Parking cooperation control method and device considering RWS fault

Abstract

The present disclosure provides a method and apparatus for parking cooperation control that considers a failure of a host vehicle rear wheel steering (RWS) function. The parking cooperation control apparatus may include: an error detection unit configured to detect whether there is an error in the RWS function; a path setting unit configured to set a parking path for the host vehicle using a rear wheel steering function based on whether there is an error; and a parking control unit configured to perform parking control on the host vehicle to follow the parking path using the remote smart parking assist function and the rear wheel steering function.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Patent Application No. 10-2023-0175600 filed in South Korea on December 6, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a parking cooperation control method and apparatus considering rear wheel steering (RWS) function failure. Background Art

[0004] The content of this section merely provides background information related to the present disclosure and does not constitute prior art.

[0005] Figure 1 A diagram illustrating the operation of a conventional Remote Smart Parking Assist (RSPA) system.

[0006] RSPA is a parking convenience function in which the vehicle 100 automatically performs steering control to complete parking in the parking space after recognizing the parking space based on vehicle sensors such as the wide-angle camera 101 and the ultrasonic sensor 102. During the automatic steering control, the RSPA performs path correction and collision avoidance functions by recognizing objects around the parking path based on the ultrasonic sensor.

[0007] like Figure 1 As shown, for a conventional RSPA system, when the vehicle reaches a reverse parking space, the driver activates the RSPA function by operating an RSPA selection button in the vehicle 100 .

[0008] When the cooperative control function is enabled by the RSPA system, as the vehicle 100 travels, the vehicle sensor detects the available first parking space 111. At this time, when the driver presses the automatic parking button on the remote controller, the RSPA function automatically adjusts the vehicle 100 to automatically park it in the first parking space 111 by controlling the vehicle 100 during ① reverse, ② forward, and ③ reverse.

[0009] However, the existing RSPA cooperative control only considers the existence of a front wheel steering system of a motor driven power steering (MDPS) or an electric power steering (EPS), but does not consider the existence of a rear wheel steering (RWS) function.

[0010] Accordingly, the RSPA cooperative control of the RWS needs to be further considered, especially the RSPA cooperative control function even considering the RWS function failure. Summary of the invention

[0011] Embodiments of the present disclosure may provide a parking cooperation control method and apparatus taking into account RWS failure.

[0012] The advantages of the embodiments of the present disclosure are not limited to those specifically described herein, and other advantages that can be achieved by the embodiments of the present disclosure can be understood by those skilled in the art from the following detailed description.

[0013] According to at least one embodiment of the present disclosure, a parking cooperation control device may include: an error detection unit, which is configured to detect whether there is an error in the RWS function; a path setting unit, which is configured to set a parking path for the vehicle using the rear-wheel steering function based on whether there is an error; and a parking control unit, which is configured to perform parking control on the vehicle using the remote intelligent parking assist function and the rear-wheel steering function to follow the parking path.

[0014] According to an embodiment of the present disclosure, a parking cooperative control method may include: performing error detection by detecting whether an error exists in an RWS function; performing path setting by setting a parking path of the vehicle using a rear-wheel steering function based on whether an error exists; and performing parking control of the vehicle using a remote intelligent parking assist function and a rear-wheel steering function to follow the parking path.

[0015] According to an embodiment of the present disclosure, by considering the RWS function in the RSPA cooperative parking control, the turning radius can be reduced when parking, thereby being able to shorten the parking time and improve the driver convenience.

[0016] Even in the case where the RWS is faulty, the embodiment of the present disclosure can perform parking control by reflecting the changing curvature without releasing the RSPA control due to the faulty state.

[0017] The advantages of the embodiments of the present disclosure are not limited to those mentioned above, and those skilled in the art may understand other advantages not mentioned from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. 1 is a schematic diagram illustrating the operation of a conventional RSPA system.

[0019] Figure 2A A block diagram of a parking cooperation control device according to at least one embodiment of the present disclosure.

[0020] Figure 2B is a schematic diagram of a parking cooperation control device together with a vehicle control unit and a sensing unit according to at least one embodiment of the present disclosure.

[0021] Figure 3AThe diagram is a schematic diagram illustrating that when the RWS function is in operation, the rear wheel steering angle may be changed according to the speed of the vehicle according to at least one embodiment of the present disclosure.

[0022] Figure 3B To illustrate at least one embodiment of the present disclosure, a schematic diagram of a change in a vehicle's running curvature at low speed according to a driver's steering angle in respective situations where the RWS function is faulty and unimpeded is provided.

