time or longer; and calculate a third progress when it is determined that the user input is an execution request for automatic parking.

[0022] In one embodiment, the environmental information may include information about the parking space and information about road surface resistance; the control information of the behavior controller may include steering information for the direction of vehicle movement, shifting information for controlling the speed of vehicle movement, and torque information for the vehicle to overcome road surface resistance; and when the user input is determined to be an execution request for automatic parking, the automatic parking controller may calculate a fourth progress based on at least one of the steering information, shifting information, or torque information.

[0023] In one embodiment, the steering information may include the target steering angle for reaching the parking space, the current steering angle, and the vehicle's average steering speed; and the automatic parking controller may calculate a fourth progress based on the time required to reach the vehicle's target steering angle from the current steering angle.

[0024] In one embodiment, the shift information may include information such as the target speed to the parking space, the shift request time, and the shift completion time; and the automatic parking controller may calculate a fourth progress based on the shift request time and the shift completion time.

[0025] In one embodiment, the torque information may include information about the target torque for overcoming road resistance, information about the current torque, and information about the average torque increase rate; and the automatic parking controller may calculate a fourth progress based on the time taken for the current torque to reach the target torque.

[0026] In one embodiment, environmental information may include information about road surface resistance; and the automatic parking controller may calculate a fifth progress based on the time it takes for the vehicle to overcome road surface resistance based on control information.

[0027] In one embodiment, when the vehicle fails to overcome road resistance based on control information, the automatic parking controller can calculate additional control information for the behavior controller based on environmental information; and based on the additional control information, calculate a fifth progress according to the time required to overcome road resistance.

[0028] In one embodiment, environmental information may include information about the parking route and GPS information about the vehicle's location; and the automatic parking controller may use the information about the parking route and the GPS information about the vehicle's location to calculate a first progress, a second progress, a third progress, a fourth progress, and a fifth progress.

[0029] According to another embodiment of this disclosure, a method for controlling automatic parking of a vehicle includes: collecting environmental information and user input for automatic parking of the vehicle by a collection device; determining whether the user input is a wake-up request by an automatic parking controller; calculating and determining a corresponding first progress; acquiring control of a behavior controller by the automatic parking controller based on the user input; calculating a second progress corresponding to the acquisition of control; determining whether the user input is an execution request for automatic parking by the automatic parking controller; calculating and determining a third progress corresponding to whether the user input is an execution request for automatic parking by the automatic parking controller; generating control information for the behavior controller by the automatic parking controller based on the environmental information; calculating a fourth progress corresponding to the generation of the control information; controlling the behavior of the vehicle by the automatic parking controller based on the control information; and calculating a fifth progress corresponding to the control of the vehicle's behavior.

[0030] In one embodiment, the method may further include outputting information corresponding to a first progress, a second progress, a third progress, a fourth progress, and a fifth progress, respectively, via an output device included in the vehicle.

[0031] In one embodiment, the collection device may include an input device, and the method may include collecting user input through the input device by the collection device; determining, by the automatic parking controller, that the user input is a wake-up request when the user input is held for a first wake-up time or longer; and calculating a first progress when the user input is determined to be a wake-up request.

[0032] In one embodiment, the method may further include: collecting environmental information about the automatic parking system by a collection device, including information about the user's location; receiving an input signal from an external terminal by a communication device contained in the vehicle; collecting user input by the collection device based on the input signal; determining the user input as a wake-up request by the automatic parking controller when the user's location is outside the vehicle and the user input based on the input signal is maintained for a second wake-up time or longer; and calculating a first progress when the user input is determined to be a wake-up request by the automatic parking controller.

[0033] In one embodiment, the external terminal may include a terminal output device for outputting information corresponding to the first progress, second progress, third progress, fourth progress, and fifth progress, respectively. The method may include: the automatic parking controller sending the information corresponding to the first progress, second progress, third progress, fourth progress, and fifth progress to the external terminal via a communication device; and the terminal output device included in the external terminal outputting the information corresponding to the first progress, second progress, third progress, fourth progress, and fifth progress, respectively. Attached Figure Description

[0034] The above and other objects, features and advantages of the embodiments of this disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0035] Figure 1 A vehicle and an external terminal according to an embodiment of the present disclosure are shown;

[0036] Figure 2 The diagram illustrates the construction of a vehicle according to an embodiment of the present disclosure;

[0037] Figure 3 The construction of a behavior controller according to an embodiment of the present disclosure is shown;

[0038] Figure 4 This is an example diagram illustrating the output device of a vehicle according to an embodiment of the present disclosure;

[0039] Figure 5 This is a flowchart illustrating a method for calculating the progress of a vehicle according to an embodiment of the present disclosure;

[0040] Figure 6 This is a flowchart illustrating the method by which the automatic parking controller generates control information and calculates the fourth progress.

[0041] Figure 7 This is a flowchart of the method for controlling vehicle behavior and calculating the fifth progress of the automatic parking controller;

[0042] Figure 8 The operation method and progress of the collection device and automatic parking controller according to embodiments of the present disclosure are shown;

[0043] Figure 9 The operation method of the collection device, automatic parking controller, and communication device according to another embodiment of the present disclosure, and the corresponding progress therein, are illustrated.

[0044] Figure 10 and Figure 11 An exemplary method for indicating the progress of a vehicle according to an embodiment of the present disclosure is shown; and

[0045] Figure 12 A method for indicating progress via an external terminal is shown according to another embodiment of this disclosure. Detailed Implementation

[0046] In the following, some embodiments of this disclosure will be described in detail with reference to the exemplary accompanying drawings. When adding reference numerals to components in each drawing, it should be noted that the same reference numerals are used to denote components that are shown as identical or equivalent components in other drawings. Furthermore, in describing embodiments of this disclosure, detailed descriptions of well-known features or functions will be omitted to avoid unnecessarily obscuring the spirit of this disclosure.

[0047] In describing components according to embodiments of this 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 they do not limit the nature, order, or arrangement of the constituent components. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms defined in general dictionaries should be interpreted as having the same meaning as in the context of the relevant technical field and should not be interpreted as having an ideal or overly formal meaning unless expressly defined as having such a meaning in this application.

[0048] Figure 1 A vehicle 10 and an external terminal 600 are shown according to an embodiment of the present disclosure.

[0049] like Figure 1 As shown, the vehicle 10 performing the automatic parking function can communicate with the external terminal 600. The vehicle 10 can perform the automatic parking function based on surrounding environmental information and user input. The vehicle 10 can collect user input directly or based on input signals received through the external terminal 600.

[0050] In addition, vehicle 10 can send and receive signals with external terminal 600 via short-range communication technology. Short-range communication technology can take Bluetooth or infrared communication as examples.

