Parking control system and control methods thereof

Abstract

Parking control system (1) with: a parking mode selection unit (10) which supports a first-stage selection and a second-stage selection, wherein a mode is a right perpendicular parking mode, a left perpendicular parking mode, a right parallel parking mode and a left parallel parking mode is selectable in the first stage selection, and a forward parking mode or a reverse parking mode is selectable in the second stage selection in cases where the right or left perpendicular parking mode has been selected in the first stage selection; a sensor unit (15) comprising a plurality of sensors attached to one or more of the front, rear and sides of a vehicle; a parking space search unit (20) that searches for a parking space based on a value detected by the sensor unit (15); a path definition unit (25) that defines a parking path along which the vehicle is parked in the parking space detected by the parking space search unit (20), according to the parking mode selected by the parking mode selection unit (10); and a parking controller (30) that controls the vehicle to move along the parking path defined by the path definition unit (25); wherein the parking space search unit (20) searches for the parking space when the speed of the vehicle is reduced to a predetermined speed or less.

Description

BACKGROUND OF THE INVENTION 1. Field of the invention

[0001] The present invention relates to a parking control system and a control method thereof, and in particular to a parking control system and a control method thereof, which can reduce the number of times a driver presses a button to select a desired parking mode and can prevent an excessive increase in the number of button presses, even if the driver accidentally misses the desired parking mode. 2. Description of the state of the art

[0002] Since vehicles are now considered essential for people, their number is increasing considerably, leading to serious parking problems. Parking spaces may be reduced in limited areas, cities, and countries as the number of vehicles grows, and to address the parking shortage, individual parking spaces for a single vehicle become increasingly narrow.

[0003] Furthermore, in cases where many vehicles are parked together in a parking lot without marked parking spaces, the space between vehicles can be narrow. In this case, it is difficult for a driver to park their vehicle in the tight space or to maneuver it out of the tight space manually while visually identifying obstacles around the vehicle. Accordingly, parking assistance systems have recently been developed and integrated into vehicles to assist with parking by automatically steering the vehicles while they are being parked.

[0004] Parking control systems provide various parking modes depending on the layout and position of a parking space, the parking direction, and other factors. These systems generally offer a perpendicular parking mode, a parallel parking mode, or a longitudinal parking mode, depending on whether the vehicle is to be parked in a space perpendicular to the roadway (perpendicular to the roadway) or parallel to it (longitudinally). Furthermore, they provide a right-hand parking mode or a left-hand parking mode, depending on whether the parking space is on the right or left side of the vehicle. Within the perpendicular parking mode, they also offer a reverse parking mode or a forward parking mode, depending on whether the vehicle is to be parked in a reverse or forward parking space.

[0005] The various parking modes can be selected sequentially by the driver pressing a button. However, during the selection process, the driver may miss a desired mode if they make a mistake while pressing the button. In this case, the driver must press the button again from the beginning to select the desired mode. Furthermore, the parking mode selection button is likely to break due to excessive use.

[0006] DE 10 2011 122 616 A1 describes a method and a device for providing parking assistance in a vehicle. At least one parking space in the vicinity of the vehicle is detected, and the area around the vehicle, including the at least one parking space, is displayed graphically. At least two parking modes are provided, which differ in the parking method and / or the type of parking space, with the type of graphical representation of the area around the vehicle, including the at least one parking space, depending on the selected parking mode.

[0007] DE 10 2013 221 201 A1 describes a method for assisting a driver in parking a vehicle with the following steps: capturing environmental data using environmental sensors, generating an environmental map from the captured environmental data, generating control commands relating to the steering of the vehicle during parking, and / or selection commands relating to the control of a display on a touch-sensitive display, and displaying a generated environmental map on the touch-sensitive display.

[0008] US 2015 / 0 175 205 A1 describes a method for selecting an automatic parking mode of a vehicle, which is displayed on a human-machine interface in accordance with a received parking mode, perpendicular parking or parallel parking.

[0009] US 2013 / 0 144 492 A1 describes a parking mode selection device that selects a parking mode from several parking modes based on a steering wheel movement by the driver, wherein the several parking modes include at least perpendicular parking or parallel parking. OVERVIEW OF THE INVENTION

[0010] One aspect of the present invention is to provide a parking control system and a control method thereof that can reduce the number of times a driver presses a button to select a desired parking mode and that can prevent an excessive increase in the number of button presses, even if the driver accidentally misses the desired parking mode.

[0011] In accordance with the present invention, a parking control system with the features of claim 1 and a parking control method with the features of claim 10 are provided.

[0012] Advantageous further training opportunities arise from the dependent sub-requirements.

