Apparatus for controlling parking of a vehicle and parking control method

Abstract

The present application relates to a kind of device and parking control method for controlling vehicle parking.A kind of parking control device includes: processor and storage device;The processor is configured to: search at least one parking space in parking lot, when there is no vacant parking space, contour is generated based on the first parking vehicle, target reference is generated based on contour, target reference is selected for double-row parking based on the parking point, and double-row parking control is executed at parking point;The storage device is configured to store the data and algorithm driven by processor.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of Korean Patent Application No. 10-2021-000047222, filed with the Korean Intellectual Property Office on April 12, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a parking control device and parking control method for vehicles, and more specifically, to a technique for automatically performing double-parking control. Background Technology

[0004] In recent years, with the increasing demand for vehicle performance, as well as vehicle safety and convenience, driver assistance systems (DAS) that use information obtained through sensors installed in the vehicle to assist in vehicle control have been researched, developed, and applied to vehicles.

[0005] Specifically, automatic parking technology is a convenient feature with high user acceptance and is becoming increasingly common in vehicles. Traditional parking control systems are limited to controlling parking or leaving a pre-defined parking space, such as parallel parking, perpendicular parking, and perpendicular exit.

[0006] However, when there is a shortage of parking spaces, double parking may be necessary, but traditional parking control systems do not support double parking control.

[0007] The information disclosed in this background section is merely for the purpose of enhancing the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0008] An exemplary embodiment of the present invention provides a parking control device and parking control method for a vehicle, which can provide convenience to users by supporting dual-row parking control during automatic parking control.

[0009] The technical objectives of this invention are not limited to those described above, and those skilled in the art can clearly understand other technical objectives not mentioned from the description of the claims.

[0010] An exemplary embodiment of the present invention provides a parking control device, comprising: a processor and a storage device; the processor is configured to: search for at least one parking space in a parking lot; when there is no vacant parking space, generate a profile based on a previously parked vehicle; generate a target reference based on the profile; select a parking spot for double-row parking based on the target reference; and perform double-row parking control at the parking spot; the storage device is configured to store data and algorithms driven by the processor.

[0011] In an exemplary implementation, when a double parking guide line is detected while searching for a parking space, the processor can generate a target reference between the double parking guide line and the contour, and the target reference can be generated as parallel to the double parking guide line.

[0012] In an exemplary implementation, if no double parking guide lines are detected when searching for a parking space, the processor can generate a target reference parallel to the parking area markings in the longitudinal direction by spacing the target reference apart from the point in the profile closest to the driving lane by a predetermined distance.

[0013] In an exemplary implementation, the processor can generate a parking area by utilizing at least one of the dimensions of a double-row parking space, traffic conditions, or the width of the driveway after parking.

[0014] In an exemplary implementation, the processor can divide the parking area into a general mode and a specific mode, wherein in the general mode the entire size of the double-row parking space is set as the parking area, and in the specific mode a portion of the double-row parking space is set as the parking area.

[0015] In an exemplary implementation, when the size of the double-row parking space is larger than a predetermined size, the number of passing vehicles is less than a predetermined number, or the width of the driving lane after parking is wider, the processor guidance is set to normal mode.

[0016] In an exemplary implementation, in a general mode, the processor can control the master vehicle to be parked in a double row on one side of the lane where other vehicles travel, based on a target reference.

[0017] In an exemplary implementation, when the size of the double-row parking space is smaller than a predetermined size, the number of passing vehicles is greater than a predetermined number, or the width of the driving lane after parking is narrow, the processor can be guided to set a specific mode.

[0018] In an exemplary implementation, under a particular mode, double parking can be performed based on a target reference, and the vehicle can be controlled to double park between the target reference and the contour.

[0019] In an exemplary implementation, by utilizing at least one of the dimensions of the double parking space, traffic conditions, or the width of the driveway after parking, the processor can suggest one of a general mode and a specific mode to the user, and allow the user to select one of the modes.

[0020] In an exemplary implementation, when there are no vehicles already double-parked in the parking area, the processor can control the vehicles to be double-parked at the innermost side of the parking area based on the direction of movement of the master vehicle.

[0021] In an exemplary implementation, when there are already double-row parked vehicles in the parking area, the processor can search for available parking spaces between the previously double-row parked vehicles and select the larger parking space as the parking spot.

[0022] In an exemplary implementation, when double-parking is in a parking area, the processor may be able to move forward or backward to control the double-parking space to select a parking spot in the center of the parking area.