[0051] External terminal 600 can refer to a wireless communication device that a user can carry. External terminal 600 can be implemented as a smart key, display smart key, smart phone, tablet computer, personal digital assistant (PDA), portable multimedia player (PMP), laptop computer, etc.

[0052] External terminal 600 may include a separate external input device (not shown). The external input device (not shown) may be a keyboard, button, touchpad, scroll wheel, push switch, toggle switch, etc. The form of the external input device (not shown) is not limited, as long as the external input device is capable of receiving user input.

[0053] For example, when the external terminal 600 is a smart key, the external terminal 600 may include an external input device in the form of a button (not shown), and the user can input a forward movement signal or a backward movement signal via the button. The external terminal 600 can send the input signal to the vehicle 10.

[0054] Furthermore, the external terminal 600 can receive progress-related information from the vehicle 10. The external terminal 600 can provide the received information to the user via a terminal output device. The terminal output device may include at least one of a display, an audio output device, and / or a haptic module, and is not limited to the examples described above, as long as the terminal output device is capable of providing the user with progress-related information.

[0055] Figure 2 The construction of a vehicle 10 according to an embodiment of the present disclosure is shown.

[0056] Vehicle 10 may include: an automatic parking controller 100, which performs automatic parking based on surrounding environmental information and user input, and executes the automatic parking process; a collection device 200, which collects surrounding environmental information and user input of vehicle 10 to perform automatic parking; a behavior controller 300, which controls the behavior of vehicle 10 in response to the control of automatic parking controller 100; a communication device 400, which performs communication by accessing external terminal 600 or external communication network; and an output device 500, which receives progress corresponding to the execution of automatic parking process from automatic parking controller 100 and outputs information corresponding to the progress.

[0057] The process for automatic parking may include all of the following processes: the process by which the automatic parking controller 100 determines whether the user input is a request to perform the automatic parking function, the process by which it acquires control over each component of the vehicle 10 (e.g., the behavior controller 300, etc.), the process by which it generates control information, and the process by which it controls the behavior of the vehicle 10.

[0058] Automatic parking function can refer to the following function, in which the vehicle 10 parks itself based on information about the surrounding environment, even when the user does not directly drive the vehicle 10 or the user does not adjust the steering, gear shifting and torque of the vehicle 10.

[0059] The automatic parking controller 100 can perform automatic parking of the vehicle based on environmental information and user input for automatic parking. Furthermore, the automatic parking controller 100 can calculate the progress corresponding to the automatic parking process.

[0060] For example, the automatic parking controller 100 can perform a process to determine whether the user input is an automatic parking execution request based on user input and environmental information collected by the collection device 200, and can calculate the progress corresponding to the process.

[0061] Furthermore, the automatic parking controller 100 can perform a process of generating control information for the behavior controller 300 based on environmental information, and calculate the progress corresponding to the process.

[0062] The automatic parking controller 100 can control the output device 500 to output information corresponding to the progress. The user can intuitively determine whether the automatic parking function is being executed correctly through the progress output by the output device 500, and can also identify the estimated time required.

[0063] The collection device 200 can collect environmental information and user input for automatic parking. The environmental information for automatic parking may include information about the parking space for parking the vehicle 10 (e.g., the width of the parking space, its position relative to the vehicle 10, etc.), information about obstacles adjacent to the parking location or parking route (e.g., other vehicles, pedestrians, terrain features, etc.), and road surface information about the parking route (e.g., road resistance, road surface material, etc.).

[0064] The data collection device 200 may include distance measurement sensors (ultrasonic sensors, radar, etc.), image sensors (cameras, etc.), acceleration sensors, yaw rate sensors, wheel speed sensors, steering angle sensors, distance sensors, etc., to collect environmental information.

[0065] Ultrasonic sensors, radar, cameras, etc. are installed at the front, rear, left and right sides of the vehicle 10 to obtain environmental information about the front, rear, left and right sides of the vehicle 10.

[0066] Information about obstacles may include things like the size of the obstacle, the distance between the obstacle and vehicle 10, the location of the obstacle, the speed and acceleration of the obstacle, etc.

[0067] Furthermore, the environmental information used for automatic parking may include information about the user's location. When an input signal is collected from the external terminal 600, the collection device 200 can collect environmental information including information about the user's location. Information about the user's location can be collected using the aforementioned distance measurement sensors (ultrasonic sensors, radar, etc.), image sensors (cameras, etc.), etc.

[0068] The collection device 200 may include an input device. The collection device 200 can collect user input via the input device. The input device may include switches, touch devices, etc., disposed in the vehicle 10, and specifically, may be a keyboard, button, touchpad, scroll wheel, push switch, toggle switch, etc. The form of the input device is not limited as long as it can receive user input.

[0069] The collection device 200 can collect user input based on input signals received from the external terminal 600. The collection device 200 can receive input signals through the communication device 400.

[0070] The collection device 200 can collect information corresponding to the user's input start time, input duration, input end time, etc.

[0071] The behavior controller 300 can be a component that controls the behavior of the vehicle 10. The behavior of the vehicle 10 can be collectively referred to as the stopping and moving of the vehicle 10, such as braking, driving, steering, and shifting gears.

[0072] The automatic parking controller 100 acquires control of the behavior controller 300 based on user input, so that the automatic parking controller 100 can park or exit the vehicle even when the user does not directly control the vehicle 10.

[0073] Communication device 400 can refer to a hardware device that uses various electronic circuits to send and receive signals via wireless or wired connections.

[0074] According to embodiments of the present disclosure, the automatic parking controller 100 can wirelessly communicate with an external terminal 600 via a communication device 400.

[0075] Wireless communication between the external terminal 600 and the communication device 400 can be achieved using wireless internet technologies (such as wireless local area network (WLAN) (WiFi), wireless broadband (Wibro) and / or global microwave access interoperability (WiMAX)), short-range communication technologies (such as Bluetooth, near field communication (NFC), radio frequency identification (RFID), RF communication and / or low frequency (LF) communication) and / or mobile communication technologies (such as code division multiple access (CDMA), global mobile communication system (GSM), long-term evolution (LTE) and / or LTE-Advanced, etc.).

[0076] According to embodiments of this disclosure, the collection device 200 can collect user input based on input signals received from an external terminal 600 via the communication device 400. Furthermore, when collecting user input based on input signals received from the external terminal 600, the automatic parking controller 100 can transmit progress-related information to the external terminal 600 via the communication device 400. The external terminal 600, having received the progress-related information, can output the progress-related information.

[0077] The output device 500 can output information corresponding to the progress to the user. The output device 500 can output information corresponding to the progress through an output device corresponding to visual, auditory, or tactile methods.

[0078] Figure 3 The construction of a behavior controller 300 according to an embodiment of the present disclosure is shown.