[0013] In accordance with the present invention, the selection of a parking mode is carried out in two stages, with one of four modes being selected in the first stage. This makes it possible to significantly reduce the number of times a driver has to press a parking mode selection button again if they miss a desired parking mode, compared to the prior art. Furthermore, the number of times the driver presses the parking mode selection button during the process of selecting a parallel parking mode is reduced by half compared to the prior art, allowing the driver to select the parallel parking mode more quickly and easily. Moreover, because the number of times the driver has to press the parking mode selection button is reduced in this way, the possibility of breaking the buttons that make up the parking mode selection button is also reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The above-mentioned and further tasks, features and advantages of the present invention will become more apparent from the following detailed description, which is given in conjunction with the accompanying drawings, wherein the drawings: Fig. 1 Screens illustrating selectable parking modes in a parking control system in accordance with the state of the art; Fig. 2 a block diagram of a parking control system in accordance with an embodiment of the present invention; Fig. Three screens illustrate parking modes that can be selected in the first stage of the parking control system in accordance with the embodiment of the present invention; Fig. 4 screens illustrated, representing parking modes that can be selected in the second stage in the parking control system in accordance with the embodiment of the present invention; Fig. Figure 5 is an exemplary diagram illustrating the process of searching for a parking space by a parking space search unit. Fig. 2 illustrated; Fig. Figure 6 is an exemplary diagram illustrating a parking path of a right-hand forward perpendicular parking mode; Fig. Figure 7 is an exemplary diagram illustrating a parking path of a right-hand reverse perpendicular parking mode; Fig. 8 is a flowchart illustrating a process in which a parking mode is selected and parking control is performed by the parking control system in accordance with the embodiment of the present invention; Fig. 9 is an exemplary diagram illustrating a process in which a vehicle is parked in accordance with another embodiment of the present invention; Fig. 10 screens illustrated, which are displayed on a display device during the parking process of Fig. 9 will be displayed; Fig. 11 is a flowchart illustrating a process in which a parking mode is selected and parking control is performed by a parking control system in accordance with another embodiment of the present invention; and Fig. Figure 12 illustrates screens that are displayed on a display device of a vehicle in accordance with yet another embodiment of the present invention. DETAILED DESCRIPTION OF THE EXEMPLARY EXECUTION FORMS

[0015] In the following, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same components or parts will be designated by the same reference numerals, even though they are shown in different drawings. Furthermore, a detailed description of known functions and configurations integrated herein will be omitted from the following description of the present invention if this would obscure the subject matter of the present invention.

[0016] Furthermore, terms such as "first," "second," "A," "B," "(a)," "(b)," or the like may be used when describing components or parts of the present invention. These terms are used solely to distinguish one structural element from other structural elements, and no property, order, sequence, or the like of a corresponding structural element is restricted by this term. It should be noted that when the patent specification describes a component or part as being "connected," "coupled," or "joined" to another component or part, a third component or part may be "connected," "coupled," or "joined" between the first and second components or parts, even though the first component or part is not directly connected to the first.the first component can be directly connected, coupled or joined to the second component.

[0017] Fig. Figure 1 illustrates screens that display selectable parking modes in a parking control system in accordance with the state of the art.

[0018] As in Fig. As illustrated in Figures 1 (a) to (f), the parking control system can provide six parking modes, including a right reverse perpendicular parking mode (a), a left reverse perpendicular parking mode (b), a right forward perpendicular parking mode (c), a left forward perpendicular parking mode (d), a right parallel parking mode (e) and a left parallel parking mode (f).

[0019] To use such a parking control system, a driver must select one of the six parking modes using a parking mode selection button. Each time the driver presses the parking mode selection button, the following modes are selected sequentially: right reverse perpendicular parking mode (a), left reverse perpendicular parking mode (b), right forward perpendicular parking mode (c), left forward perpendicular parking mode (d), right parallel parking mode (e), and left parallel parking mode (f).

[0020] Accordingly, the driver must press the parking mode selection button five times to select the right parallel parking mode (e) and six times to select the left parallel parking mode (f). This means the driver must awkwardly press the parking mode selection button multiple times to choose a parking mode. Furthermore, if the driver accidentally misses a desired parking mode while pressing the button, they must press it approximately six more times to select the desired mode. Therefore, the driver must awkwardly press the parking mode selection button an excessive number of times to select a parking mode. Additionally, with frequent use, the parking mode selection button is more likely to break.

[0021] Fig. Figure 2 is a block diagram of a parking control system in accordance with an embodiment of the present invention.

[0022] With reference to Fig. 2. The parking control system 1 can support automatic parking control in accordance with both a perpendicular parking mode and a parallel parking mode, and it can allow a driver to select a parking mode in two stages, thereby simplifying the selection process for the parking mode.

[0023] The parking control system 1, as it is in Fig. As illustrated in Figure 2, the vehicle may have a parking mode selection unit 10 for selecting a parking mode in two stages, a sensor unit 15 which has sensors attached to the front, rear and sides of a vehicle, a parking space search unit 20 for searching for a parking space according to the detection result of the sensor unit, a path definition unit 25 which defines a parking path for parking the vehicle in the detected parking space, and a parking controller 30 for controlling the vehicle to move along the parking path.