[0023] In an exemplary implementation, the processor can generate a parking trajectory for parking the master vehicle at a parking spot, control the master vehicle according to the parking trajectory, and output an alarm command after completing double parking at the parking spot.

[0024] In an exemplary implementation, after completing double parking at a parking spot, the processor can determine the likelihood of a collision when moving forward or backward.

[0025] In an exemplary implementation, when there is a possibility of a collision, the processor can correct the position of the master vehicle by moving it longitudinally or laterally at the parking spot to avoid a collision.

[0026] In an exemplary implementation, after the position is corrected, the processor may output a final alarm command notifying that double parking has been completed.

[0027] In an exemplary implementation, when performing dual-row parking control of the master vehicle at a parking spot, the processor may perform dual-row parking control based on one of a user-selected semi-automatic mode or a fully automatic mode.

[0028] An exemplary embodiment of the present invention provides a parking control method, which includes: searching for parking spaces in a parking lot; when there are no vacant parking spaces, generating a profile based on previously parked vehicles; generating a target reference based on the profile; selecting a parking spot for double-row parking based on the target reference; and performing double-row parking control at the parking spot.

[0029] In an exemplary implementation, generating a target reference may include: if double parking guide lines are detected when searching for a parking space, generating a target reference between the double parking guide lines and the contour, and generating the target reference as parallel to the double parking guide lines; if double parking guide lines are not detected when searching for a parking space, generating a target reference parallel to the parking area lines in the longitudinal direction by spacing the target reference apart from the point in the contour closest to the driving lane by a predetermined distance.

[0030] According to this technology, user convenience can be increased by supporting dual-row parking control during automatic parking control.

[0031] In addition, it can provide various effects that can be determined directly or indirectly through this article. Attached Figure Description

[0032] Figure 1 A configuration block diagram of a vehicle system including a parking control device, illustrating an exemplary embodiment of the present invention, is shown.

[0033] Figure 2 An example of applying a parking control device to a vehicle screen according to an exemplary embodiment of the present invention is shown.

[0034] Figures 3A to 3D An example screen of a parking support mode for a parking control device according to an exemplary embodiment of the present invention is shown.

[0035] Figures 4A to 4D A schematic diagram is shown to illustrate a double-row parking control process when double-row parking guide lines are present, according to an exemplary embodiment of the present invention.

[0036] Figures 5A to 5D A schematic diagram is shown to illustrate a double-row parking control process when double-row parking guide lines are not present, according to an exemplary embodiment of the present invention.

[0037] Figure 6A and Figure 6B A schematic diagram illustrating a setup outline according to an exemplary embodiment of the present invention is shown.

[0038] Figure 7A and Figure 7B A schematic diagram is shown to illustrate the process of setting up a double-row parking area according to an exemplary embodiment of the present invention.

[0039] Figure 8A and Figure 8B An example schematic diagram is shown for illustrating the movement of the master vehicle after double-row parking to retrieve the existing parked vehicle, according to an exemplary embodiment of the present invention.

[0040] Figure 9A and Figure 9B A schematic diagram illustrating the process of selecting a parking spot that can be parked in a normal mode according to an exemplary embodiment of the present invention is shown.

[0041] Figure 10 A schematic diagram illustrating the process of selecting a parking spot that can be parked in a specific mode according to an exemplary embodiment of the present invention is shown.

[0042] Figures 11A to 11N An example screen is shown for each operation during parking control according to an exemplary embodiment of the present invention.

[0043] Figure 12 A parking control method according to an exemplary embodiment of the present invention is shown.

[0044] Figure 13 A computing system according to an exemplary embodiment of the present invention is shown. Detailed Implementation

[0045] It should be understood that the term "vehicle" or "of a vehicle" or other similar terms as used herein generally include motor vehicles, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, and various commercial vehicles, vessels including various boats and ships, aircraft, etc., and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., vehicles powered by non-petroleum energy sources). As mentioned herein, a hybrid vehicle is a vehicle with two or more power sources, such as both gasoline and electric power.

[0046] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context explicitly indicates that the plural forms are excluded. It will be further understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated feature, value, step, operation, element, and / or component, but do not exclude the presence or inclusion of one or more other features, values, steps, operations, elements, components, and / or groups thereof. As used herein, the term “and / or” includes any and all combinations of one or more related enumerations. Throughout the specification, unless explicitly described to the contrary, the word “comprising” and variations such as “including” or “including” will be understood to mean that the stated element is included, but no other element is excluded. Furthermore, the terms “unit,” “device,” “machine,” and “module” described in the specification refer to units for performing at least one function and operation, which may be implemented by hardware components or software components and combinations thereof.

