Apparatus for rear cross traffic collision avoidance assistance and method of operating same

Abstract

An apparatus for rear cross traffic collision avoidance assistance and a method of operating the same are provided. The apparatus may include: at least one sensor; a memory storing instructions; and at least one processor. The at least one processor may be configured to, by executing the instructions, cause the apparatus to: obtain, via the at least one sensor, one or more images of a parking area associated with the vehicle; determining a type of a parking space in the parking area based on the one or more images; adjusting a region of interest within the parking area by adjusting at least one of a size of the region of interest or an angle of the region of interest based on the type of the parking space; and controlling an operation of the vehicle based on the adjusted region of interest.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Korean Patent Application No. 10-2024-0022406, filed on February 16, 2024, which is hereby incorporated by reference. Technical Field

[0003] The present disclosure relates to a rear crossing traffic collision avoidance assist device and an operating method thereof. Background Art

[0004] The following description merely provides background information related to the present disclosure and does not constitute prior art.

[0005] When a vehicle is in reverse, the driver uses side mirrors and rearview mirrors to view the rear of the vehicle. However, these mirrors may only provide a limited field of view. To overcome this problem, systems such as surround view monitors are sometimes installed in vehicles. Summary of the Invention

[0006] [Technical Issues]

[0007] An object of the present disclosure is to provide Rear Cross-Traffic Collision-Avoidance Assist (RCCA) that optimizes a warning area according to the type of parking space.

[0008] The objects achieved by the present disclosure are not limited to the above-mentioned objects, and other objects not mentioned will be clearly understood from the following description by those skilled in the art.

[0009] According to one or more example embodiments of the present disclosure, a device may include: at least one sensor; a memory storing instructions; and at least one processor. The at least one processor may be configured to, by executing the instructions, cause the device to: obtain one or more images of a parking area associated with a vehicle via the at least one sensor; determine a type of parking space in the parking area based on the one or more images; adjust an area of interest within the parking area by adjusting at least one of a size of the area of interest or an angle of the area of interest based on the type of parking space; and control an operation of the vehicle based on the adjusted area of interest.

[0010] The type of the parking space may include at least one of a parking space for perpendicular parking or a parking space for diagonal parking.

[0011] The at least one processor may be configured to cause the apparatus to adjust the region of interest by adjusting a longitudinal distance of the region of interest from the vehicle to be smaller than a default value based on the type of the parking space being a parking space for perpendicular parking.

[0012] The at least one processor may be configured to cause the apparatus to adjust the region of interest by determining a diagonal parking angle based on that the type of the parking space is a parking space for diagonal parking.

[0013] The at least one processor may be configured to cause the apparatus to further adjust the region of interest by changing at least one of a size of the region of interest or an angle of the region of interest based on the angle of the parallel parking.

[0014] At least one processor can be configured to cause the device to further adjust the region of interest by: determining a vehicle coordinate system having axes corresponding to the longitudinal direction and the lateral direction of the vehicle, respectively; determining a plurality of reference points in the vehicle coordinate system based on the diagonal parking angle; and adjusting the region of interest based on a line connecting the plurality of reference points.

[0015] The at least one processor may be configured to cause the apparatus to control operation of the vehicle by determining whether an object is present within the region of interest.

[0016] The at least one processor may be configured to cause the apparatus to control operation of the vehicle by generating a warning message based on the presence of the object within the region of interest.

[0017] The at least one processor may be configured to cause the apparatus to adjust the region of interest by determining the region of interest according to a default value based on that the type of the parking space is not a parking space for perpendicular parking or a parking space for diagonal parking.

[0018] According to one or more example embodiments of the present disclosure, a method performed by a vehicle may include: obtaining, via at least one sensor, one or more images of a parking area associated with the vehicle; determining, based on the one or more images, a type of parking space in the parking area; adjusting an area of interest in the parking area by adjusting at least one of a size of the area of interest or an angle of the area of interest based on the type of the parking space; and controlling an operation of the vehicle based on the adjusted area of interest.

[0019] The type of the parking space may include at least one of a parking space for perpendicular parking or a parking space for diagonal parking.