[0079] The behavior controller 300 may include: a steering controller 310 that controls the steering device to adjust the direction of the vehicle 10; a shift controller 320 that controls the shift device to control the shifting of the vehicle 10; a torque controller 330 that controls the drive device to control the drive torque of the vehicle 10; a brake controller 340 that controls the braking device to control the braking of the vehicle 10; and a body controller 350 that controls the electronic devices included in the vehicle 10.

[0080] The steering mechanism may include, for example, a steering wheel. The shifting mechanism may include, for example, a transmission. The drive mechanism may include, for example, an engine, a motor, etc. The braking mechanism may include a brake. The electronic device may include, for example, a body control module that controls lights, door units, etc., included in vehicle 10.

[0081] Each controller is a universal onboard device used to perform parking of vehicle 10, therefore, its detailed description will be omitted.

[0082] Figure 4 This is an exemplary view showing the output device 500 of a vehicle 10 according to an embodiment of the present disclosure.

[0083] Vehicle 10 can easily transmit information corresponding to the progress to the user through output device 500.

[0084] The output device 500 may include a display 510, a lighting device 520, an audio output device 530, and a haptic module 540.

[0085] Display 510 may refer to a display included in a vehicle dashboard (instrument panel), a head-up display, and an audio, video, and navigation system (AVN system) included in a vehicle, and may include at least one of, for example, a liquid crystal display, a thin-film transistor liquid crystal display, an organic thin-film display, and / or a flexible display.

[0086] The display 510 can visually indicate information corresponding to the progress. For example, the display 510 can visually indicate the current progress relative to the overall progress by displaying information corresponding to the progress in the form of a progress bar.

[0087] The display 510 can easily convey information corresponding to the progress to the user, especially when the user is inside the vehicle 10. The user's situation inside the vehicle 10 can be reflected in the user input collected by the collection device 200 via the input device.

[0088] The lighting device 520 may include at least one of the interior lighting (e.g., ambient lighting, etc.) and / or exterior lighting (e.g., lights) included in the vehicle.

[0089] The lighting device 520 can visually indicate information corresponding to the progress. For example, when the lighting device 520 is interior ambient lighting, it can visually convey information corresponding to the progress to the user in response to changes in progress by means such as changing the color of the ambient lighting or changing the flashing cycle.

[0090] When the lighting device 520 is interior ambient lighting, the vehicle 10 can easily transmit progress to users inside the vehicle.

[0091] Furthermore, when the lighting device 520 is external lighting, it can transmit changes in progress to a user outside the vehicle 10. For example, external lighting can visually convey progress to the user by using spotlights or other methods to project images corresponding to the progress, or by changing the flashing cycle or flashing color of the vehicle's external lights.

[0092] The audio output device 530 may include at least one of the internal audio devices (e.g., internal speakers, etc.) and / or external speakers (e.g., buzzers, etc.) included in the vehicle.

[0093] The audio output device 530 can audibly indicate information corresponding to the progress. For example, when the audio output device 530 is an internal speaker, it can broadcast the progress to audibly convey the information corresponding to the progress to the user.

[0094] When the audio output device 530 is an internal speaker, the vehicle 10 can easily transmit the progress to the user inside the vehicle.

[0095] Additionally, when the audio output device 530 is an external speaker, it can transmit changes in the progress to a user outside the vehicle 10. As an example, the audio output device 530 can use a buzzer that outputs sound to the outside to broadcast a sound corresponding to the progress.

[0096] The tactile module 540 may include a vibrator. The vibrator allows the user to perceive signals through touch.

[0097] In other words, the haptic module 540 can tactilely indicate information corresponding to the progress. When the user is inside the vehicle 10, the haptic module 540 can easily transmit information corresponding to the progress.

[0098] For example, the haptic module 540 can convey progress to the user in a haptic manner by changing the vibration period and vibration intensity based on the progress.

[0099] Figure 5 This is a flowchart illustrating a method for calculating the progress of vehicle 10 according to an embodiment of the present disclosure.

[0100] The collection device 200 can collect user input and environmental information to perform automatic parking (S100).

[0101] In embodiments of this disclosure, the collection device 200 may collect user input via an input device included in the vehicle 10.

[0102] In another embodiment of this disclosure, the collection device 200 may collect user input based on input signals from an external terminal 600. The external terminal 600 may transmit the input signals to the collection device 200 via short-range communication technologies (e.g., Bluetooth or infrared communication).

[0103] The automatic parking controller 100 can perform the automatic parking process for the vehicle 10 based on environmental information and user input.

[0104] The automatic parking controller 100 can determine whether the user input is a wake-up request (S200).

[0105] A wake-up request can refer to a request used to activate the control process of the automatic parking controller 100. After the wake-up request confirmation process, the automatic parking controller 100 can execute other processes for automatic parking.

[0106] In embodiments of this disclosure, when the collection device 200 collects user input via the input device, the automatic parking controller 100 can determine a wake-up request based on the duration of the user input. When user input is collected via the input device and continues for a first wake-up time or longer, the automatic parking controller 100 can determine the user input as a wake-up request.

[0107] In another embodiment of this disclosure, when the collection device 200 collects user input based on the input signal from the external terminal 600, the automatic parking controller 100 can determine a wake-up request based on the user's location information and the duration of the user input. When the user is outside the vehicle and the user input lasts for a second wake-up time or longer, the automatic parking controller 100 can determine the user input as a wake-up request based on the input signal.

[0108] When the input signal from the external terminal 600 continues for a preset time or longer, the user input based on the input signal collected by the collection device 200 can continue for a preset time or longer.

[0109] According to another embodiment of this disclosure, when the collection device 200 collects user input based on the input signal of the external terminal 600, the wake-up request determination process of the automatic parking controller 100 may include determining a remote control request.

[0110] When the user input is not a wake-up request, the automatic parking controller 100 can collect the user input and environmental information again through the collection device 200 (S200 "No" path).

[0111] When the user inputs a wake-up request, the process of controlling the vehicle 10 by the automatic parking controller 100 can be activated. In addition, the automatic parking controller 100 can calculate the first progress (S300) corresponding to the wake-up request determination process.

[0112] The first progress can refer to the progress corresponding to the process of determining whether the user input is a wake-up request associated with the automatic parking controller 100.

[0113] When the overall progress of the automatic parking function is 100%, the automatic parking controller 100 can express the progress corresponding to each process as a percentage.

[0114] Regarding the overall schedule, the percentage of the first phase may vary depending on the implementation.

[0115] According to an embodiment of this disclosure, when the collection device 200 collects user input through the input device, the percentage of the first progress in the total progress can be 4%.

[0116] According to another embodiment of this disclosure, when the collection device 200 collects user input based on the input signal from the external terminal 600, because the wake-up request determination process includes the determination of a remote control request, the percentage of the first progress relative to the total progress can be greater than the percentage in the above embodiment. According to another embodiment of this disclosure, the percentage of the first progress can be 10%.