[0047] Furthermore, the control logic of the present invention can be implemented as a non-volatile computer-readable medium on a computer-readable medium, which includes executable program instructions that run by a processor or controller. Examples of computer-readable media include, but are not limited to, ROM, RAM, optical disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable medium can also be distributed across a network-connected computer system to enable the computer-readable medium to be stored and operated in a distributed manner (e.g., via a telematics server or a controller area network (CAN)).

[0048] In the following, some exemplary embodiments of the present invention will be described in detail with reference to the exemplary accompanying drawings. It should be noted that when adding reference numerals to the constituent elements of each drawing, the same constituent elements will be indicated with the same reference numerals as much as possible, even if they are indicated in different drawings. Furthermore, in describing exemplary embodiments of the present invention, detailed descriptions of related well-known configurations or functions will be omitted if it is determined that such detailed descriptions would interfere with the understanding of the exemplary embodiments of the present invention.

[0049] In describing the constituent elements according to exemplary embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are used merely to distinguish constituent elements from other constituent elements, and the nature, order, or sequence of the constituent elements is not limited by these terms. Furthermore, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains (those skilled in the art), unless these terms are defined differently. Terms defined in general dictionaries should be interpreted as having a meaning matching that in the relevant technical context, and should not be interpreted as having an idealized or overly formal meaning unless explicitly defined in this specification.

[0050] In the following text, reference will be made to Figures 1 to 13 The exemplary embodiments of the present invention will be described in detail below.

[0051] Figure 1 A configuration block diagram of a vehicle system including a parking control device according to an exemplary embodiment of the present invention is shown. Figure 2 An example of applying a parking control device to a vehicle screen according to an exemplary embodiment of the present invention is shown.

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

[0053] The parking control device 100 according to an exemplary embodiment of the present invention can be implemented inside a vehicle. In this case, the parking control device 100 can be integrally formed with the vehicle's internal control unit, or it can be implemented as a separate device connected to the vehicle's control unit via a separate connection device.

[0054] The parking control device 100 may include a remote smart parking assist (RSPA) system, a smart parking assistant system (SPAS), etc. Figure 2 When the parking button shown is pressed, the parking control device 100 begins parking control.

[0055] Search for at least one parking space in the parking lot. When there is no vacant parking space, the parking control device 100 can generate a profile based on the previously parked vehicle, generate a target reference based on the profile, select a parking point for double parking based on the target reference (target baseline), and perform double parking control at the parking point.

[0056] Reference Figure 1 The parking control device 100 may include a communication device 110, a storage device 120, a display device 130, a processor 140, and an alarm device 150.

[0057] The communication device 110 is a hardware device implemented through various electronic circuits to send and receive signals via wireless or wired connections, and can send and receive information based on in-vehicle devices and in-vehicle network communication technologies. As examples, in-vehicle network communication technologies may include Controller Area Network (CAN) communication, Local Interconnect Network (LIN) communication, flex-ray communication, and so on.

[0058] Furthermore, the communication device 110 can communicate via wireless network connections or short-range communication technologies, utilizing external servers, infrastructure, or third-party vehicles. Wireless communication technologies may include Wireless LAN (WLAN), WiBLO, Wi-Fi, Global System for Microwave Access (WiMAX), etc. Short-range communication technologies may include Bluetooth, ZigBee, Ultra-Wideband (UWB), Radio Frequency Identification (RFID), Infrared Detection and Analysis (IrDA), etc. For example, the communication device 110 can remotely communicate wirelessly during parking control. Additionally, the communication device 110 can share parking information by communicating with a parking lot server.

[0059] Storage device 120 can store the sensing results of sensing device 200 and the data and / or algorithms required for processor 140 to run, etc.

[0060] For example, storage device 120 can store parking space search results. In addition, storage device 120 can store information related to obstacles (e.g., previously parked vehicles detected by sensing device 200).

[0061] Storage device 120 may include at least one type of storage medium such as flash memory, hard disk, microprocessor, card (e.g., Security Digital (SD) card or Ultimate Digital (XD) card), random access memory (RAM), static RAM (SRAM), read-only memory (ROM), programmable ROM (PROM), electrically erasable PROM (EEPROM), magnetic storage (MRAM), magnetic disk, and optical disk type memory.

[0062] Display device 130 may include input devices for receiving control commands from a user and output devices for outputting the operating status and results of display device 100. Here, input devices may include buttons, and may include a mouse, joystick, jog shuttle, stylus, etc. Furthermore, input devices may include soft keys implemented on the display.