[0020] Adjusting the region of interest may include adjusting a longitudinal distance between the region of interest and the vehicle to be smaller than a default value based on the type of the parking space being a parking space for perpendicular parking.

[0021] Adjusting the region of interest may include determining a diagonal parking angle based on the type of the parking space being a parking space for diagonal parking.

[0022] Adjusting the region of interest may include changing at least one of a size of the region of interest or an angle of the region of interest based on the angle of the parallel parking.

[0023] Adjusting the region of interest may include: determining a vehicle coordinate system having axes corresponding to a longitudinal direction and a lateral direction of the vehicle, respectively; determining a plurality of reference points in the vehicle coordinate system based on the diagonal parking angle; and adjusting the region of interest based on a line connecting the plurality of reference points.

[0024] Controlling operation of the vehicle may include determining whether an object is present within the region of interest.

[0025] Controlling operation of the vehicle may include generating a warning message based on the presence of the object within the region of interest.

[0026] Adjusting the region of interest may include determining the region of interest according to a default value based on the type of the parking space being not a parking space for perpendicular parking or a parking space for diagonal parking.

[0027] [Beneficial Effects]

[0028] According to an embodiment of the present disclosure, by confirming the type of parking space and calculating the angle, it is possible to optimize the size and angle of the warning area.

[0029] The effects of the present disclosure are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a block diagram schematically illustrating a rear crossing traffic collision avoidance assist device.

[0031] Figure 2 is a diagram showing default values of parking spaces and warning areas.

[0032] Figure 3A is a diagram illustrating an exemplary warning area in the case of perpendicular parking.

[0033] Figure 3B is a diagram illustrating an exemplary warning area in the case of parallel parking.

[0034] Figure 4 is a flowchart illustrating a method for setting a warning area. DETAILED DESCRIPTION

[0035] Hereinafter, one or more example embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals preferably represent the same elements, even though the elements are shown in different figures. In addition, in the following description of the example embodiments, detailed descriptions of known functions and configurations incorporated therein will be omitted for the sake of clarity and brevity.

[0036] Furthermore, various terms such as first, second, A, B, (a), (b), etc. are used only to distinguish one component from another and do not imply or suggest the substance, sequence, or order of the components. Throughout this specification, when a component "includes" or "comprising" a component, the component is intended to also include other components, not to exclude these components, unless specifically stated otherwise. Terms such as 'unit', 'module', etc. refer to one or more units for processing at least one function or operation, which may be implemented by hardware, software, or a combination of hardware and software.

[0037] For purposes of this application and the claims, the exemplary phrase “at least one of: A; B; or C” or “at least one of A, B, or C” is used, which means “at least one of A, or at least one of B, or at least one of C, or any combination of at least one of A, at least one of B, and at least one of C. Furthermore, exemplary phrases such as “A, B, and C,” “A, B, or C,” “at least one of A, B, and C,” “at least one of A, B, or C,” etc., as used herein, may refer to each listed item or all possible combinations of the listed items. For example, “at least one of A or B” may mean (1) at least one of A; (2) at least one of B; or (3) at least one of A and at least one of B.

[0038] Throughout this disclosure, references to components, units, or modules generally refer to items that can be logically grouped together to perform a function or group of related functions. The same reference numerals are generally intended to refer to identical or similar components. Components, units, and modules can be implemented in software, hardware, or a combination of software and hardware. The components, units, modules, and / or functions described above can be implemented and / or performed by one or more processors. For example, these components, units, and / or modules can include a processor, a microprocessor, a graphics processing unit, a logic circuit, a dedicated circuit, an application-specific integrated circuit, a programmable array logic, a field programmable gate array, a controller, a microcontroller, and / or other suitable hardware. For example, these components, units, and / or modules can also include a software control module implemented using a processor or logic circuit system. For example, these components, units, and / or modules can include memory or otherwise access memory, such as one or more non-transient computer-readable storage media (such as random access memory, read-only memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, flash memory / other memory devices, data registers, databases, and / or other suitable hardware). One or more storage type media may include any or all of the tangible memories of a computer, processor, etc. or its associated modules, such as various semiconductor memories, tape drives, disk drives, etc., which can provide non-transitory storage for software programming at any time.