[0023] Figure 4 4 is a flowchart of a parking control process according to an embodiment of the present disclosure.

[0024] Figure 5 4 is a flowchart of a parking control process according to an embodiment of the present disclosure.

[0025] Figure 6 The present invention is a flowchart of a parking cooperation control method according to at least one embodiment of the present disclosure.

[0026] Figure 7 The block diagram schematically shows an example computing device that can be used to implement the method or device according to the embodiments of the present disclosure. DETAILED DESCRIPTION

[0027] Hereinafter, example embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, although the elements may be shown in different drawings, the same reference numerals may represent the same elements. In addition, for the purpose of clarity and brevity, in the following description of the embodiments, when the detailed description of the related known parts and functions will obscure the subject matter of the present disclosure, the detailed description thereof will be omitted.

[0028] Ordinal numbers or letter code prefixes such as "first", "second", "i)", "ii)", "a)", "b)" and the like are used to distinguish one component from another, but do not imply or suggest the importance, order or sequence of the components. Throughout the specification, when a component "includes" or "comprises" a component, it means that the component may also include other components, without excluding other components, unless there is a specific description to the contrary. Terms such as "unit", "module" and the like may refer to units for processing at least one function or operation, and they may be implemented by hardware, software or a combination thereof.

[0029] The following description of the exemplary embodiments of the present disclosure in conjunction with the accompanying drawings is intended to describe the exemplary embodiments of the present disclosure, but does not represent the only feasible embodiment that can implement the technical concept of the present disclosure.

[0030] Figure 2A is a block diagram of a parking cooperation control device 200 according to at least one embodiment of the present disclosure.

[0031] According to at least one embodiment, the parking cooperation control device 200 includes: an error detection unit 210, a path setting unit 220, a parking control unit 230 and a data storage unit 240, any one, any combination or all of which may be multiple or may include multiple components thereof. Figure 2A and Figure 2B Not all of the blocks shown are essential components, and in other implementations, some blocks included in the parking cooperation control device 200 may be added, changed, or deleted. Figure 2A and Figure 2B The components shown in the figure represent functionally different elements, and at least one component may be implemented in an integrated form in an actual physical environment.

[0032] The error detection unit 210 may detect whether a rear wheel steering (RWS) function of the host vehicle fails.

[0033] The path setting unit 220 may set the parking path of the host vehicle using the rear-wheel steering function based on whether the rear-wheel steering function fails.

[0034] The parking control unit 230 may utilize the RSPA function and the RWS function to perform parking control on the host vehicle so as to follow the set parking path.

[0035] Figure 2B 2 is a schematic diagram illustrating the parking cooperation control unit 200 together with the vehicle control unit 300 and the sensing unit 400 .

[0036] The parking cooperative control apparatus 200 may perform parking control for controlling the vehicle control unit 300 using the RSPA function and the RWS function.

[0037] The parking cooperation control device 200 can sense the parking space from the detection data of the sensing unit 400 including the camera and the ultrasonic sensor, and store the data required for parking control in the data storage unit 240. The functions of the error detection unit 210, the path setting unit 220, and the parking control unit 230 can be incorporated into the processor, which controls the vehicle control unit 300 through the drive control, brake control, transmission or speed control, steering control, and remote control to automatically steer the vehicle, thereby completing parking in the parking space.

[0038] The technical details of how the driver operates the remote control key to enable the RSPA (Remote Smart Parking Assist) function and how the parking cooperation control device 200 controls driving control, braking control, speed control, steering control and remote control are irrelevant to the gist of this disclosure and will not be elaborated here.

[0039] Figure 3AThis is a schematic diagram to illustrate that when the RWS function is operating, the rear wheel steering angle can be changed according to the speed of the vehicle. Figure 3B Schematic diagram to illustrate the change in the vehicle's driving curvature at low speed as a function of the driver's steering angle in the respective cases of a faulty and undisturbed RWS function.

[0040] like Figure 3A As shown, when the vehicle is at a low speed, the RWS function can perform reverse-phase control to steer the rear wheels 320 in a steering direction opposite to the steering direction of the front wheels 310, and when the vehicle is at a high speed, in-phase control can be performed to steer the rear wheels 320 in the same steering direction as the steering direction of the front wheels 310.

[0041] The data storage unit 240 can store Figure 3B The graph shown is stored as data. The data stored in the data storage unit 240 can be used for path setting of the path setting unit 220 .