[0063] The interface device 130 can be implemented as a head-up display (HUD), a combined instrument panel, an audio-visual navigation (AVN), a human-machine interface (HM), or a user selection menu (USM). Figure 1 In this example, the display device 130 is configured to be included in the parking control device 100, but as... Figure 2 As shown, the display device 130 can be implemented as a combination instrument panel 131, etc., a hardware device separate from the parking control device 100.

[0064] The output device may include a display, and may also include a sound output device such as a speaker. In this case, when the display is provided with a touch sensor formed by a touch film, touch sheet, or touchpad, the display can function as a touch screen and can be implemented as an integrated input and output device. In this invention, the output device can output instructions as described later. Figures 11A to 11N The screen shows the control status during the dual-row parking control period.

[0065] In this case, the display may include at least one of a liquid crystal display (LCD), a thin-film transistor liquid crystal display (TFTLCD), an organic light-emitting diode display (OLED display), a flexible display, a field emission display (FED), or a 3D display.

[0066] The processor 140 can be electrically connected to the communication device 110, storage device 120, display device 130, alarm device 150, etc., can electrically control each component, and can be an electronic circuit that executes software commands to perform various data processing and calculations as described below.

[0067] The processor 140 can process signals transmitted between the components of the parking control device 100 and can perform overall control so that each component can perform its function properly.

[0068] The processor 140 can be implemented as hardware, software, or a combination of hardware and software, or it can be implemented as a microprocessor and can be, for example, an electronic control unit (ECU), a microcontroller unit (MCU), or other sub-controller installed in a vehicle.

[0069] Search for at least one parking space in the parking lot. When there is no vacant parking space, process 140 can generate a profile based on the previously parked vehicle, generate a target reference based on the profile, select a parking spot for double parking based on the target reference, and perform double parking control at the parking spot.

[0070] Processor 140 can support such as Figure 3A Parallel parking as shown, such as Figure 3B The vertical parking shown is as follows: Figure 3C Parallel parking as shown and as Figure 3D The double-row parking control shown. Figures 3A to 3D An example screen of a parking support mode for a parking control device according to an exemplary embodiment of the present invention is shown.

[0071] When double parking guide lines are detected while searching for parking spaces, processor 140 can generate a target reference parallel to the double parking guide lines between the double parking guide lines and the contour.

[0072] Figures 4A to 4D A schematic diagram is shown to illustrate a double-row parking control process when double-row parking guide lines are present, according to an exemplary embodiment of the present invention.

[0073] Reference Figure 4A The processor 140 generates a contour 401 by searching for parking spaces and identifies the previously generated double-row parking guide lines 411.

[0074] Reference Figure 4B The processor 140 generates a target reference 402 based on the double parking guide lines 411 and the contour 401. That is, the processor 140 can generate a target reference 402 between the double parking guide lines 411 and the contour 401 at a location parallel to the double parking guide lines 411 and where there is no risk of collision.

[0075] Reference Figure 4C The processor 140 performs parking control based on the target reference 402 and the double-row parking guide line 411 via manual or parking control functions, and executes a first alarm after parking is completed.

[0076] Reference Figure 4D In the first completed state, the processor 140 determines whether a collision is possible in the virtual forward and backward driving situation, and when there is a possibility of a collision, the processor 140 can correct the current position of the master vehicle and output the final double-row parking completion alarm.

[0077] If no double parking guide lines are detected when searching for parking spaces, the processor 140 can generate a target reference parallel to the parking area markings in the longitudinal direction by spacing the target reference at a predetermined distance from the point in the profile closest to the driving lane.

[0078] Figures 5A to 5D A schematic diagram is shown to illustrate a double-row parking control process when double-row parking guide lines are not present, according to an exemplary embodiment of the present invention.

[0079] Reference Figure 5A The processor 140 generates outline 501 by searching for parking spaces.

[0080] Reference Figure 5B The processor 140 generates a target reference 502 based on the contour 501. That is, at a location with no risk of collision, the processor 140 can generate the target reference 502 by drawing a line segment from the current position of the main vehicle to the end point of the parking lot within a predetermined distance from the contour 501.

[0081] Reference Figure 5C Through manual or parking control functions, processor 140 performs parking control according to target reference 502 and executes the first alarm after parking is completed.

[0082] Reference Figure 5D In the first completed state, the processor 140 determines whether a collision is possible in the virtual forward and backward driving situation, and when there is a possibility of a collision, the processor 140 can correct the current position of the master vehicle and output the final double-row parking completion alarm.