[0039] The Rear Cross-Traffic Collision-Avoidance Assist (RCCA) system can be installed in vehicles to prevent accidents during reversing. RCCA uses radar sensors, etc., to detect vehicles approaching from the rear and sides of the vehicle and, when an approaching vehicle is detected, provides a warning to the driver using sound (e.g., an audible signal). RCCA has a warning zone at a set distance from the rear of the vehicle. This zone can be an area used to issue a warning when a vehicle moves within it. When vehicles are parked diagonally, the radar detection zone may need to be expanded to detect vehicles approaching laterally from the rear. In other words, if the RCCA radar detection zone is too narrow, collision prevention may be difficult. On the other hand, if the radar detection zone is too wide, unnecessary warnings may be issued even when the risk of collision is relatively low, potentially undermining the driver's trust in RCCA. Therefore, the RCCA radar detection zone may need to be optimized depending on the type of parking space.

[0040] The following detailed description, together with the accompanying drawings, is intended to describe example embodiments of the present disclosure and is not intended to represent the only embodiments in which the present disclosure may be practiced.

[0041] Unless otherwise specified, singular terms to be used below may include plural terms.

[0042] Figure 1is a block diagram schematically illustrating a rear crossing traffic collision avoidance assist device.

[0043] refer to Figure 1 The rear crossing traffic collision avoidance assist device 10 includes some or all of a sensor unit 100 , a determination unit 110 , and an area setting unit 120 .

[0044] The sensor unit 100 detects objects (such as other vehicles, bicycles, motorcycles, and people behind the test vehicle). The sensor unit 100 may include at least one of a radar, a lidar, and a camera. The sensor unit 100 can measure the direction, path, speed, and acceleration of the object behind the test vehicle, as well as the distance between the object and the test vehicle.

[0045] The sensor unit 100 detects objects such as vehicles, motorcycles, bicycles, and pedestrians moving within the warning area set by the area setting unit 120. If a moving object exists within the warning area, the sensor unit 100 generates a warning message indicating the presence of the object within the warning area.

[0046] The sensor unit 100 obtains an image of the vehicle's surroundings. Here, the image of the vehicle's surroundings includes a stop line. The sensor unit 100 may obtain the image of the vehicle's surroundings using at least one camera. The image of the vehicle's surroundings may include images of the front, rear, right, and left sides of the vehicle. In other words, the sensor unit 100 obtains images including the stop line in front, rear, right, and left sides of the vehicle. For example, the image of the vehicle's surroundings may be an image that combines images obtained from the front camera, rear camera, left camera, and right camera.

[0047] Figure 2 is a diagram showing default values of parking spaces and warning areas.

[0048] refer to Figure 2 , Figure 2 The upper diagram in FIG. 1 is a diagram illustrating a perpendicular parking situation. Figure 2 The lower figure in FIG. 1 is a diagram showing a diagonal parking situation.

[0049] Determination unit 110 determines the type of parking space 220 in which test vehicle 200 is parked. Here, types of parking space 220 include perpendicular parking and diagonal parking. Parking space 220 refers to a parking space for a single vehicle. Parking space 220 may include multiple parking lines. For example, parking space 220 may include four parking lines or three parking lines.

[0050] The shape of parking space 220 may be a quadrilateral. For example, the shape of parking space 220 may be a rectangle. As another example, the shape of parking space 220 may be a parallelogram. Alternatively, the shape of parking space 220 may be a polygon.

[0051] Determination unit 110 can determine the type of parking space 220 using the image obtained by sensor unit 100. To determine the parking lines, determination unit 110 can include a pre-trained artificial intelligence model. The pre-trained artificial intelligence model is an artificial intelligence model trained to determine the type of parking space 220 when receiving an image including parking lines. The pre-trained artificial intelligence model can receive the surrounding image of the vehicle obtained by sensor unit 100 and determine the type of parking space 220 in which the test vehicle is parked. Determination unit 110 uses the pre-trained artificial intelligence model to determine whether the type of parking space 220 is perpendicular parking or diagonal parking.