[0117] When the user inputs a continuous automatic control activation time or a longer period of time, the automatic parking controller 100 can gain control of the behavior controller 300 (S400).

[0118] The automatic control activation time can be the duration of user input used by the automatic parking controller 100 to initiate the acquisition of control over the behavior controller 300.

[0119] The automatic control activation time can be the same as the first wake-up time or the second wake-up time.

[0120] According to embodiments of this disclosure, when a user inputs a preset time (automatic control activation time or first wake-up time) or longer via an input device, the automatic parking controller 100 can initiate a process to acquire control of the behavior controller 300.

[0121] According to another embodiment of this disclosure, when the input signal from the external terminal 600 is sustained for a preset time (automatic control activation time or second wake-up time) or longer, the automatic parking controller 100 can initiate the process of acquiring control over the behavior controller 300.

[0122] The process of acquiring control of the behavior controller 300 can refer to the process by which the automatic parking controller 100 acquires control of the controllers included in the behavior controller 300 (e.g., steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350).

[0123] Since the automatic parking controller 100 gains control of the behavior controller 300, it can perform parking and exiting of the vehicle 10 without user intervention. In other words, the automatic parking controller 100 can perform automatic parking functions without separate user operation by acquiring control of the behavior controller 300.

[0124] The automatic parking controller 100 can calculate a second progress (S500) corresponding to the control acquisition process of the behavior controller 300.

[0125] The second phase can be increased as the automatic parking controller 100 gains control of the controllers included in the behavior controller 300 (e.g., steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350).

[0126] As an example, when the automatic parking controller 100 gains control of the steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350, the automatic parking controller 100 can add a second progress of 1.2% to the total progress. In other words, the second progress can be 6% of the total progress.

[0127] The automatic parking controller 100 can determine whether the user input is an automatic parking execution request (S600).

[0128] The automatic parking controller 100 can determine whether the user input is an automatic parking execution request based on the duration of the user input.

[0129] When a user inputs a continuous automatic parking request time or longer, the automatic parking controller 100 can determine the user input as an automatic parking execution request.

[0130] According to embodiments of this disclosure, when a user inputs a preset time (automatic parking request time) or longer via an input device, the automatic parking controller 100 can determine that the user input is an execution request for automatic parking.

[0131] According to another embodiment of this disclosure, when the input signal from the external terminal 600 lasts for a preset time (automatic parking request time) or longer, and when the user input based on the input signal lasts for a preset time or longer, the automatic parking controller 100 can determine that the user input is an execution request for automatic parking.

[0132] When the user input is not a request to execute automatic parking (the "No" path of S600), the automatic parking controller 100 can collect the user input and environmental information again through the collection device 200.

[0133] When the user inputs for a preset time or longer, the automatic parking controller 100 can determine that the user input is not an incorrect or malicious input.

[0134] When the user inputs a preset duration or a longer duration, the automatic parking controller 100 can determine that the user intends to perform the automatic parking function.

[0135] The automatic parking controller 100 of the embodiments of this disclosure can prevent the execution of the automatic parking function due to erroneous input by determining the user's intention to perform the automatic parking function.

[0136] When it is determined that the user input is an automatic parking execution request, the automatic parking controller 100 can calculate the third progress (S700) corresponding to the process of determining whether the user input is an automatic parking execution request.

[0137] Regarding the overall schedule, the percentage of the third phase may vary depending on the implementation.

[0138] According to an embodiment of this disclosure, when the collection device 200 collects user input through the input device, the percentage of the third progress can be 10%.

[0139] According to another embodiment of this disclosure, when the collection device 200 collects user input based on the input signal of the external terminal 600, the percentage of the third progress can be 4%.

[0140] After calculating the third progress, the automatic parking controller 100 can generate control information for the behavior controller 300 based on the environmental information collected by the collection device 200 (S800).

[0141] Environmental information may include surrounding information for the vehicle 10 to perform automatic parking. As an example, environmental information may include information about the parking space for parking the vehicle 10 (e.g., the width of the parking space, its position relative to the vehicle 10, etc.), information about obstacles adjacent to the parking location or parking route (e.g., other vehicles, pedestrians, surrounding terrain features, etc.), and road surface information about the parking route (e.g., road surface resistance, road surface material, etc.).

[0142] Information about obstacles may include things like the size of the obstacle, the distance between the obstacle and vehicle 10, the location of the obstacle, the speed and acceleration of the obstacle, etc.

[0143] The automatic parking controller 100 can generate control information for controllers included in the behavior controller 300 (e.g., steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350) based on environmental information.

[0144] The control information of the controller may include information required before the automatic parking function is executed and information required during the automatic parking function of the controller (e.g., steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350).

[0145] For example, the control information for the behavior controller 300 may include steering information for the direction of the vehicle 10's behavior, gear shifting information for controlling the speed of the vehicle 10's movement, and torque information for the vehicle 10 to overcome road resistance.

[0146] The automatic parking controller 100 can calculate a fourth progress (S900) corresponding to whether or not control information for the behavior controller is generated based on environmental information.

[0147] The fourth progress can be the sum of the progresses corresponding to the calculation processes for steering information, shift information, and torque information, respectively. According to an embodiment, the fourth progress can be 30% relative to the total progress.

[0148] The automatic parking controller 100 can control the behavior of the vehicle 10 based on control information (S1000).

[0149] The behavior control of vehicle 10 can refer to moving vehicle 10 to enable vehicle 10 to perform automatic parking, and the behavior of vehicle 10 can include all directions of movement and speed of vehicle 10.

[0150] The automatic parking controller 100 can calculate the fifth progress (S1100) based on the actual time taken by the vehicle 10 to take action.

[0151] In response to the control of the automatic parking controller 100, the vehicle 10 should be able to overcome the resistance of the road surface on which the vehicle 10 is located to move. When the vehicle 10 overcomes the road resistance and begins to move, the user can recognize that the automatic parking function is being performed. Therefore, when the vehicle 10 moves, the progress can be 100%.

[0152] Figure 6 This is a flowchart of the method by which the automatic parking controller 100 generates control information and calculates the fourth progress.

[0153] The automatic parking controller 100 can receive environmental information, including parking space information and road resistance information, from the collection device 200 (S810).

[0154] As an example, environmental information may include information about the parking space used to park vehicle 10 (e.g., the width of the parking space, its position relative to vehicle 10, etc.), information about obstacles (e.g., other vehicles, pedestrians), and road surface information about the parking route (e.g., road surface resistance, road surface material, etc.).

[0155] The automatic parking controller 100 can generate control information for controllers included in the behavior controller 300 (e.g., steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350) based on environmental information.

[0156] The automatic parking controller 100 can control controllers included in the behavior controller 300 (e.g., steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350) based on the generated control information.