[0083] Figure 6A and Figure 6B A schematic diagram illustrating a setup outline according to an exemplary embodiment of the present invention is shown. (Refer to...) Figure 6A When there are no vacant parking spaces in the parking lot, the processor 140 generates a profile 601 based on the vehicles previously parked from point 1 to point 2, and generates a target reference (target baseline) 602 spaced apart from the profile 601 by a predetermined distance. Figure 6B This is an example of a screen where contour 601 was actually detected.

[0084] The processor 140 can generate a parking area by utilizing at least one of the dimensions of a double parking space, traffic conditions, or the width of the driveway after parking.

[0085] The processor 140 can divide the parking area into a general mode and a specific mode. In the general mode, the entire size of the double-row parking space is set as the parking area, while in the specific mode, a portion of the double-row parking space is set as the parking area.

[0086] When the size of the double-row parking space is larger than the predetermined size, the number of vehicles passing by is less than the predetermined number, or the width of the driving lane after parking is wider, the processor 140 can guide the setting to normal mode.

[0087] In normal mode, the processor 140 can control the master vehicle to be parked in a double row on one side of the lane where other vehicles are traveling, based on a target reference.

[0088] When the size of the double-row parking space is smaller than the predetermined size, the number of vehicles passing by is greater than the predetermined number, or the width of the driving lane after parking is narrow, the processor 140 can guide the setting to a specific mode.

[0089] In a specific mode, the processor 140 can control double parking based on a target reference, but it can also control the vehicle to double park between the target reference and the contour.

[0090] By utilizing at least one of the dimensions of the double parking space, traffic conditions, or the width of the driveway after parking, the processor 140 can suggest one of a general mode and a specific mode to the user and allow the user to select one of the modes.

[0091] Figure 7A and Figure 7B A schematic diagram illustrating a process for describing a double-row parking area according to an exemplary embodiment of the present invention is shown.

[0092] Reference Figure 7A An example was disclosed: after the processor 140 generates the target reference 702 and sets the parking area 701 to the entire area from point 1 to point 2, the user selects the normal mode.

[0093] Reference Figure 7B An example was disclosed whereby, after processor 140 generates target reference 713 based on contour 712 and sets parking area 711 as a partial area from point 1 to point 2, the user selects a specific mode. Two parking points 714 and 715 are set within parking area 711.

[0094] When generating a target reference, the processor 140 can divide the parking area into a general mode and a specific mode.

[0095] In normal mode, such as Figure 6A After the outline is generated as shown, the entire area from point 1 to point 2 will be set as parking area 701, as shown. Figure 7A As shown.

[0096] A specific pattern indicates that parking is restricted to the vicinity of point 1 or point 2, such as... Figure 7B As shown, only specific areas, not the entire area, are designated as parking areas.

[0097] In normal mode, it is convenient to keep a sufficient distance from existing parking spaces, but this will take up a lot of space. In special mode, parking is done within the vehicle's driving space to set the minimum or optimal space. Therefore, it is necessary to park as close as possible to existing parked vehicles, but after parking, there must be a certain amount of space in front and behind so that the previously parked vehicles can move away by moving forward or backward.

[0098] Therefore, the parking control device 100 notifies the user of the general mode and the specific mode so that the user can make a selection.

[0099] When there are no vehicles already double-parked in the parking area, the processor 140 can control the vehicles to be double-parked at the innermost part of the parking area based on the direction of movement of the main vehicle.

[0100] Figure 8A and Figure 8B An example schematic diagram is shown for illustrating the movement of the master vehicle after double-row parking to retrieve the existing parked vehicle, according to an exemplary embodiment of the present invention.

[0101] Reference Figure 8A The processor 140 generates a target reference from point 1 to point 2 and controls the vehicle to approach point 2 for double parking based on the target reference.

[0102] Reference Figure 8B When the vehicle that was parked first in the double-row parking position wants to leave, the driver of the vehicle that wants to leave will move the double-row parking main vehicle a certain distance from the outside of the main vehicle to provide space for leaving.

[0103] When there are already double-row parked vehicles in the parking area, the processor 140 can search for available parking spaces between the double-row parked vehicles and select the larger parking space as the parking spot.

[0104] When double-parking in a parking area, the processor 140 can consider moving forward or backward to control the double-parking space to select a parking spot in the center of the parking area.

[0105] Figure 9A and Figure 9B A schematic diagram illustrating the process of selecting a parking spot that can be parked in a normal mode according to an exemplary embodiment of the present invention is shown. Figure 10 A schematic diagram illustrating the process of selecting a parking spot that can be parked in a specific mode according to an exemplary embodiment of the present invention is shown.