[0024] The parking mode selection unit 10 can be used by the driver to select one of a variety of parking modes in two stages, and it may consist of one or more selection buttons. Parking modes selectable by the selection buttons are generally categorized into a perpendicular parking mode and a parallel parking mode, and descriptions of these are given below.

[0025] The perpendicular parking mode can be divided into right-hand and left-hand perpendicular parking modes, depending on whether the vehicle is to be parked in a right-hand or left-hand parking space. The right-hand perpendicular parking mode can be further divided into right-hand forward perpendicular parking modes and right-hand reverse perpendicular parking modes, and the left-hand perpendicular parking mode can be divided into left-hand forward perpendicular parking modes and left-hand reverse perpendicular parking modes, depending on whether the vehicle is to be parked facing forward or backward.

[0026] Accordingly, the perpendicular parking mode can include a total of four parking modes, namely the right forward perpendicular parking mode, the left forward perpendicular parking mode, the right reverse perpendicular parking mode and the left reverse perpendicular parking mode.

[0027] The parallel parking mode can be divided into a right-hand parallel parking mode and a left-hand parallel parking mode, depending on whether the vehicle is to be parked in a right-hand or left-hand parking space. Since the vehicle is parked in the same direction as its forward movement in parallel parking mode, it is not necessary to consider whether the vehicle is to be parked forwards or backwards.

[0028] Accordingly, parking modes are generally categorized into perpendicular parking modes and parallel parking modes; perpendicular parking modes are further subdivided according to whether the vehicle is to be parked in the left or right parking space and whether the vehicle is to be parked in the forward or reverse direction, and parallel parking modes are further subdivided according to whether the vehicle is to be parked in the left or right parking space. As a result, all parking modes comprise a total of six parking modes: right forward perpendicular parking mode, left forward perpendicular parking mode, right reverse perpendicular parking mode, left reverse perpendicular parking mode, right parallel parking mode, and left parallel parking mode.

[0029] Each of the six parking modes can be selected in two stages using the parking mode selection unit 10. In the first stage, perpendicular or parallel parking, which is a parking procedure, and left or right parking, which is linked to a parking position, are selected; in the second stage, forward or reverse parking is selected in cases where perpendicular parking was selected in the first stage.

[0030] Accordingly, a parking mode that can be selected in the first stage includes a right perpendicular parking mode, a left perpendicular parking mode, a right parallel parking mode, and a left parallel parking mode, as described in Fig. Figure 3 illustrates this. Here, since the parallel parking mode only includes the right and left parallel parking modes, a selection in the first stage is completed in cases where the parallel parking mode is selected.

[0031] In contrast, when the perpendicular parking mode is selected, forward or reverse parking must be selected again in the second stage. Depending on the selection of the parking mode selection unit 10, a screen is displayed on a human-machine interface (HMI) or on a display panel or screen, as shown in Fig. Figure 4 illustrates how to guide the driver to select either the forward parking mode or the reverse parking mode.

[0032] In cases where the right-side cross-parking mode is selected in the first stage and the forward-side parking mode is selected in the second stage, the same control is performed as if the right-side forward cross-parking mode is selected from six modes, as described above.

[0033] Similarly, in cases where the right-side perpendicular parking mode is selected in the first stage and the reverse parking mode is selected in the second stage, the same control is performed as when the right-side reverse perpendicular parking mode is selected.

[0034] Furthermore, in cases where the left perpendicular parking mode is selected in the first stage and the forward parking mode is selected in the second stage, the same control is performed as when the left forward perpendicular parking mode is selected.

[0035] Finally, in cases where the left perpendicular parking mode is selected in the first stage and the reverse parking mode is selected in the second stage, the same control is performed as when the left reverse perpendicular parking mode is selected.

[0036] The parking mode selection unit 10 can be configured with a system on / off button (not illustrated) for turning the automatic parking control system 1 on / off and with a parking mode selection button (not illustrated) for selecting a parking mode. When the driver turns on the parking control system 1 by pressing the system on / off button, the driver can select one of a variety of parking modes using the parking mode selection button.

[0037] Each time the parking mode selection button is pressed, the parking modes available in the first stage can be displayed sequentially on the instrument panel or MMS. Accordingly, when the parking mode selection button is pressed, the right perpendicular parking mode, the left perpendicular parking mode, the right parallel parking mode, and the left parallel parking mode are displayed sequentially. At this point, if the system power button is pressed, the right perpendicular parking mode, which is the first parking mode, can be displayed as a default mode on the instrument panel or MMS.

[0038] If the driver presses the parking mode selection button for a long time or waits a specified time while a desired parking mode is displayed, the corresponding parking mode can be selected.