[0157] The automatic parking controller 100 can control the steering controller 310 based on steering information. By controlling the steering controller 310, the automatic parking controller 100 can control the direction of movement of the vehicle 10.

[0158] Steering information can be generated based on parking space information included in the environmental information. Taking into account parking space information, the current position of vehicle 10, the position of surrounding obstacles, etc., the automatic parking controller 100 can generate steering information. The steering information may include the target steering angle for the vehicle to move to the parking space, the current steering angle, and the average steering speed of the vehicle (S820).

[0159] The automatic parking controller 100 can calculate the time to reach the vehicle's target steering angle based on the vehicle's target steering angle, current steering angle, and average steering speed.

[0160] The automatic parking controller 100 can calculate a fourth progress corresponding to the steering information calculation process based on the time taken to reach the target steering angle. According to an embodiment, the progress corresponding to the steering information calculation process can be 10% relative to the total progress.

[0161] The automatic parking controller 100 can control the shift controller 320 based on shift information. By controlling the shift controller 320, the automatic parking controller 100 can control the moving speed and gear ratio of the vehicle 10.

[0162] Shift information can be generated based on parking space information included in the environmental information. Taking into account parking space information, the current position of vehicle 10, the position of surrounding obstacles, etc., the automatic parking controller 100 can generate shift information. The shift information may include information about the target speed at which the vehicle moves to the parking space, the shift request time, and the shift completion time (S830).

[0163] The automatic parking controller 100 can calculate the time taken for the vehicle to shift gears based on the vehicle's shift request time and shift completion time.

[0164] The automatic parking controller 100 can calculate a fourth progress corresponding to the shift information calculation process based on the shift request time and shift completion time. According to an embodiment, the progress corresponding to the shift information calculation process can be 10% relative to the total progress.

[0165] The automatic parking controller 100 can control the torque controller 330 based on torque information. By controlling the torque controller 330, the automatic parking controller 100 can control the vehicle 10 to overcome road resistance.

[0166] Torque information can be generated based on road surface information included in the environmental information. Specifically, the road surface information may include road surface friction information. Taking into account road resistance information and information about the torque output of vehicle 10, the automatic parking controller 100 can generate torque information. The torque information may include information about the target torque used to overcome road resistance, current torque information, and information about the average torque increase rate (S840).

[0167] The automatic parking controller 100 can calculate the time to reach the target torque based on the target torque information, the current torque information, and the average torque increase rate.

[0168] The automatic parking controller 100 can calculate a fourth progress corresponding to the torque information calculation process based on the time taken to reach the target torque. According to an embodiment, the progress corresponding to the torque information calculation process can be 10% relative to the total progress.

[0169] The automatic parking controller 100 can calculate a fourth progress based on the sum of the progress of the generation processes corresponding to steering information, shift information and torque information, respectively.

[0170] The order in which the automatic parking controller 100 generates control information to control the controllers (steering controller 310, shift controller 320, and torque controller 330) is not limited to the order shown. The automatic parking controller 100 may generate shift information and then steering information, or generate torque information and then steering information. Alternatively, the automatic parking controller 100 may generate control information (steering information, shift information, and torque information) simultaneously.

[0171] Figure 7 This is a flowchart of the method by which the automatic parking controller 100 controls the behavior of the vehicle 10 and the method for calculating the fifth progress.

[0172] The automatic parking controller 100 can receive environmental information, including information about road resistance, from the collection device 200 (S1010).

[0173] The automatic parking controller 100 can control the behavior controller 300 (S1020) based on information about road resistance and control information (steering information, shifting information and torque information).

[0174] The behavior controller 300 can operate based on control information. The behavior controller 300 includes controllers that are critical to vehicle behavior (e.g., steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350), so that the automatic parking controller 100 can perform automatic parking of the vehicle 10 by controlling the behavior controller.

[0175] The automatic parking controller 100 can determine whether the number of control information calculated for the control of the behavior controller 300 is equal to or less than a preset number (S1030).

[0176] When the number of additional control information calculated exceeds the preset number (S1030 "No" path), the automatic parking controller 100 can terminate the automatic parking control without determining whether the road resistance has been overcome.

[0177] When automatic parking control is terminated, the progress value of automatic parking control can be changed to 0%, and vehicle 10 can notify the termination of automatic parking control through output device 500.

[0178] When the number of times the additional control information is calculated is equal to or less than the preset number of times the additional control information is calculated (S1030 "Yes" path), the automatic parking controller 100 can determine whether the vehicle 10 has overcome the road resistance based on the generated control information or additional control information (S1040).

[0179] When vehicle 10 overcomes road resistance, vehicle 10 can begin to move. Road resistance may vary depending on road material, slope, and the presence or absence of obstacles. For example, in an environment where the slope and obstacles remain unchanged, the automatic parking controller 100 can easily generate control information.

[0180] When the vehicle 10 overcomes the road resistance (S1040 "yes" path), the automatic parking controller 100 can calculate the time it takes for the vehicle to overcome the road resistance and move (S1080).

[0181] The automatic parking controller 100 can calculate the fifth progress based on the time it takes for the vehicle to overcome road resistance and move.

[0182] According to embodiments of this disclosure, when the automatic parking controller 100 does not calculate additional control information, the calculation of the fifth progress can be based on the average time taken for the vehicle 10 to move without changes in slope and obstacles, and the actual time taken for the vehicle 10 to move.

[0183] For example, the average time it takes for vehicle 10 to move when the slope and obstacles remain unchanged can be 3300 ms (milliseconds).

[0184] When the actual time taken for vehicle 10 to move (the actual time taken to overcome road resistance) is equal to or less than 1800ms, the automatic parking controller 100 can calculate the fifth progress by dividing the actual moving time of vehicle 10 by the average time.

[0185] The fifth phase may be 50% of the total schedule, and its calculation can follow the following equation:

[0186] Fifth Progress (%) = (Time Required to Move (ms)) / (3300 (Average Time Required for Vehicle to Move, ms)) × 50 (%)

[0187] When the vehicle 10 cannot overcome the road resistance, the automatic parking controller 100 can receive environmental information again through the collection device 200 (S1050).

[0188] The automatic parking controller 100 can calculate additional control information based on the newly received environmental information (S1060). As with the control information previously calculated by the automatic parking controller 100, the additional control information may include steering information, gear shifting information, and torque information.

[0189] In particular, additional control information may include torque information for overcoming road surface resistance. When there are obstacles on the road surface such as blocks or curbs, or when the road surface gradient changes, additional torque may be required to move the vehicle 10.

[0190] When additional torque is required, the automatic parking controller 100 can control the behavior controller 300 again based on the calculated additional control information.

[0191] When vehicle 10 overcomes road resistance based on additional control information generated by automatic parking controller 100 ("yes" route in S1040), automatic parking controller 100 can calculate the time to overcome road resistance (S1080). Automatic parking controller 100 can calculate a fifth progress based on the time spent overcoming road resistance.