[0106] In generating such Figure 8B After the outline and target reference are shown, the processor 140 can perform dual-row parking control based on the target reference, which can move the vehicle forward and backward by pushing it from the outside when the existing parked vehicle leaves.

[0107] like Figure 9A As shown, when there are vehicles parked in two rows in a double parking area, the processor 140 can identify the first available parking area and the second available parking area in the double parking area, and then select the parking area as the second available parking area, which allows the vehicle to leave between the main vehicle and the existing parked vehicle.

[0108] like Figure 9B As shown, in a double-row parking area with vehicles parked in both rows, when only a third available parking area is available, the processor 140 can determine parking spaces by considering the relationship with the existing double-row parked vehicles, rather than solely based on the length of the parking space to determine physical sufficiency. In this case, the processor 140 can identify that all vehicles may have difficulty leaving due to the double-row parking of the main vehicle. When the distance between the existing parked vehicles is close, the processor 140 can reserve the parking space. When the double-row parking length is ensured, the processor 140 can park by ensuring an empty parking space with the same spacing as the vehicle in front and behind.

[0109] like Figure 10 As shown, in a specific parking pattern near the area of ​​point 2, the processor 140 can perform double parking by checking the forward / backward movable space in the parking area 1001.

[0110] The processor 140 can generate a parking trajectory for parking the master vehicle at the parking point, control the master vehicle according to the parking trajectory, and output an alarm command after completing double parking at the parking point.

[0111] After completing double parking at the parking spot, the processor 140 can determine the likelihood of a collision when moving forward or backward.

[0112] When there is a possibility of collision, the processor 140 can correct the position of the master vehicle by moving it longitudinally or laterally at the parking point to avoid a collision.

[0113] After such position correction, the processor 140 can output a final alarm command to notify that double parking has been completed.

[0114] When performing dual-row parking control of the main vehicle at a parking spot, the processor 140 can perform dual-row parking control based on one of the user-selected semi-automatic or fully automatic modes.

[0115] The processor 140 can receive permission from the user related to system execution before initiating control, and can also receive system control authorization. That is, the user can select and execute one of the semi-automatic mode and the fully automatic mode for parking control.

[0116] In semi-automatic (SEMI) mode, after the user places the car in reverse for double parking, the user can release the steering wheel and operate the brake pedal to reverse within the speed limit, while the steering wheel operates automatically during reversing. Subsequently, when parking guidance is complete, the parking control unit 100 guides the user via voice and display and terminates the function.

[0117] In FULL mode, when the user presses the control switch for double parking, the steering wheel and brake pedal operate automatically until parking is complete. After parking guidance is complete, status notifications can be executed in the same manner as in semi-automatic mode.

[0118] When an alarm command is received from the processor 140, the alarm device 150 can output an alarm. In this case, the alarm can be activated by at least one of visual, auditory, or tactile means.

[0119] The sensing device 200 can detect obstacles (e.g., previously parked vehicles, vehicles moving through the parking lot, etc.), vacant parking spaces, parking guide lines (parking zone markings), double-row parking guide lines, etc. by searching for parking spaces.

[0120] Therefore, the sensing device 200 may include a camera 210, an ultrasonic sensor 220, etc., such as Figure 2 As shown, the camera 210 is mounted at the front, and multiple ultrasonic sensors 220 can be located at the front and rear.

[0121] Camera 210 detects information such as parking guide lines, double parking guide lines, vacant parking spaces, and previously parked vehicles, while ultrasonic sensor 220 can search for parking spaces.

[0122] The steering control device 300 can be configured to control the steering angle of a vehicle and may include a steering wheel, an actuator linked to the steering wheel, and a controller for controlling the actuator. In this case, the steering control device 300 can be implemented as follows: Figure 2Motor-driven power steering (MDPS) 301.

[0123] The brake control device 400 can be configured to control the braking of a vehicle and may include a controller for controlling the brakes.

[0124] The engine control unit 500 can be configured to control the engine drive of the vehicle and may include a controller for controlling the vehicle speed.

[0125] Thus, the present invention utilizes a pre-installed camera 210 and an ultrasonic sensor 220 to search for parking spaces and supports double-row parking control when there are no vacant parking spaces.

[0126] Figures 11A to 11N An example screen showing each operation during parking control according to an exemplary embodiment of the present invention is illustrated, which can be displayed via display device 130. Furthermore, Figures 11A to 11N Examples of the screens shown can be displayed through screens such as a vehicle's head-up display (HUD), instrument cluster, audio-visual navigation (AVN), human-machine interface (HMI), and user selection menu (USM).