[0039] For example, if the parking mode selection button is pressed once, the left perpendicular parking mode is displayed, and if the driver presses the parking mode selection button for a long time or waits in this state for about two to three seconds, the left perpendicular parking mode is selected.

[0040] Meanwhile, in cases where the right or left parallel parking mode is selected in the first stage, the parking control can be initiated after a parking space has been detected by the parking space search unit 20.

[0041] In contrast, in cases where the right or left perpendicular parking mode is selected in the first stage, the parking control can be initiated after a parking space is detected by the parking space search unit 20 and either forward parking or reverse parking is selected in the second stage.

[0042] When a parking space has been fully detected, a screen will appear on the display panel or MMS to guide the driver to select either the forward parking mode or the reverse parking mode, and the driver can press the parking mode selection button to choose a desired parking mode from the forward parking mode and the reverse parking mode.

[0043] If a large number of parking mode selection buttons are provided, one button can be used to cycle through the parking modes, and another button can be used to select a displayed parking mode.

[0044] For example, each time a button is pressed, the right perpendicular parking mode, the left perpendicular parking mode, the right parallel parking mode and the left parallel parking mode can be displayed sequentially, and if the other button is pressed while the left parallel parking mode is displayed, the left parallel parking mode can be selected.

[0045] In cases where a parking mode is selected in two stages, as described above, the driver selects one of four modes in the first stage. Accordingly, if the driver accidentally misses the desired parking mode, they can select it by pressing the parking mode selection unit 10 four times. Therefore, the number of times the driver needs to press the parking mode selection unit 10 to select a parking mode is reduced compared to previous systems, thus easing the driver's workload.

[0046] Furthermore, in the case of parallel parking mode, the right parallel parking mode is positioned third in the first stage, and the left parallel parking mode is positioned fourth in the first stage. Accordingly, selecting a parking mode requires pressing the parking mode selection unit 10 only three or four times in the first stage. Therefore, the number of times the driver presses the parking mode selection unit 10 during the parallel parking mode selection process is reduced by half (2) compared to the prior art, allowing the driver to select the parallel parking mode more quickly, easily, and conveniently.

[0047] The sensor unit 15 can have a front sensor, a rear sensor and side sensors, each mounted at the front, rear and left and right sides of the vehicle, and each sensor can be an optical sensor using infrared beams, an ultrasonic sensor for oscillating and detecting ultrasonic waves or a laser sensor using lasers.

[0048] While the vehicle is driving, each sensor of the sensor unit 15 can be used for maintaining a distance between vehicles, keeping and detecting a traffic lane, detecting another vehicle in an adjacent traffic lane, and the like; and while the vehicle is being parked, the sensor can be used to detect the width of a parking space during the discovery of the parking space or to identify whether there is an obstacle in front of or behind the vehicle.

[0049] The parking space search unit 20 identifies a parking space using values ​​acquired by the sensor unit 15 and determines whether parking is possible when the driver selects the parking mode in the first stage using the parking mode selection unit 10. At this point, the vehicle is driven autonomously by the parking controller 30, and the parking space search unit 20 identifies the parking space using a value acquired by the side sensor, as shown in Fig. 5 is illustrated.

[0050] In cases where a right perpendicular parking mode or a right parallel parking mode is selected when choosing the parking mode in the first stage, the parking space search unit 20 identifies a parking space using a value detected by the side sensor located on the right side of the vehicle, and in cases where a left perpendicular parking mode or a left parallel parking mode is selected when choosing the parking mode in the first stage, the parking space search unit 20 identifies a parking space using a value detected by the side sensor located on the left side of the vehicle.

[0051] At this point, the parking space search unit 20 can identify the width and depth of the parking space by operating the values ​​captured by the side sensors, and it can determine, based on the size of the identified parking space, whether perpendicular parking and / or parallel parking is possible.

[0052] This means that in cases where perpendicular parking is selected by the parking mode selection unit 10, for example, a right perpendicular parking mode or a left perpendicular parking mode, the parking space search unit 20 determines whether perpendicular parking is possible. In contrast, in cases where a right parallel parking mode or a left parallel parking mode is selected by the parking mode selection unit 10, the parking space search unit 20 determines whether parallel parking is possible.

[0053] The findings regarding whether parking is possible, generated by parking space search unit 20, can be displayed via MMS or the display board, or can be output as information through a loudspeaker.

[0054] The path-setting unit 25 can define a parking path according to a predefined parking control program once the selection of a parking mode and the detection of a parking space are complete. In cases where a right-hand parallel parking mode or a left-hand parallel parking mode is selected during the first stage of parking mode selection, the path-setting unit 25 defines a parking path shortly after a parking space has been fully detected.

[0055] In contrast, the path determination unit 25 can determine a parking path in cases where a right perpendicular parking mode or a left perpendicular parking mode has been selected when selecting the parking mode in the first stage, if a forward parking mode or a reverse parking mode is selected when selecting the parking mode in the second stage, after a parking space has been fully detected.