[0192] For example, when the automatic parking controller 100 calculates additional control information, the automatic parking controller 100 can calculate the fifth progress based on the additional control information, which includes the time spent, the maximum time spent by the vehicle 10 moving, and the actual time spent moving (the actual time spent overcoming road resistance).

[0193] When the preset number of additional control information calculations is 1, the maximum time that vehicle 10 takes to move can be 9500 milliseconds.

[0194] As an example, the time it takes for the automatic parking controller 100 to calculate additional control information can be 1800 milliseconds.

[0195] When recalculating the additional control information, the fifth progress can be calculated as follows:

[0196] Fifth Progress (%) = 1800 (Time required to calculate additional control information, ms) / 3300 (Average time required for vehicle movement, ms) × 50 (%) + (Time required for movement - 1800 (ms)) / (9500 - 1800 (Maximum time for vehicle movement - 1800, ms)) × (50 - (1800 (ms)) / (3300 (ms)) × 50) (%)

[0197] The automatic parking controller 100 can calculate the fifth progress and output information corresponding to the fifth progress through the output device 500 or the external terminal 600, thereby transmitting the progress of the automatic parking process.

[0198] Figure 8 The operation method and progress of the collection device 200 and the automatic parking controller 100 according to embodiments of the present disclosure are shown.

[0199] Reference Figure 8 The diagram illustrates the automatic parking process performed by the automatic parking controller 100 according to an embodiment of the present disclosure, and the progress corresponding to each of these processes.

[0200] according to Figure 8 In the embodiment shown, the collection device 200 can collect user input via the input device.

[0201] When the collected user input persists for a first wake-up time or longer, the automatic parking controller 100 can determine the user input as a wake-up request. When the user input is determined to be a wake-up request, the automatic parking controller 100 can calculate the first progress corresponding to the wake-up request determination. The first progress can be 4% relative to the total progress (100%).

[0202] According to an embodiment, when it is determined that the user input is a wake-up request, the automatic parking controller 100 can immediately increase the first progress corresponding to 4% in the total progress so that the user can understand the progress of the automatic parking process.

[0203] When the user inputs a continuous automatic control activation time or a longer period, the automatic parking controller 100 can gain control of the behavior controller 300. The automatic control activation time can be the same as the first wake-up time.

[0204] As an example, the first wake-up time and automatic control activation time can be from 120ms to 160ms.

[0205] The automatic parking controller 100 can calculate a second progress corresponding to the process of acquiring control of the controllers (steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350) included in the behavior controller 300. The second progress can be 6% relative to the total progress (100%).

[0206] According to an embodiment, the automatic parking controller 100 may increase the total progress by 1.2% each time it gains control of each controller included in the behavior controller 300 (e.g., steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350) to allow the user to understand the progress of the automatic parking process.

[0207] When a user inputs a continuous automatic parking request time or longer, the automatic parking controller 100 can determine that the user input is an execution request for automatic parking. Furthermore, the automatic parking controller 100 can calculate a third progress corresponding to the determination of the execution request for automatic parking. This third progress can be 10% relative to the total progress (100%).

[0208] According to an embodiment, when it is determined that the user input is an execution request for automatic parking, the automatic parking controller 100 can immediately increase the third progress corresponding to the total progress by 10% so that the user can understand the progress of the automatic parking process.

[0209] The automatic parking request time can be longer than the first wake-up time and the automatic control activation time. Furthermore, the automatic parking request time can be a time independent of the time spent by the automatic parking controller 100 gaining control of the behavior controller 300. For example, the automatic parking request time could be 1000 milliseconds.

[0210] In other words, even when control of the behavior controller 300 is not acquired, the automatic parking controller 100 can still generate control information for the behavior controller 300 after the automatic parking request time has passed.

[0211] The automatic parking controller 100 can calculate a fourth progress corresponding to the process of generating control information for the behavior controller 300. The control information for the behavior controller 300 may include steering information for controlling the steering controller 310, shift information for controlling the shift controller 320, and torque information for controlling the torque controller 330.

[0212] The automatic parking controller 100 can calculate the fourth progress in response to the generation of each control information (steering information, shift information, and torque information). The generation of control information can be performed independently. The fourth progress can be 30% relative to 100% of the total progress.

[0213] According to an embodiment, the automatic parking controller 100 may increase the total progress by 10% each time each control information is generated, so as to allow the user to understand the progress of the automatic parking process.

[0214] The automatic parking controller 100 can control the behavior of the vehicle based on the generated control information. The automatic parking controller 100 can control the behavior of the vehicle 10 by controlling the behavior controller 300.

[0215] The automatic parking controller 100 can calculate a fifth progress corresponding to the behavior control process of the vehicle 10. The fifth progress can be 50% relative to the total progress (100%).

[0216] The methods for controlling the behavior of vehicle 10 and for calculating the fifth progress can be related to the above. Figure 7 The description is basically the same. The automatic parking controller 100 can calculate the fifth progress based on the average time taken for the vehicle to move, the longest time taken for the vehicle to move, the additional control information, and the actual movement time consumed by the vehicle.

[0217] Figure 9 The operation method of the collection device 200, the automatic parking controller 100 and the communication device 400 according to another embodiment of the present disclosure, and the corresponding progress are shown.

[0218] Reference Figure 9 The diagram illustrates the control processes performed by the automatic parking controller 100 according to embodiments of the present disclosure, and the progress corresponding to these processes.

[0219] according to Figure 9 In the illustrated embodiment, the communication device 400 can receive input signals from the external terminal 600. Furthermore, the collection device 200 can collect user input based on the input signals.

[0220] The data collection device 200 can collect not only user input but also the user's location information. When the user's location is outside the vehicle 10, the process by which the automatic parking controller 100 determines a wake-up request may include determining a remote control request.

[0221] The preset time at which the automatic parking controller 100 determines a wake-up request through user input collected by the collection device 200 can be referred to as the second wake-up time.

[0222] When the collected user input persists for a second wake-up time or longer (when the input signal from the external terminal 600 persists for a second wake-up time or longer), the automatic parking controller 100 can determine the user input as a wake-up request. When the user input is determined to be a wake-up request, the automatic parking controller 100 can calculate a first progress corresponding to the determination of the wake-up request. The first progress can be 10% relative to the total progress (100%).

[0223] According to an embodiment, when it is determined that the user input is a wake-up request for the automatic parking controller 100, the automatic parking controller 100 can immediately increase the first progress corresponding to the total progress by 10% so that the user can understand the progress of the automatic parking process.

[0224] When the user inputs a continuous automatic control activation time or a longer period, the automatic parking controller 100 can gain control of the behavior controller 300. The automatic control activation time can be the same as the second wake-up time.