[0052] When parking space 220 is parallel parking, determination unit 110 calculates the parallel parking angle (e.g., parking direction). The parallel parking angle is calculated using images obtained by sensor unit 100. Determination unit 110 generates a virtual straight line connecting vertices of parking space 220 that do not touch other parking spaces 220. Determination unit 110 calculates the angle between the virtual straight line and the centerline of the vehicle. The centerline of the vehicle is a line passing through the front, rear, and center of the vehicle. Determination unit 110 determines the angle between the virtual straight line and the centerline of the vehicle as the parallel parking angle.

[0053] In other words, the determining unit 110 can determine the type and the angle of the parking space 220. The determining unit 110 transmits the type and the angle of the parking space 220 to the area setting unit 120.

[0054] The area setting unit 120 sets a warning area (also referred to as an area of interest) 210 based on the type of parking space 220 and the angle of parallel parking determined by the determination unit 110. The warning area 210 is an area where a warning needs to be issued when an object 230 (such as a vehicle, bicycle, motorcycle, or person) exists within the area. Figure 3A and Figure 3B The setting of the warning area 210 will be described.

[0055] Figure 3A is a diagram illustrating an exemplary warning area in the case of perpendicular parking.

[0056] refer to Figure 3A Warning area 210 includes an area within a specific vertical distance from test vehicle 200. For example, warning area 210 may include an area within a vertical distance of 3 meters from test vehicle 200 (e.g., the longitudinal distance relative to test vehicle 200). Here, the vertical distance is the distance from the center point of the rear bumper of test vehicle 200 in a direction perpendicular to the rear bumper.

[0057] If parking space 220 is a perpendicular parking space, and warning area 210 is too wide, the warning sound may sound too frequently, even when the likelihood of a collision is relatively low. Furthermore, since the RCCA function can include a braking function, repeated parking can cause inconvenience to the user. Specifically, if parking space 220 is a perpendicular parking space, warning area 210 needs to be narrowed (e.g., warning area 210 can be adjusted to reduce its size). If parking space 220 is a perpendicular parking space, area setting unit 120 can reduce the warning area by removing a portion 300 of warning area 210 to set a new warning area 210. For example, area setting unit 120 can set an area within a longitudinal distance of 3 meters from the vehicle as warning area 210.

[0058] Figure 3B is a diagram illustrating an exemplary warning area in the case of parallel parking.

[0059] refer to Figure 3B The area setting unit 120 receives the angle 320 for the parallel parking type from the determining unit 110. The area setting unit 120 sets the warning area 210 using the angle 320 for the parallel parking type.

[0060] The region setting unit 120 sets reference points 330, 340, 350, and 360 of the warning region 210 using the coordinate system to set the warning region 210. The region setting unit 120 may set the region within a straight line connecting the reference points as the warning region 210.

[0061] If the parking is not perpendicular or diagonal, the warning area 210 may include an area within 6 m from the vehicle. That is, the default value of the warning area 210 may be an area within 6 m from the rear of the vehicle.

[0062] Hereinafter, a detailed process of the area setting unit 120 setting the warning area 210 using the parallel parking angle 320 will be described.

[0063] Region setting unit 120 sets the end of the rear bumper of test vehicle 200 as origin 310. Here, the end of the rear bumper of test vehicle 200 refers to the rightmost or leftmost side of the rear bumper of test vehicle 200. Region setting unit 120 sets origin 310 based on the direction in which test vehicle 200 is parked. For example, when test vehicle 200 is parked facing right based on the front of the vehicle, origin 310 is set at the rightmost side of the vehicle's rear bumper. On the other hand, when the vehicle is parked facing left, origin 310 is set at the leftmost side of the vehicle's rear bumper.

[0064] The region setting unit 120 sets a vehicle coordinate system. The vehicle coordinate system is a coordinate system whose axes are the longitudinal direction and the lateral direction of the test vehicle. The origin of the vehicle coordinate system is the origin 310 set by the region setting unit 120. For example, the vehicle coordinate system can be a polar coordinate system.