[0056] For example, in cases where a right-hand perpendicular parking mode is selected in the first stage of the parking mode selection and a forward parking mode is selected in the second stage, the path determination unit 25 can define a parking path as shown in Fig. Figure 6 illustrates a process that has four steps: the vehicle moves backward while passing the parking lot, moves forward towards the parking lot, moves backward towards the outside of the parking lot, and moves forward into the parking lot.

[0057] In another example, the path-setting unit 25 can, in cases where a right-hand perpendicular parking mode is selected when choosing the parking mode in the first stage and a reverse parking mode is selected in the second stage, define a parking path as shown in Fig. Figure 7 illustrates a process that has three steps in which the vehicle moves backwards to the vicinity of a parking space, moves forwards to the outside of the parking space, and moves backwards into the parking space.

[0058] The parking controller 30 performs the overall control for parking the vehicle. When the driver selects the parking mode in the first stage using the parking mode selection unit 10, the parking controller 30 provides the information acquired by the side sensors to the parking space search unit 20 while driving the vehicle forward.

[0059] When the parking space search unit 20 identifies a parking space and determines that parking is possible, the parking controller 30 displays the screen of Fig. 4. The display panel or MMS indicates to the driver that the system allows the driver to select the parking mode in the second stage if a right perpendicular parking mode or a left perpendicular parking mode was selected in the first stage. If the driver selects a forward parking mode or a reverse parking mode, the parking controller 30 activates the path setting unit 25 to define a parking path relevant to the corresponding parking mode.

[0060] In cases where a right parallel parking mode or a left parallel parking mode is selected when choosing the parking mode in the first stage, the parking controller 30 actuates the path setting unit 25 to define a parking path relevant to the corresponding parking mode when a parking space has been fully detected and it has been determined that parking is possible.

[0061] Once the parking path is fully defined, the parking controller 30 controls the vehicle to move along the parking path, and in cases where a gear shift operation is necessary during a parking control, the parking controller 30 informs the driver of the gear shift operation through the loudspeaker.

[0062] A process in accordance with an embodiment of the present invention, in which the parking control system 1 selects a parking mode and performs parking control, is described below with reference to Fig. 8 will be described.

[0063] A right perpendicular parking mode, a left perpendicular parking mode, a right parallel parking mode and a left parallel parking mode, which are the first stage parking modes, are displayed sequentially on the MMS or the display panel when a driver selects the parking mode selection unit 10 to use the parking control system 1.

[0064] When the driver selects one of the first-level parking modes (S800), the parking controller 30 activates the parking space search unit 20 and the sensor unit 15 and drives the vehicle autonomously to search for a parking space (S805).The parking space search unit 20 receives information acquired by the sensor unit 15 to search for a parking space during autonomous driving of the vehicle, wherein the parking space search unit 20 receives acquired information from the side sensor located on the right side of the vehicle in cases where the right perpendicular parking mode or the right parallel parking mode has been selected when selecting the parking mode in the first stage, and acquires acquired information from the side sensor located on the left side of the vehicle in cases where the left perpendicular parking mode or the left parallel parking mode has been selected when selecting the parking mode in the first stage.

[0065] If the parking space is detected according to the information provided by the side sensor, the parking space search unit 20 calculates the width and depth of the parking space. The parking space search unit 20 then determines whether parking is possible using the calculated width and depth of the parking space (S810). In this case, the parking space search unit 20 determines whether parking is possible by comparing the calculated width and depth of the parking space according to whether the perpendicular or parallel parking mode was selected in the first stage of the parking mode selection process.

[0066] When the parking space search unit 20 determines that parking is possible, the parking controller 30 determines whether the parking mode should be selected in the second stage, depending on whether the perpendicular parking mode or the parallel parking mode was selected in the first stage.

[0067] If it is determined that the right perpendicular parking mode or the left perpendicular parking mode has been selected in the first stage (S815-J), then the parking controller 30 guides the driver through the MMS, the display panel and / or the speaker to select either a forward parking mode or a reverse parking mode.

[0068] When the driver selects forward parking mode or reverse parking mode as the second-stage parking mode (S820), the parking controller 30 actuates the path setting unit 25 to set a parking path relevant to the selected parking mode (S825).

[0069] In contrast, in cases where the right parallel parking mode or the left parallel parking mode has been selected in the first stage, the selection of the parking mode in the second stage is not necessary, and therefore the parking controller 30 activates the path setting unit 25 to set a parking path according to the parallel parking mode when the parking space search unit 20 determines that parking is possible (S825).

[0070] Once the parking path has been fully defined, the parking controller 30 performs parking control while autonomously driving the vehicle along the parking path (S830). In this case, if a gear shift is required, the parking controller 30 prompts the driver via the loudspeaker to perform the gear change. When the vehicle enters the parking space and is fully parked, the parking controller 30 informs the driver that the vehicle is fully parked.