[0042] like Figure 3B As shown, at low speed, when the RWS is not faulty, the magnitude of the first running curvature variation curve (K1) that varies with the steering angle may be greater than the magnitude of the second running curvature variation curve (K2) when the RWS fails. The second running curvature variation curve (K2) when the RWS fails may refer to a rear wheel neutral error (e.g., the rear wheels are still oriented straight ahead).

[0043] In an embodiment, when RWS is applied on a vehicle, the rear wheels may perform anti-phase control, in which the rear wheels steer in the opposite direction to the front wheels, which may reduce the turning radius of the vehicle and thus the curvature variation curve (K) may be relatively large.

[0044] Therefore, in the embodiment, parking using characteristics such as RWS can more effectively perform automatic parking control through RSPA cooperative control.

[0045] The error detection unit 210 may detect rear wheel steering function failures, including whether the rear wheels are in a neutral state and whether the rear wheels are skewed.

[0046] When the rear wheels are fixed in the neutral state position, the error detection unit 210 may determine that the rear wheels are in a neutral state error.

[0047] If the rear wheels are not turned and are in a stationary state in a neutral position when the RWS function is previously operating, the RWS function may store the neutral state information as the rear wheel state information, and then the error detection unit 210 may obtain the rear wheel state information to determine that a neutral state error has occurred in the rear wheels.

[0048] After the path setting unit 220 sets the parking path, in the process of the parking control unit 230 following and controlling the parking path, the error detection unit 210 may also determine that a neutral state error has occurred in the rear wheels in response to the rear wheels not turning and being stationary in the neutral position during the operation of the RWS function.

[0049] When the rear wheel is in a skewed state, the error detection unit 210 can determine that a skew error has occurred in the rear wheel. The rear wheel being in a skewed state can mean that the rear wheel deviates from its normal position (eg, slightly turned, or turned instead of straight).

[0050] When a skew error occurs in the rear wheel during operation of the RWS function, the RWS function may store skew error information as rear wheel state information, and then the error detection unit 210 may obtain the rear wheel state information to determine that a skew error occurs in the rear wheel.

[0051] After the path setting unit 220 sets the parking path, in the process of the parking control unit 230 controlling to follow the parking path, when the rear wheels are tilted in a state different from a normal direction during the operation of the RWS function, the error detection unit 210 may determine that a tilt error occurs in the rear wheels.

[0052] The error detection unit 210 may be implemented to detect various fault states of the rear wheel steering function in real time using various vehicle sensors.

[0053] Figure 4 is a flowchart of a parking control process according to the first example embodiment.

[0054] The error detection unit 210 may determine whether a malfunction occurs in the RWS function (operation S410 ).

[0055] When the RWS function has no fault in operation S410, the path setting unit 220 may generate a parking path (i.e., path A) for the host vehicle using the first running curvature change curve K1 (operation S440). At this time, the path setting unit 220 may set the turning path by assuming that the rear wheels are controlled in reverse phase by the RWS function in response to the vehicle turning path existing in the parking path generated using the first running curvature change curve K1.

[0056] If it is determined in operation S410 that the RWS function has a fault, the error detection unit 210 may determine whether a rear wheel is in a neutral state error and / or a rear wheel skew error among RWS function errors (operation S415 ).

[0057] If it is determined in operation S415 that a rear wheel skew error occurs, the parking control unit 230 may provide an auditory message and / or a visual message to the user indicating that parking control through RSPA cooperative control is not possible, and then end the parking control process (operation S460).

[0058] If it is determined in operation S415 that a rear wheel neutral state error among RWS function errors occurs, the path setting unit 220 may generate a parking path (ie, path B) for the host vehicle using the second running curvature change curve K2 (operation S420 ).

[0059] The parking control unit 230 may use the RSPA function to perform parking control of the host vehicle to follow the set path B (operation S425). At this time, the parking control unit 230 may control the reverse parking of the host vehicle to follow the path B by sending a request command value to the braking control, driving control, steering control, speed control, etc. in the vehicle control unit 300.

[0060] When the parking of the host vehicle is controlled to follow the path B in operation S425, the parking control unit 230 may check whether the parking control is completed (operation S430). At this time, if the parking control is completed, the parking control unit 230 may end the parking control process.

[0061] If it is determined in operation S430 that the parking control is not completed, the parking control unit 230 may call the error detection unit 210 and control the error detection unit 210 to re-detect whether the rear wheels are in a skewed state (operation S435).