[0065] The area setting unit 120 sets reference points 330, 340, 350, and 360 of the warning area 210. The area setting unit 120 may set the reference points 330, 340, 350, and 360 in the vehicle coordinate system. Some of the reference points 330, 340, 350, and 360 may be set using the distance from the origin 310 and the parallel parking angle 320. Some of the reference points 330, 340, 350, and 360 may be spaced apart from the origin 310 by a specific predetermined distance R. For example, some of the reference points 330, 340, 350, and 360 may be as far as 20 meters from the origin 310.

[0066] The positions of the reference points 330, 340, 350, and 360 are set based on the diagonal parking angle 320. Some of the reference points 330, 340, 350, and 360 may be located on a virtual line parallel to the virtual straight line used to determine the diagonal parking angle 320. For example, when the diagonal parking angle 320 is θ, some of the reference points 330, 340, 350, and 360 have angles of θ-0.5π and 0.5π+θ based on the transverse axis of the test vehicle.

[0067] The area setting unit 120 may set four reference points 330, 340, 350, and 360. The first reference point 330 is located at the upper left corner. The second reference point 340 to the fourth reference point 360 are located clockwise relative to the first reference point 330.

[0068] The straight line connecting the first reference point 330 and the second reference point 340 is parallel to the virtual straight line used to determine the parallel parking angle 320. The straight line connecting the third reference point 350 and the fourth reference point 360 is parallel to the straight line connecting the first reference point 330 and the second reference point 340.

[0069] Third reference point 350 may be located a predetermined distance L away from second reference point 340. Fourth reference point 360 may be located a predetermined distance L away from first reference point 330. For example, third reference point 350 may be located at a distance of up to 3 meters from second reference point 340. Fourth reference point 360 may be located at a distance of up to 3 meters from first reference point 330. The distance between second reference point 340 and third reference point 350 may be the same as the distance between fourth reference point 360 and first reference point 330.

[0070] The angle formed by the first reference point 330 to the third reference point 350 may be 90 degrees. The angle formed by the second reference point 340 to the fourth reference point 360 may be 90 degrees. The angle formed by the first reference point 330, the third reference point 350, and the fourth reference point 360 may be 90 degrees.

[0071] The region setting unit 120 sets the region within the line connecting the reference points 330, 340, 350, and 360 as the warning region 210. The region setting unit 120 may set the region within the line connecting the first reference point 330 to the fourth reference point 360 as the warning region 210.

[0072] When a moving object 230 exists within the warning area 210 , the test vehicle may perform braking control. In addition, when a moving object 230 exists within the warning area 210 , the test vehicle may provide a warning to the driver using one or more of visual, auditory, and tactile equipment.

[0073] Although the foregoing description includes specific numerical values, these numerical values are merely examples for the description and the present disclosure is not necessarily limited to the above numerical values.

[0074] Figure 4 is a flowchart illustrating a method for setting a warning area.

[0075] refer to Figure 4 The sensor unit 100 obtains an image of the surroundings of the vehicle (S400). The image of the surroundings of the vehicle includes images of the front, rear, left, and right sides of the vehicle. The sensor unit 100 transmits the obtained image of the surroundings of the vehicle to the determination unit 110.

[0076] Determination unit 110 receives an image of the vehicle's surroundings from sensor unit 100. Using the image of the vehicle's surroundings, determination unit 110 determines the type of parking space 220 (S410). For example, types of parking space 220 include perpendicular parking and diagonal parking. Determination unit 110 may determine the type of parking space 220 using a pre-trained artificial intelligence model.

[0077] If the parking space 220 is a diagonal parking space, the determination unit 110 calculates a diagonal parking angle (S420). The diagonal parking angle indicates the angle between the diagonally parked vehicle and the direction of vehicular traffic. The determination unit 110 generates a virtual straight line connecting the vertices of the parking lines that do not touch other parking lines. The determination unit 110 calculates the diagonal parking angle between the virtual straight line and the centerline of the vehicle.