[0225] As an example, the second wake-up time and automatic control activation time can be 600ms to 700ms (milliseconds).

[0226] The automatic parking controller 100 can calculate a second progress corresponding to the process of acquiring control of the controllers (steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350) included in the behavior controller 300. The second progress can be 6% relative to the total progress (100%).

[0227] According to an embodiment, the automatic parking controller 100 may increase the total progress by 1.2% each time it gains control of each controller included in the behavior controller 300 (e.g., steering controller 310, shift controller 320, torque controller 330, brake controller 340, and body controller 350) to allow the user to understand the progress of the automatic parking process.

[0228] When a user inputs a continuous automatic parking request time or longer, the automatic parking controller 100 can determine that the user input based on external input is an execution request for automatic parking. Furthermore, the automatic parking controller 100 can calculate a third progress corresponding to the automatic parking execution request. This third progress can be 4% relative to the total progress (100%).

[0229] According to an embodiment, when it is determined that the user input is an execution request for automatic parking, the automatic parking controller 100 can immediately increase by 4% corresponding to the third progress in the total progress, so as to allow the user to understand the progress of the automatic parking process.

[0230] The automatic parking request time can be longer than the first wake-up time and the automatic control activation time. Furthermore, the automatic parking request time can be a time independent of the time spent by the automatic parking controller 100 gaining control of the behavior controller 300. For example, the automatic parking request time could be 1500 ms.

[0231] In another embodiment of this disclosure, user input is based on input signals received through an external terminal 600. Therefore, the time taken to receive the input signal can vary depending on the distance between the external terminal 600 and the vehicle 10, obstacles around the vehicle 10, etc.

[0232] Furthermore, even when control of the behavior controller 300 is not acquired, the automatic parking controller 100 can still generate control information for the behavior controller 300 after the automatic parking request time has passed.

[0233] The automatic parking controller 100 can calculate a fourth progress corresponding to the process of generating control information for the behavior controller 300. The control information generation process and the method for calculating the fourth progress can be related to... Figure 8 The description is essentially the same. The fourth phase can be 30% relative to 100% of the total progress.

[0234] According to an embodiment, each time a control message is generated, the automatic parking controller 100 can increase the total progress by 10% to allow the user to understand the progress of the automatic parking process.

[0235] The automatic parking controller 100 can control the behavior of the vehicle based on the generated control information. The automatic parking controller 100 can control the behavior of the vehicle 10 by controlling the behavior controller 300.

[0236] The automatic parking controller 100 can calculate a fifth progress corresponding to the behavior control process of the vehicle 10. The fifth progress can be 50% relative to the total progress (100%). The method for controlling the behavior of the vehicle 10 and the method for calculating the fifth progress are the same as described above. Figure 7 and Figure 8 The descriptions are essentially the same as those in the previous text, so redundant descriptions will be omitted.

[0237] Figure 10 and Figure 11 An exemplary method for indicating the progress of a vehicle 10 according to an embodiment of the present disclosure is shown.

[0238] Figure 10 The illustration shows a method for indicating progress via a vehicle instrument panel 510a included in a display 510 in an output device 500.

[0239] Because the progress is visually indicated via the vehicle's dashboard 510a, users can intuitively identify the progress of the automatic parking process.

[0240] In addition, the collection device 200 can continuously collect user input by guiding the user to continuously press the input device (input holding guide) through the vehicle dashboard 510a.

[0241] When the user inputs no continuous preset time (e.g., first wake-up time, second wake-up time, automatic control activation time, or automatic parking request time), the automatic parking controller 100 may not execute the automatic parking process. The automatic parking controller 100 can determine the user's intention to perform the automatic parking function by inputting a hold guide, and can increase user awareness.

[0242] Figure 11 The illustration shows a method for indicating progress via an audio, video, navigation system display (AVN system display) 510b included in a display 510 in the output device 500.

[0243] Because the progress is visually indicated via the AVN system display 510b, users can intuitively identify the progress of the automatic parking process.

[0244] In addition, the collection device 200 can continuously collect user input by guiding the user to continuously press the input device (input holding guide) via the AVN system display 510b.

[0245] The AVN system display 510b can also output parking information, allowing the user to identify the status of the automatic parking function of vehicle 10. For example, when vehicle 10 performs the rear automatic parking function, the AVN system display 510b can indicate the rear parking status.

[0246] The AVN system display 510b outputs the movement of the vehicle 10 as the user input is held, so that the user can intuitively identify whether the automatic parking function is being performed well.

[0247] Figure 12 A method for indicating progress via an external terminal 600 is shown according to another embodiment of the present disclosure.

[0248] External terminal 600 may include terminal output device 610, and terminal output device 610 may include at least one of a display, a speaker, and / or a haptic module. Figure 12 The illustration shows an embodiment in which the terminal output device 610 includes a display.

[0249] The terminal output device 610 can guide the user to hold input. When the user holds input, the input signal via the external terminal 600 can be maintained. The external terminal 600 can determine the user's intention to perform the automatic parking function based on the input holding guide.

[0250] The collection device 200 of vehicle 10 can collect user input based on input signals. In other words, it can also retain user input while the user is maintaining input to the external terminal 600.

[0251] The external terminal 600 can visually transmit progress via the terminal output device 610. According to an embodiment, the terminal output device 610 of the external terminal 600 can be implemented as a touchscreen. When the terminal output device 610 is a touchscreen, it can simultaneously perform input signal collection and progress output functions.

[0252] While embodiments of the present disclosure have been described above with reference to the accompanying drawings, those skilled in the art will understand that the present disclosure can be implemented in other specific forms without altering the technical concept or essential characteristics. Therefore, it should be understood that the above embodiments are exemplary in all respects and not restrictive.

[0253] The vehicle disclosed in the embodiments of this disclosure can calculate the progress corresponding to the automatic parking process.

[0254] Furthermore, based on the scheme of collecting user input, the vehicle can output information corresponding to the progress through an output device included in the vehicle or through a terminal output device included in an external terminal communicating with the vehicle.

[0255] The output device can include various devices, such as displays, audio output devices, lighting devices, haptic modules, etc., and users can intuitively identify whether the automatic parking function is operating normally and the estimated time required for automatic parking through the output information.

[0256] While this disclosure has been described above with reference to exemplary embodiments and accompanying drawings, it is not limited thereto. Various modifications and alterations may be made thereto by those skilled in the art without departing from the spirit and scope of this disclosure as claimed in the appended claims.