[0062] If it is confirmed in operation S435 that the rear wheels are in a skewed state, the parking control unit 230 may provide an auditory message and / or a visual message to the user indicating that parking control through RSPA cooperative control is not possible, and then end the parking control process (operation S460).

[0063] When it is confirmed in operation S435 that the rear wheels are not in a skewed state, the parking control unit 230 may continue to perform parking control of the host vehicle to follow the path B using the RSPA function (operation S425 ), and continue to check whether the parking control is completed (operation S430 ).

[0064] When the parking path (i.e., path A) is generated in operation S440, the parking control unit 230 may perform parking control of the host vehicle using the RSPA function and the RWS function to follow the set path A (operation S445). At this time, the parking control unit 230 may control the reverse parking of the host vehicle to follow path A by sending a request command value to the braking control, driving control, steering control, speed control, etc. in the vehicle control unit 300.

[0065] When the parking control is performed on the host vehicle to follow the path A in operation S445, the parking control unit 230 may check whether the parking control is completed (operation S450). At this time, if the parking control is completed, the parking control unit 230 may terminate the parking control.

[0066] If it is confirmed in operation S450 that the parking control is not completed, the parking control unit 230 may call the error detection unit 210 and control the error detection unit 210 to check whether a malfunction occurs in the RWS function (operation S455).

[0067] If it is confirmed in operation S455 that the RWS function fails, the process may proceed to operation S415 where the error detection unit 210 may determine whether it is a rear wheel neutral state error and / or a rear wheel skew error among RWS function errors (operation S415).

[0068] When it is determined in operation 410 that the RWS function has not failed, the parking control unit 230 may perform parking control along the path A using the RSPA function and the RWS function (operation S445 ).

[0069] Figure 5 is a flowchart of a parking control process according to the second example embodiment.

[0070] according to Figure 5 The parking control process of the second exemplary embodiment shown is similar to that according to Figure 4 The parking control process of the illustrated first example embodiment is different in that operation S570 is added, and when a rear wheel skew error is not found in operation S435, the process may proceed to operation S570.

[0071] exist Figure 5 In operation S435, when it is confirmed that the rear wheel skew error does not occur, the error detection unit 210 may recheck whether the rear wheel is in a neutral state error (operation S570).

[0072] When it is confirmed in operation S570 that the rear wheels are not in a neutral state error, the path setting unit 220 can generate a parking path (i.e., path A) for the host vehicle using the first driving curvature change curve K1 (operation S440), and the parking control unit 230 can perform parking control along path A using the RSPA function and the RWS function (operation S445).

[0073] If it is confirmed in operation S570 that the rear wheels are in a neutral state error, the parking control unit 230 may continue to perform parking control along the path B using the RSPA function and the RWS function (operation S425).

[0074] Figure 6 The present invention is a flowchart of a parking cooperation control method according to at least one embodiment of the present disclosure.

[0075] The parking cooperation control method according to at least one embodiment of the present disclosure may be executed by the parking cooperation control unit 200 .

[0076] The error detection unit 210 may perform an error detection process to detect whether an error exists in the RWS function (operation S610 ).

[0077] The path setting unit 220 may perform a path setting process using the RWS function to set a parking path of the host vehicle based on whether there is an error in the RWS function (operation S620).

[0078] The parking control unit 230 may perform a parking control process for parking the host vehicle to follow a parking path using the RSPA function and the RWS function (operation S630).

[0079] Figure 7 The block diagram schematically shows an example computing device that can be used to implement the method or device according to the present disclosure.

[0080] The computing device 70 may include some or all of the following: a memory 700, a processor 720, a storage device 740, an input / output interface 760, and a communication interface 780, any one of which, any combination, or all of which may be multiple or may include multiple components thereof. The computing device 70 may structurally and / or functionally include at least a portion of the following: an error detection unit 210, a path setting unit 220, a parking control unit 230, and a data storage unit 240. The computing device 70 may be a fixed computing device such as a desktop computer, a server, and an AI accelerator, and may be a mobile computing device such as a laptop computer and a smart phone.

[0081] The memory 700 (or storage medium) may store a program that enables the processor 720 to perform methods or operations according to various embodiments of the present disclosure. For example, the program may include a plurality of instructions that can be executed by the processor 720, and Figure 6 The illustrated method may be performed by processor 720 executing a plurality of instructions.