[0078] The area setting unit 120 sets the warning area 210. If the parking space 220 is parallel parking, the area setting unit 120 sets the warning area 210 using the parallel parking angle (S430). The area setting unit 120 sets the vehicle coordinate system as a virtual polar coordinate system and sets reference points 330, 340, 350, and 360 using the distance from the origin and the parallel parking angle. The area setting unit 120 sets the area within the line connecting the reference points 330, 340, 350, and 360 as the warning area 210.

[0079] If the type of the parking space 220 is not parallel parking, the determination unit 110 determines whether the type of the parking space 220 is perpendicular parking ( S440 ).

[0080] If the parking space 220 is perpendicular parking, the area setting unit 120 reduces the warning area 210 ( S450 ). For example, the area setting unit 120 may reduce the warning area 210 from 6 meters behind the test vehicle to 3 meters behind the test vehicle.

[0081] If the parking space 220 is not a perpendicular parking space, the area setting unit 120 maintains the existing warning area 210. That is, the size of the warning area 210 is set to a default value (S460). The warning area 210 may be an area within 6 meters from the rear of the test vehicle.

[0082] Each element of the apparatus or method according to the present disclosure may be implemented in hardware or software or a combination of hardware and software. The functions of each element may be implemented in software, and a microprocessor may be implemented to execute the software functions corresponding to each element.

[0083] Various example implementations of the systems and techniques described herein can be implemented using digital electronic circuitry, integrated circuits, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. Various example implementations can include embodiments utilizing one or more computer programs executable on a programmable system. The programmable system includes at least one programmable processor, which can be a special-purpose processor or a general-purpose processor, coupled to receive data and instructions from a storage system and transmit data and instructions to the storage system, at least one input device, and at least one output device. A computer program (also referred to as a program, software, software application, or code) includes instructions for the programmable processor and is stored on a "computer-readable recording medium."

[0084] Computer-readable recording media may include any type of storage device capable of storing computer-readable data. Computer-readable recording media may be non-volatile or non-transitory media, such as read-only memory (ROM), compact disc ROM (CD-ROM), magnetic tape, floppy disk, memory card, hard disk, or optical data storage device. Furthermore, computer-readable recording media may also include transient media such as data transmission media. Furthermore, computer-readable recording media may be distributed across computer systems connected via a network, and computer-readable program code may be stored and executed in a distributed manner.

[0085] Although the operations are shown as being performed sequentially in the flowcharts / sequence diagrams in this specification, this is merely an exemplary description of the technical concept of an exemplary embodiment of the present disclosure. In other words, those skilled in the art to which an embodiment of the present disclosure pertains will recognize that various modifications and changes can be made without departing from the basic features of the embodiments of the present disclosure, i.e., the order shown in the flowcharts / sequence diagrams can be changed and one or more of the operations can be performed in parallel. Therefore, the flowcharts / sequence diagrams are not limited to time sequences.

[0086] The present disclosure provides a rear crossing traffic collision avoidance assist device, which includes: a memory having instructions stored therein; and at least one processor, wherein the at least one processor is configured to, by executing the instructions: obtain a surrounding image of a vehicle; determine a type of a parking space using the surrounding image of the vehicle; and, based on the type of the parking space, set a warning area by changing at least one of a size and an angle of the warning area according to a default value.

[0087] The present disclosure provides an operating method of a rear crossing traffic collision avoidance assist device, the method comprising: obtaining a surrounding image of a vehicle; determining a type of a parking space using the surrounding image of the vehicle; and setting a warning area by changing at least one of a size and an angle of the warning area according to a default value based on the type of the parking space.

[0088] The size and angle of the warning zone can be optimized by identifying the type of parking space and calculating the angle.

[0089] Although the example embodiments of the present disclosure have been described for illustrative purposes, those skilled in the art will recognize that various modifications, additions, and substitutions are possible without departing from the concept and scope of the present disclosure. Therefore, for the sake of brevity and clarity, the example embodiments of the present disclosure have been described. The scope of the technical concept of the present disclosure is not limited by the figures. Therefore, those skilled in the art will understand that the scope of the present disclosure is not limited to the example embodiments explicitly described above, but is limited by the claims and their equivalents.