Claims

1. A vehicle comprising: The collection device is configured to collect user input and environmental information for the automatic parking of the vehicle; An automatic parking controller is configured to perform the automatic parking of the vehicle based on the environmental information and the user input; as well as A behavior controller is configured to control the behavior of the vehicle in response to control by the automatic parking controller, wherein the automatic parking controller is configured to calculate: The first progress corresponds to the process of determining whether the user input is a wake-up request, wherein the environmental information includes information about the user's location. When the user's location is inside the vehicle and the user input lasts for a first wake-up time or longer, or when the user's location is outside the vehicle and the user input lasts for a second wake-up time or longer, the automatic parking controller determines that the user input is the wake-up request and calculates the first progress, and the second wake-up time is longer than the first wake-up time. The second stage corresponds to the process of acquiring control over the behavior controller based on the user input; The third stage corresponds to the process of determining whether the user input is an execution request for the automatic parking; The fourth stage corresponds to the process of generating control information for the behavior controller based on the environmental information; and The fifth stage corresponds to the process of controlling the behavior of the vehicle based on the control information; When one of the first progress to the fifth progress is completed, the first progress to the fifth progress is expressed as a predetermined percentage.

2. The vehicle according to claim 1, further comprising: An output device is configured to output information corresponding to the first progress, the second progress, the third progress, the fourth progress, and the fifth progress, respectively, wherein the output device includes at least one of the following: a display, a lighting device, an audio output device, and a haptic module.

3. The vehicle according to claim 1, wherein, The collection device includes an input device, and the user input is collected through the input device.

4. The vehicle according to claim 1, further comprising: A communication device is configured to receive input signals from an external terminal, wherein the collection device is configured to collect user input based on the input signals.

5. The vehicle according to claim 4, wherein: The external terminal includes a terminal output device configured to output information corresponding to the first progress, the second progress, the third progress, the fourth progress, and the fifth progress, respectively; and The automatic parking controller is configured to send information corresponding to the first progress, the second progress, the third progress, the fourth progress, and the fifth progress to the external terminal via the communication device.

6. The vehicle according to claim 1, wherein, The automatic parking controller is configured to acquire control of the behavior controller when the user inputs a continuous automatic control activation time or longer.

7. The vehicle according to claim 6, wherein: The behavior controller includes at least one controller selected from the group consisting of: a torque controller configured to control the torque of the vehicle; a steering controller configured to control the direction of the vehicle; a shift controller configured to control the gear position of the vehicle; a brake controller configured to control the deceleration of the vehicle; and a body controller configured to control electronic devices included in the vehicle; and The automatic parking controller is configured to calculate the second progress based on whether it has obtained control over the torque controller, the steering controller, the shift controller, the brake controller, or the body controller.

8. The vehicle according to claim 1, wherein, The automatic parking controller is configured as follows: When the user inputs a continuous automatic parking request time or longer, it is determined that the user input is an execution request for the automatic parking; and When it is determined that the user input is an execution request for the automatic parking, the third progress is calculated.

9. The vehicle according to claim 8, wherein: The environmental information includes information about parking spaces and information about road surface resistance; The control information used for the behavior controller includes steering information for the vehicle's direction of movement, gear shifting information for controlling the vehicle's speed, and torque information for the vehicle to overcome road resistance. as well as The automatic parking controller is configured to calculate the fourth progress based on at least one of the steering information, the shift information, or the torque information when the user input is determined to be an execution request for the automatic parking.

10. The vehicle according to claim 9, wherein: The steering information includes information about the target steering angle for moving the vehicle to the parking space, the current steering angle, and the vehicle's average steering speed; and The automatic parking controller is configured to calculate the fourth progress based on the time required to reach the target steering angle of the vehicle from the current steering angle.

11. The vehicle according to claim 9, wherein: The shift information includes information about the target speed to the parking space, the shift request time, and the shift completion time; and The automatic parking controller is configured to calculate the fourth progress based on the shift request time and the shift completion time.

12. The vehicle according to claim 9, wherein: The torque information includes information about the target torque for overcoming the road surface resistance, information about the current torque, and information about the average torque increase rate. as well as The automatic parking controller is configured to calculate the fourth progress based on the time taken for the current torque to reach the target torque.

13. The vehicle according to claim 1, wherein: The environmental information includes information about road surface resistance; and The automatic parking controller is configured to calculate the fifth progress based on the time it takes for the vehicle to overcome the road resistance based on the control information.

14. The vehicle according to claim 13, wherein, When the vehicle fails to overcome the road resistance based on the control information, the automatic parking controller is configured to: Additional control information for the behavior controller is calculated based on the environmental information; as well as Based on the additional control information, the fifth progress is calculated according to the time required for the vehicle to overcome the road resistance.

15. The vehicle according to claim 1, wherein: The environmental information includes information about the parking route and GPS information about the vehicle's location; and The automatic parking controller is configured to calculate the first progress, the second progress, the third progress, the fourth progress, and the fifth progress using information about the parking route and GPS information about the location of the vehicle.

16. A method for controlling automatic parking of a vehicle, the method comprising: The collection device collects user input and environmental information for the automatic parking of the vehicle; The automatic parking controller determines whether the user input is a wake-up request; The automatic parking controller calculates and determines whether the user input is a first progress corresponding to the wake-up request, wherein the environmental information includes information about the user's location. When the user's location is inside the vehicle and the user input lasts for a first wake-up time or longer, or when the user's location is outside the vehicle and the user input lasts for a second wake-up time or longer, the automatic parking controller determines that the user input is the wake-up request and calculates the first progress, and the second wake-up time is longer than the first wake-up time. The automatic parking controller acquires control over the behavior controller based on the user input; Calculate the second progress corresponding to the acquisition of control; The automatic parking controller determines whether the user input is an execution request for automatic parking; Calculate and determine whether the user input is a third progress corresponding to the execution request for the automatic parking; The automatic parking controller generates control information for the behavior controller based on the environmental information; Calculate the fourth progress corresponding to the generation of the control information; The automatic parking controller controls the behavior of the vehicle based on the control information; and Calculate the fifth progress corresponding to the control of the vehicle's behavior; When one of the first progress to the fifth progress is completed, the first progress to the fifth progress is expressed as a predetermined percentage.

17. The method of claim 16, further comprising: Information corresponding to the first progress, the second progress, the third progress, the fourth progress, and the fifth progress is output by the output device included in the vehicle.

18. The method according to claim 16, wherein, The collection device includes an input device, and the method further includes: The user input is collected by the collection device through the input device.

19. The method of claim 16, further comprising: The input signal is received from an external terminal by a communication device included in the vehicle; The user input is collected by the collection device based on the input signal.

20. The method according to claim 19, wherein, The external terminal includes a terminal output device, which is used to output information corresponding to the first progress, the second progress, the third progress, the fourth progress, and the fifth progress, respectively. The method further includes: The automatic parking controller transmits information corresponding to the first progress, second progress, third progress, fourth progress, and fifth progress to the external terminal via the communication device; and The terminal output device included in the external terminal outputs information corresponding to the first progress, the second progress, the third progress, the fourth progress, and the fifth progress, respectively.

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