[0127] Figure 11A This shows a screen example of the dual-row parking control mode being activated. Figure 11B An example screen is shown when searching for parking spaces. Figure 11C An example screen showing the detection of parking guide line 901 and outline 902 is shown. Figure 11D An example screen showing the generation of target reference 903 for dual-row parking control is shown. Figure 11E An example screen is shown indicating that after double parking based on a target reference 903 for double parking, a driving path 904 for other vehicles is ensured. Figure 11F An example screen for selecting a parking spot is shown.

[0128] Figure 11G An example of a screen showing the generated double parking trajectories is shown. Figure 11H A screen is displayed for the user to select between semi-automatic and fully automatic modes. Figure 11I and Figure 11J The screens shown guide the user to remove their hands from the steering wheel when semi-automatic or fully automatic mode is selected, and screens shown guide the user to remove their feet from the brake pedal.

[0129] Figure 11K The screen example shown illustrates the process of determining whether a collision space exists in the double-parking state after the first completion of double parking. Figure 11LThis shows an example of a screen that corrects the current parking position due to an anticipated collision.

[0130] Figure 11M and Figure 11N An example of an alarm screen is shown when double parking is completed.

[0131] In the following text, reference will be made to Figure 12 The parking control method according to an exemplary embodiment of the present invention will be described in detail below. Figure 12 A parking control method according to an exemplary embodiment of the present invention is shown.

[0132] In the following text, it is assumed that... Figure 1 The parking control device 100 executes Figure 12 The process. Furthermore, in Figure 12 In the description, the operation described as being performed by the device can be understood as being controlled by the processor 140 of the parking control device 100.

[0133] Reference Figure 12 The parking control device 100 can search for parking spaces and can set parking guide lines and contours (step S101). In this case, the parking guide lines represent the parking area markings of the parking lot, and the contours represent obstacles (e.g., Figure 6B Obstacle 601 and Figure 7B The outline of the obstacle (712).

[0134] The parking control device 100 determines whether there are double parking guide lines (step S102).

[0135] When there are double parking guide lines, the parking control device 100 generates a target reference (target reference line) parallel to the double parking guide lines (step S103).

[0136] When there are no double-row parking guide lines, the parking control device 100 generates a target reference based on the contour (step S104).

[0137] The parking control device 100 selects a parking spot for double parking and generates a parking trajectory (step S105).

[0138] The user selects either a semi-automatic mode or a fully automatic mode, and performs dual-row parking control according to the selected control mode (step S106).

[0139] After the first double-row parking is completed, the parking control device 100 outputs an alarm (step S107). In order to move the main vehicle by applying force from outside the vehicle in order to move the previously parked vehicle from the current parking position, the parking control device 100 can virtually determine whether there is a possibility of a front-to-rear collision (step S108).

[0140] When there is a possibility of collision, the parking control device 100 corrects the longitudinal and lateral positions of the vehicle (step S109).

[0141] The parking control device 100 outputs a final alarm for dual-row parking (step S110).

[0142] Therefore, according to the present invention, user convenience can be increased by applying parking assistance technology to double parking situations, and the function can be achieved by using the camera and ultrasonic sensor used in existing parking assistance technologies as is, without adding any components.

[0143] Figure 13 A computing system according to an exemplary embodiment of the present invention is shown.

[0144] Reference Figure 13 The computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700 connected via a bus 1200.

[0145] Processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in memory 1300 and / or storage device 1600. Memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include read-only memory (ROM) 1310 and random access memory (RAM) 1320.

[0146] Therefore, the steps of the methods or algorithms described in conjunction with the exemplary embodiments disclosed herein can be directly implemented by hardware, software modules, or a combination of both executed by processor 1100. The software modules can reside on storage media (i.e., memory 1300 and / or storage device 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, and CD-ROMs.

[0147] An exemplary storage medium is coupled to processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium can be integrated with processor 1100. The processor and storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can exist within the user terminal. Alternatively, the processor and storage medium can exist as separate components within the user terminal.

[0148] The above description merely illustrates the technical concept of the present invention. Those skilled in the art can make various modifications and changes without departing from the basic characteristics of the present invention.

[0149] Therefore, the exemplary embodiments disclosed in this invention are not intended to limit the technical concept of the invention, but are illustrative, and the scope of the technical concept of the invention is not limited by these exemplary embodiments. The scope of protection of this invention should be interpreted through the appended claims, and all technical concepts within the equivalent scope should be interpreted as being included within the scope of this invention.