Claims

1. A device for rear crossing traffic collision avoidance assistance, the device comprising: at least one sensor; a memory for storing instructions; as well as at least one processor configured to, by executing the instructions, cause the apparatus to: obtaining, via the at least one sensor, one or more images of a parking area associated with the vehicle; determining a type of parking space in the parking area based on the one or more images; adjusting the region of interest within the parking area by adjusting at least one of a size of the region of interest or an angle of the region of interest based on a default value based on the type of the parking space; and Operation of the vehicle is controlled based on the adjusted region of interest.

2. The device according to claim 1, wherein The type of the parking space includes at least one of a parking space for perpendicular parking or a parking space for diagonal parking.

3. The device according to claim 2, wherein The at least one processor is configured to cause the apparatus to adjust the region of interest by: Based on the type of the parking space being the parking space for perpendicular parking, the longitudinal distance between the region of interest and the vehicle is adjusted to be smaller than the default value.

4. The device according to claim 2, wherein The at least one processor is configured to cause the apparatus to adjust the region of interest by: Based on the type of the parking space being the parking space for angle parking, an angle parking angle is determined.

5. The device according to claim 4, wherein The at least one processor is configured to cause the apparatus to further adjust the region of interest by: At least one of a size of the region of interest or an angle of the region of interest is changed based on the parallel parking angle.

6. The device according to claim 5, wherein The at least one processor is configured to cause the apparatus to further adjust the region of interest by: determining a vehicle coordinate system having axes corresponding to a longitudinal direction and a lateral direction of the vehicle, respectively; determining a plurality of reference points in the vehicle coordinate system based on the diagonal parking angle; and The region of interest is adjusted based on a line connecting the plurality of reference points.

7. The device according to claim 1, wherein The at least one processor is configured to cause the apparatus to control operation of the vehicle by: A determination is made as to whether an object exists within the region of interest.

8. The device according to claim 7, wherein The at least one processor is configured to cause the apparatus to control operation of the vehicle by: Based on the presence of the object within the region of interest, a warning message is generated.

9. The device according to claim 2, wherein The at least one processor is configured to cause the apparatus to adjust the region of interest by: Based on the fact that the type of the parking space is not the parking space for perpendicular parking or the parking space for diagonal parking, the region of interest is determined using the default value.

10. A method performed by a vehicle, the method comprising: obtaining, via at least one sensor, one or more images of a parking area associated with the vehicle; determining a type of parking space in the parking area based on the one or more images; adjusting the region of interest within the parking area by adjusting at least one of a size of the region of interest or an angle of the region of interest based on a default value based on the type of the parking space; and Operation of the vehicle is controlled based on the adjusted region of interest.

11. The method according to claim 10, wherein: The type of the parking space includes at least one of a parking space for perpendicular parking or a parking space for diagonal parking.

12. The method according to claim 11, wherein Adjusting the region of interest includes: Based on the type of the parking space being the parking space for perpendicular parking, the longitudinal distance between the region of interest and the vehicle is adjusted to be smaller than the default value.

13. The method according to claim 11, wherein Adjusting the region of interest includes: Based on the type of the parking space being the parking space for angle parking, an angle parking angle is determined.

14. The method according to claim 13, wherein Adjusting the region of interest includes: At least one of a size of the region of interest or an angle of the region of interest is changed based on the parallel parking angle.

15. The method according to claim 14, wherein Adjusting the region of interest includes: determining a vehicle coordinate system having axes corresponding to a longitudinal direction and a lateral direction of the vehicle, respectively; determining a plurality of reference points in the vehicle coordinate system based on the diagonal parking angle; and The region of interest is adjusted based on a line connecting the plurality of reference points.

16. The method according to claim 10, wherein Controlling the vehicle operation includes: A determination is made as to whether an object exists within the region of interest.

17. The method according to claim 16, wherein Controlling the vehicle operation includes: Based on the presence of the object within the region of interest, a warning message is generated.

18. The method according to claim 11, wherein Adjusting the region of interest includes: Based on the fact that the type of the parking space is not the parking space for perpendicular parking or the parking space for diagonal parking, the region of interest is determined according to the default value.

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