[0082] The memory 700 may be a single memory or multiple memories. The information required to perform the methods or operations according to various embodiments of the present disclosure may be stored in a single memory, or in a distributed manner in multiple memories, which may generally be referred to as storage media. When the memory 700 is configured as multiple memories, the multiple memories may be physically separated.

[0083] The memory 700 may include at least one of a volatile memory and a nonvolatile memory. The volatile memory includes a static random access memory (SRAM) or a dynamic random access memory (DRAM), and the nonvolatile memory includes a flash memory.

[0084] The processor 720 may include at least one core capable of executing at least one instruction. The processor 720 may execute instructions stored in the memory 700. The processor 720 may be a single processor or multiple processors (together or separately).

[0085] The storage device 740 may retain stored data even if power supplied to the computing device 70 is cut off. For example, the storage device 740 may include a nonvolatile storage device, or may include storage media such as magnetic tapes, optical disks, and magnetic disks.

[0086] The program stored in the storage device 740 may be loaded to the memory 700 before being executed by the processor 720. The storage device 740 may store files written in a programming language, and a program created from the file by a compiler or the like may be loaded to the memory 700. The storage device 740 may store data to be processed by the processor 720 and / or data processed by the processor 720.

[0087] The input / output interface 760 may include input devices such as a keyboard and a mouse, and may include output devices such as a display device and a printer. The user 122 may trigger the processor 720 to execute a program and / or check the processing result of the processor 720 through the input / output interface.

[0088] The communication interface 780 may provide access to an external network. For example, the computing device 70 may communicate with other devices via the communication interface 780.

[0089] The device or method according to the embodiment of the present disclosure may have corresponding components arranged to be implemented as hardware or software or a combination of hardware and software. Each component may be implemented by software in function, and when implemented, a microprocessor may perform the function of each component by software.

[0090] Various illustrative implementations of the systems and methods described herein may be implemented by digital electronic circuit systems, integrated circuits, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. These different implementations may include implementations implemented in one or more computer programs executable on a programmable system. A programmable system may include at least one programmable processor, at least one input device, and at least one output device, at least one programmable processor coupled to receive data and instructions from a storage system and to send data and instructions to the storage system, wherein the programmable processor may be a dedicated processor or a general-purpose processor. A computer program (also referred to as a program, software, software application, or code) may contain instructions for a programmable processor and may be stored in a "computer-readable recording medium".

[0091] The computer-readable recording medium may include any type of recording device on which data that can be read by a computer system may be recorded. Examples of computer-readable recording media include non-volatile or non-transitory media such as ROM, CD-ROM, magnetic tape, floppy disk, memory card, hard disk, optical / magnetic disk, storage device, etc. The computer-readable recording medium may also include transient media such as data transmission media. In addition, the computer-readable recording medium may be distributed in computer systems connected via a network, where the computer-readable code may be stored and executed in a distributed manner.

[0092] Although the steps or operations in each flowchart / sequence diagram are described as being performed in sequence, they merely illustrate the technical ideas of some embodiments of the present disclosure. Accordingly, a person of ordinary skill in the relevant art can perform these steps or operations by changing the order described in each flowchart / sequence diagram, or by performing two or more steps or operations in parallel, so the steps / operations in each flowchart / sequence diagram are not limited to the described time sequence.

[0093] Although the exemplary embodiments of the present disclosure are described above for illustrative purposes, it will be appreciated by those skilled in the art that various modifications, additions, and substitutions are possible without departing from the spirit and scope of the present disclosure. Therefore, for the sake of brevity and clarity, exemplary embodiments of the present disclosure are described. The scope of the technical ideas of the embodiments of the present disclosure are not limited by these descriptions. Therefore, it will be appreciated by those of ordinary skill in the art that the scope of the present disclosure is not limited by the exemplary embodiments explicitly described above, but by the claims and their equivalents.

Claims

1. A device comprising: at least one processor; as well as A storage medium storing computer-readable instructions that, when executed by the at least one processor, enable the at least one processor to: Check if there is any error in the rear wheel steering (RWS) function of this vehicle. Based on whether the error exists, use the RWS function to set a parking path for the vehicle, and Using the remote smart parking assist function and the RWS function, parking control is performed on the host vehicle to follow the parking path.

2. The device according to claim 1, wherein: The instructions further enable the at least one processor to: The presence or absence of the error is detected based on whether the rear wheels of the host vehicle deviate from a normal position to set the parking path.

3. The device according to claim 2, wherein: The instructions further enable the at least one processor to: In response to the presence or absence of the error being a result of detecting that there is a skew error in the rear wheels, the parking control is stopped.