Claims

1. A parking control device, comprising: The processor is configured to: search for at least one parking space in a parking lot, and when there are no vacant parking spaces, generate a profile based on previously parked vehicles; A target reference is generated based on the described contour; A parking spot for double parking is selected based on the target reference; double parking control is performed at the parking spot; and A storage device configured to store processor-driven data and algorithms; When a double-row parking guide line is detected during a parking space search, the processor generates a target reference between the double-row parking guide line and the contour, and generates the target reference as parallel to the double-row parking guide line.

2. The parking control device according to claim 1, wherein, If no double parking guide lines are detected when searching for parking spaces, the processor generates a target reference parallel to the parking area markings in the longitudinal direction by spacing the target reference apart from the point closest to the driving lane in the contour by a predetermined distance.

3. The parking control device according to claim 1, wherein, The processor generates the parking area by utilizing at least one of the dimensions of the double-row parking spaces, traffic conditions, or the width of the driveway after parking.

4. The parking control device according to claim 3, wherein, The processor divides the parking area into a general mode and a specific mode. In the general mode, the entire size of the double-row parking space is set as the parking area, and in the specific mode, a portion of the double-row parking space is set as the parking area.

5. The parking control device according to claim 4, wherein, When the size of the double-row parking space is larger than the predetermined size, the number of passing vehicles is less than the predetermined number, or the width of the driving lane after parking is wider, the processor guidance is set to normal mode.

6. The parking control device according to claim 5, wherein, In normal mode, the processor controls the master vehicle to be parked in a double row on one side of the lane where other vehicles travel, based on a target reference.

7. The parking control device according to claim 4, wherein, When the size of the double-row parking space is smaller than the predetermined size, the number of passing vehicles is greater than the predetermined number, or the width of the driving lane after parking is narrow, the processor guides the setting to a specific mode.

8. The parking control device according to claim 7, wherein, In certain modes, double parking is controlled based on a target reference, and the vehicle is controlled to double park between the target reference and the contour.

9. The parking control device according to claim 4, wherein, By utilizing at least one of the dimensions of the double parking space, traffic conditions, or the width of the driveway after parking, the processor suggests one of a general mode and a specific mode to the user, and allows the user to select one of the modes.

10. The parking control device according to claim 3, wherein, When there are no vehicles already double-parked in the parking area, the processor controls the vehicles to be double-parked at the innermost part of the parking area based on the direction of movement of the main vehicle.

11. The parking control device according to claim 3, wherein, When there are vehicles already parked in a double row in the parking area, the processor searches for available parking spaces between the vehicles already parked in a double row and selects the larger parking space as the parking spot.

12. The parking control device according to claim 3, wherein, When double-parking in a parking area, the processor considers the ability to move forward or backward to control the space for double-parking, thereby selecting a parking spot in the center of the parking area.

13. The parking control device according to claim 1, wherein, The processor generates a parking trajectory for parking the main vehicle at the parking spot, controls the main vehicle according to the parking trajectory, and outputs an alarm command after completing double parking at the parking spot.

14. The parking control device according to claim 12, wherein, After completing double parking at the parking spot, the processor determines the probability of a collision when moving forward or backward.

15. The parking control device according to claim 14, wherein, When there is a possibility of collision, the processor corrects the position of the master vehicle by moving it longitudinally or laterally at the parking point to avoid a collision.

16. The parking control device according to claim 15, wherein, After the position is corrected, the processor outputs a final alarm command notifying that double parking has been completed.

17. The parking control device according to claim 1, wherein, When performing double-row parking control of the main vehicle at a parking spot, the processor performs double-row parking control based on one of the user-selected semi-automatic or fully automatic modes.

18. A parking control method, comprising: The processor searches for parking spaces in the parking lot. When there are no available parking spaces, the processor generates a profile based on the previously parked vehicles. The processor generates a target reference based on the contour; The processor selects a parking spot for double-row parking based on the target reference; The processor performs dual-row parking control at the parking point; The generation of the target reference includes: when a double-row parking guide line is detected during a parking space search, generating a target reference between the double-row parking guide line and the contour, and generating the target reference as parallel to the double-row parking guide line.

19. The parking control method according to claim 18, wherein, The generated target reference further includes: If no double parking guide lines are detected when searching for parking spaces, a target reference parallel to the parking area markings in the longitudinal direction is generated by spacing the target reference at a predetermined distance from the point in the contour closest to the driving lane.

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