[0071] As described above, according to the parking control system 1 in the first embodiment of the present invention, the selection of a parking mode is carried out in two stages; in the first stage, one of the right and left transverse parking modes and the right and left parallel parking modes is selected, and in the second stage, either the forward parking mode or the reverse parking mode is selected only if the right or left transverse parking mode has been selected in the first stage.

[0072] Accordingly, one of four modes is selected in the first stage, thus reducing the number of times the driver has to press the parking mode selection unit 10 compared to the state of the art, where one of six existing modes is selected. Therefore, in cases where the driver misses a desired parking mode while pressing the parking mode selection unit 10, the number of times the driver has to press it again is comparatively reduced.

[0073] Furthermore, in cases where parallel parking mode is selected in the first stage, the selection of the parallel parking mode is completed by pressing the parking mode selection unit 10 only three or four times. Therefore, the number of times the driver presses the parking mode selection unit 10 to select the parallel parking mode is reduced by 2 compared to the previous technology, allowing the driver to select the parallel parking mode more quickly and easily.

[0074] Since this reduces the number of times the driver has to press the parking mode selection unit 10, the possibility of breaking the buttons that make up the parking mode selection unit 10 can be reduced.

[0075] The embodiment described above includes the parking space search unit 20 searching for a parking space after the mode selection in the first stage has been completed.

[0076] On the other hand, a parking mode can be selected after a parking space has been detected by the parking space search unit 20. Such an embodiment is described below with reference to Fig. 9 and Fig. 10 will be described.

[0077] Fig. Figure 9 is an exemplary diagram illustrating a process in which a vehicle is parked according to another embodiment of the present invention, and Fig. Figure 10 illustrates screens that are displayed on a display device during the parking process of Fig. 9 will be displayed.

[0078] The parking space search unit 20 can search for a parking space when the vehicle's speed is reduced to a predetermined speed or less. For example, if the vehicle's speed is reduced to a predetermined value or less when entering a parking space, the parking space search unit 20 can begin searching for a parking space (in step S910 of Fig. 9).

[0079] At this point, a screen indicating that the parking search unit 20 is currently searching for a parking space can be displayed on a display device (e.g., an MMS, a display panel, or a display field) integrated into the vehicle, as shown in Fig. 10 (a) is illustrated.

[0080] Meanwhile, the parking space search unit 20 searches for a parking space while a parking mode has not yet been selected, considering both parallel and perpendicular parking modes. For example, the parking space search unit 20 determines whether the values ​​detected by sensor unit 15 correspond to a parallel parking space as well as a perpendicular or right-angled parking space. More precisely, the parking space search unit 20 identifies a parking space using values ​​detected by the vehicle's side sensors. In this case, the parking space search unit 20 determines whether the width and depth of the identified parking space correspond to a parallel or perpendicular parking space.

[0081] In another aspect, the parking space search unit 20 can determine a parking mode in which the vehicle can be parked in the detected parking space. For example, the parking space search unit 20 can search for a parking space using the values ​​acquired by the sensor unit 15 and can determine a parking mode in which the vehicle can be parked in such a parking space.

[0082] If the parking space search unit 20 discovers a parking space through such a process (in step S920 of Fig. 9) The discovered parking space can be displayed on the display device.

[0083] The parking mode that corresponds to the detected parking space is displayed in Fig. 10 (b) is displayed. The parking mode determined by the parking space search unit 20 can be displayed on the display device as shown in Fig. 10 (b) is illustrated.

[0084] In the meantime, selectable parking modes can be displayed sequentially on the display device as above, with reference to Fig. 3 described above. However, if the parking search unit 20 determines the parking mode in which the vehicle can be parked in the detected parking space, as described above, the parking mode determined by the parking search unit 20 can be displayed on the display device regardless of the order in which the selectable parking modes are displayed.

[0085] For example, in cases where the display order of the selectable parking modes has been determined as it is in Fig. As illustrated in Figure 3 (in the sequence of right perpendicular parking mode, left perpendicular parking mode, right parallel parking mode, and left parallel parking mode), the right perpendicular parking mode can be displayed first on the selection screen in the first stage. However, the left perpendicular parking mode is displayed first in the above embodiment, as shown in Figure 3. Fig. 10 (b) is illustrated.

[0086] In this case, a driver or user can sequentially change the displayed parking modes by pressing a selection button. For example, the user can, although the left perpendicular parking mode in the example of Fig. 10 (b) is displayed first, press the selection button to initiate the next parking mode (the right parallel parking mode in Fig. 3) is displayed. In other words, although the parking mode determined by the parking space search unit 20 is displayed first, the subsequent display sequence may correspond to a predetermined order.

[0087] In cases where the parking mode determined by the parking search unit 20 is initially displayed in this way, the driver or user can select the desired parking mode in the first stage by making a single selection without changing the display of selectable parking modes.