4. The device according to claim 2, wherein: The instructions further enable the at least one processor to: A first magnitude of a first driving curvature curve as a function of a driver's steering angle when the RWS function is not faulty and a second magnitude of a second driving curvature curve as a function of the steering angle when the RWS function is faulty are stored.

5. The device according to claim 4, wherein: The instructions further enable the at least one processor to: In response to the RWS function not failing, the parking path is generated using the first driving curvature curve.

6. The device according to claim 4, wherein: The instructions further enable the at least one processor to: In response to a neutral state error occurring in the rear wheels, a parking path is generated using the second driving curvature change curve.

7. The device according to claim 6, wherein: The instructions further enable the at least one processor to: Parking control is performed along the parking path generated using the second driving curvature change curve, and whether the error exists is continuously re-detected.

8. The device according to claim 7, wherein: The instructions further enable the at least one processor to: In response to the result of re-detecting whether or not the error exists that there is a skew error in the rear wheels, the parking control is stopped.

9. The device according to claim 7, wherein: The instructions further enable the at least one processor to: In response to confirming that the rear wheels have neither a skew error nor a neutral state error as a result of re-detecting whether the error exists, a parking path is regenerated using the first running curvature change curve.

10. The device according to claim 2, wherein: The instructions further enable the at least one processor to: While executing parking control using the first driving curvature variation profile, periodically checking whether the RWS function has a malfunction, and In response to confirming that a neutral state error has occurred in the rear wheels, parking control is stopped, and a parking path is generated using a second running curvature change curve, wherein the second running curvature change curve is different from the first running curvature change curve.

11. A parking cooperation control method, comprising the following steps: Perform error detection, including detecting whether there is an error in the rear wheel steering RWS function of the vehicle; Performing path setting, including setting a parking path for the vehicle using the RWS function based on whether the error exists; as well as Using the remote smart parking assist function and the RWS function, parking control is performed on the host vehicle to follow the parking path.

12. The method according to claim 11, wherein: The step of setting the parking path includes detecting whether the error exists according to whether the rear wheels of the host vehicle deviate from a normal position.

13. The method according to claim 11, further comprising: The data storage is performed, including storing a first magnitude of a first running curvature change curve according to a steering angle of a driver when the RWS function is not faulty, and a second magnitude of a second running curvature change curve according to the steering angle when the RWS function is faulty.

14. The method according to claim 13, wherein: The steps to perform path setting include: When a neutral state error occurs in the rear wheels, the second driving curvature change curve is used to generate a parking path.

15. The method according to claim 14, wherein: The steps to implement parking control include: Parking control is performed along the parking path generated using the second running curvature change curve, and whether the error exists is re-detected continuously using the step of performing error detection.

16. The method according to claim 15, wherein: The steps to perform path setting include: In response to confirming that the rear wheels have neither a skew error nor a neutral state error as a result of re-detecting whether the error exists, a parking path is regenerated using the first running curvature change curve.

17. The method according to claim 12, wherein: The steps to implement parking control include: While executing parking control using the first driving curvature variation profile, periodically checking whether a malfunction occurs in the RWS function; and In response to confirming that a neutral state error has occurred in the rear wheels, stopping parking control, And wherein the step of executing path setting includes: in response to confirming that a neutral state error has occurred in the rear wheels, generating a parking path using a second driving curvature change curve, wherein the second driving curvature change curve is different from the first driving curvature change curve.

18. A parking cooperation control method, comprising the following steps: Check whether there is any error in the rear wheel steering RWS function of this vehicle; If no RWS function error is detected, generating a first parking path using a first driving curvature change curve, and performing a first parking control on the host vehicle using the first parking path and the RWS function; If an RWS function error is detected, determining whether the error is a skew error or a neutral state error; as well as If it is detected that the RWS function error is a neutral state error, a second parking path is generated using a second running curvature change curve, and a second parking control of the host vehicle is performed using the second parking path without using the RWS function, wherein the second running curvature change curve is different from the first running curvature change curve.

19. The method according to claim 18, further comprising: If the RWS function error is detected as a skew error, the driver of the host vehicle is notified that parking control cannot be performed.

20. The method of claim 18, further comprising: In a process of performing the first parking control on the host vehicle using the first parking path and the RWS function, determining whether the first parking control is completed; as well as In the process of executing the first parking control on the host vehicle using the first parking path and using the RWS function, in response to the first parking control not being completed, it is determined again whether the RWS function has an error.

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