[0088] Meanwhile, once the first-stage selection of the parking mode in the perpendicular parking mode is complete, a second-stage selection screen for selecting a forward parking mode or a reverse parking mode may appear on the display device.

[0089] The second-stage selection screen can also be displayed in the predetermined order. The embodiment in which the forward parking mode and the reverse parking mode are displayed on a single screen, and one of these is selected, is described above with reference to Fig. This has been described in section 4. However, selection screens for forward parking mode and reverse parking mode can also be displayed individually. For example, the selection screen for forward parking mode can be displayed first, and the selection screen for reverse parking mode can be displayed next.

[0090] With reference to Fig. 10 (c) The selection screen for the forward parking mode is initially displayed as a second-level selection screen. In this case, the driver or user can change the display screen to the selection screen for the reverse parking mode by pressing the selection button, and can then select the appropriate parking mode.

[0091] Once the parking space has been detected, the vehicle can continue driving to move to the position where parking control is possible, or to search for another parking space.

[0092] When the vehicle moves to the position where parking control is possible (S930 from Fig. 9) A screen indicating that parking control is possible may be displayed on the display device, as shown in Fig. 10 (d) is illustrated.

[0093] Fig. Figure 11 is a flowchart illustrating a process in which a parking mode is selected and parking control is performed by a parking control system in accordance with another embodiment of the present invention.

[0094] With reference to Fig. 11. When a vehicle's speed is reduced to a predetermined speed or less, a parking space search unit 20 can begin searching for a parking space (S1100). At this point, the vehicle can be driven by a driver or autonomously.

[0095] The parking space search unit 20 searches for both perpendicular and parallel parking spaces. Furthermore, the parking space search unit 20 can search for both left-hand and right-hand parking spaces. The parking space search unit 20 can search for the left-hand parking space using information gathered from a left-hand sensor and for the right-hand parking space using information gathered from a right-hand sensor.

[0096] When a parking space is detected, the parking space search unit 20 can determine a parking mode in which the vehicle can be parked in that space. For example, the parking space search unit 20 can determine the parking mode in which the vehicle can be parked in that space based on the width, depth, and direction of the parking space.

[0097] Once the parking space has been detected, selectable parking modes can be displayed sequentially by a parking mode selection unit 10.

[0098] In this case, the display sequence of the parking modes can be predetermined. However, the parking mode that is displayed first according to the corresponding display sequence can be a parking mode with which the parking space search unit 20 determines that the vehicle can be parked in the corresponding parking space.

[0099] For example, a right perpendicular parking mode, a left perpendicular parking mode, a right parallel parking mode, and a left parallel parking mode can be displayed sequentially on a display device in the first stage. However, in cases where the parking mode determined by the parking space search unit 20 is a left perpendicular parking mode, the parking modes can be displayed on the display device in the following order: left perpendicular parking mode, right parallel parking mode, left parallel parking mode, and right perpendicular parking mode.

[0100] When the driver selects one of the first-stage parking modes (S1105), the parking space search unit 20 determines whether the vehicle can be parked in the detected parking space using the selected parking mode (S110). The parking space search unit 20 calculates the width and depth of the parking space and determines whether the vehicle can be parked in the corresponding parking space by using the calculated width and depth. In this case, the parking space search unit 20 can determine whether the vehicle can be parked by comparing the calculated width and depth of the parking space according to whether the perpendicular or parallel parking mode was selected when choosing the first-stage parking mode.

[0101] When the parking space search unit 20 determines that the vehicle can be parked (S1110-J), a parking controller 30 determines whether the parking mode should be selected in the second stage, depending on whether the perpendicular parking mode or the parallel parking mode was selected in the first stage (S1115).

[0102] If the right perpendicular parking mode or the left perpendicular parking mode has been selected in the first stage (S1115-J), the parking controller 30 guides the driver through an MMS, a display panel and / or a speaker to select either a forward parking mode or a reverse parking mode.

[0103] When the driver selects forward parking mode or reverse parking mode as the second-stage parking mode (S1120), the parking controller 30 actuates a path setting unit 25 to set a parking path relevant to the selected parking mode (S1125).

[0104] In contrast, in cases where the right parallel parking mode or the left parallel parking mode has been selected in the first stage, the selection of the parking mode in the second stage is unnecessary, and therefore the parking controller 30 activates the path setting unit 25 to set a parking path corresponding to the parallel parking mode when the parking space search unit 20 determines that the vehicle can be parked (S1125).

[0105] Once the parking path has been fully defined, the parking controller 30 performs parking control while autonomously driving the vehicle along the parking path (S1130). In this case, if a gear change is required, the parking controller 30 prompts the driver via the loudspeaker to perform the gear change. When the vehicle enters the parking space and is fully parked, the parking controller 30 informs the driver that the vehicle is fully parked.

[0106] Although the embodiment in which the parking modes are displayed sequentially has been described above, the parking modes can be displayed simultaneously on a single screen of the display device at each stage.

[0107] Fig. Figure 12 illustrates screens displayed on a vehicle display device in accordance with yet another embodiment of the present invention.

[0108] With reference to Fig. 12 are four first-stage parking modes, which in the embodiment of Fig. 3. sequentially displayed, simultaneously displayed on a single screen. When a selection in the first stage is completed, parking modes of the second stage can be displayed simultaneously on a single screen of a display device, such as the screen shown in Fig. 4 is illustrated.

[0109] A parking mode selection unit 10 can support first-stage and second-stage selection in such a way that a parking mode is selected according to a user control input (e.g., a touch control input) on the display device.

[0110] Although the embodiments of the present invention have been described for illustrative purposes, it will be clear to those skilled in the art that various modifications, additions, and substitutions are possible without altering the scope of protection and the inventive concept of the invention. Therefore, exemplary aspects of the present disclosure have been described without limitation. The scope of protection of the present invention shall be interpreted on the basis of the accompanying claims in such a way that all technical ideas contained within the scope of protection and equivalent to the claims belong to the present invention.

Claims

[1] Parking control system (1) with: a parking mode selection unit (10) which supports a first-stage selection and a second-stage selection, wherein a mode is a right perpendicular parking mode, a left perpendicular parking mode, a right parallel parking mode and a left parallel parking mode is selectable in the first stage selection, and a forward parking mode or a reverse parking mode is selectable in the second stage selection in cases where the right or left perpendicular parking mode has been selected in the first stage selection; a sensor unit (15) comprising a plurality of sensors attached to one or more of the front, rear and sides of a vehicle; a parking space search unit (20) that searches for a parking space based on a value detected by the sensor unit (15); a path definition unit (25) that defines a parking path along which the vehicle is parked in the parking space detected by the parking space search unit (20), according to the parking mode selected by the parking mode selection unit (10); and a parking controller (30) that controls the vehicle to move along the parking path defined by the path definition unit (25); wherein the parking space search unit (20) searches for the parking space when the speed of the vehicle is reduced to a predetermined speed or less. [2] Parking control system (1) according to claim 1, wherein the parking controller (30) actuates the parking space search unit (20) to search for the parking space and then controls the parking mode selection unit (10) to perform the selection in the second stage in cases where either the right perpendicular parking mode or the left perpendicular parking mode has been selected in the first stage selection. [3] Parking control system (1) according to claim 1, wherein the parking controller (30) actuates the parking space search unit (20) to search for the parking space and then actuates the path determination unit (25) to determine the parking path in cases where either the right parallel parking mode or the left parallel parking mode has been selected in the first stage. [4] Parking control system (1) according to claim 1, wherein the parking space search unit (20) determines a parking mode in which the vehicle can be parked in the detected parking space. [5] Parking control system (1) according to claim 4, further comprising: a display device on which parking modes of each level are sequentially displayed according to a user's control input. [6] Parking control system (1) according to claim 5, wherein the parking mode selection unit (10) displays the parking mode determined by the parking space search unit (20) on the display device as a first-stage selection screen. [7] Parking control system (1) according to claim 5, wherein the parking mode determined by the parking space search unit (20) is displayed on the display device. [8] Parking control system (1) according to claim 5, wherein a screen indicating that parking control is possible is displayed on the display device when the vehicle is in a steerable position after the parking space has been detected by the parking space search unit (20) and the parking mode has been selected by the parking mode selection unit (10). [9] Parking control system (1) according to claim 1, further comprising: a display device on which parking modes of each level are shown simultaneously on a single screen, wherein the parking mode selection unit (10) supports first-stage selection and second-stage selection such that a parking mode is selected according to a user control input on the display device. [10] Parking control procedure comprising the following steps: a parking mode selection step in the first stage (S800; S1105) for selecting a mode from a right perpendicular parking mode, a left perpendicular parking mode, a right parallel parking mode and a left parallel parking mode; a parking mode selection step in the second stage (S820; S1120) for selecting either a forward parking mode or a reverse parking mode in cases where the right or left perpendicular parking mode has been selected in the parking mode selection step in the first stage; a parking space search step (S805; S1100) for finding a parking space; a path definition step (S825; S1125) for defining a parking path for the detected parking space according to the forward parking mode or the reverse parking mode selected in the parking mode selection step in the second stage; and a parking control step (S830; S1130) for controlling the parking of a vehicle according to the parking path that has been defined in the path definition step; where the parking space search step (S805; S1100) includes searching for a parking space when the vehicle's speed is reduced to a predetermined speed or less. [11] Parking control method according to claim 10, wherein the parking space search step (S805; S1100) comprises determining a parking mode in which the vehicle can be parked in the detected parking space, and the parking mode selection step in the first stage (S800; S1105) comprises displaying the parking mode that has been determined in the parking space search step as a first-stage selection screen.

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