Device and method for providing parking assistance

Abstract

The present invention provides a device and method for providing parking assistance. [Solution] One aspect of the present invention relates to a control system for a vehicle 100, the control system comprising one or more collectively configured processors, which performs the following: Identifying a parking space 302 near the vehicle using one or more sensors of the vehicle; Determining a region of interest 350 of the identified parking space; Determining, using one or more sensors, that the vehicle is at least partially located within the region of interest; Determining, while it is determined that the vehicle is at least partially located within the region of interest, that one or more conditions for outputting an automatic parking operation prompt are met, the one or more conditions including a predetermined number of turns performed by the vehicle user; Outputting an automatic parking operation prompt.

Description

Technical Field

[0001] The present disclosure relates to an apparatus and method for determining whether to provide parking assistance. Aspects of the present invention relate to a control system, a system, a vehicle, and a method.

Background Art

[0002] Manual parking operations of a vehicle can cause problems for a driver. In some cases, the driver manually starts the parking operation into an available parking space, but may encounter difficulties in the operation to park the vehicle within the boundaries of the parking space during the operation. As a result, the driver may need to perform a number of steering operations and direction changes on the vehicle. In some cases, the driver may park the vehicle inappropriately within the empty space, leaving the vehicle too close to the boundary line of the space, which may damage the vehicle.

[0003] The present invention aims to solve one or more drawbacks related to the prior art.

Summary of the Invention

[0004] Aspects and embodiments of the present invention provide a control system, a system, a vehicle, and a method as described in the claims.

[0005] According to one aspect of the present invention, a control system for a vehicle is provided. The system is configured to identify a parking space in the vicinity of the vehicle, determine that the vehicle is at least partially located within the parking space, determine that one or more turning conditions for outputting an automatic parking operation prompt are satisfied, and output an automatic parking operation prompt. Advantageously, when it is determined that the vehicle is operating within the region of interest of the parking space and a plurality of driving operations (e.g., gear change) by the user are performed within this space, the vehicle can determine that the user has difficulty with manual parking within the space and provide a prompt to assist with parking.

[0006] According to one aspect of the present invention, a vehicle control system is provided. This control system includes one or more processors, which are configured to perform the following: identify a parking space near the vehicle using one or more sensors of the vehicle; determine a region of interest of the identified parking space; determine, using one or more sensors, that the vehicle is at least partially located within the region of interest; and, while it is determined that the vehicle is at least partially located within the region of interest, determine that one or more conditions for outputting an automatic parking operation prompt are met. These conditions include a predetermined number of turns made by the vehicle's user; and output an automatic parking operation prompt. Advantageously, if it is determined that the vehicle is operating within the region of interest of the parking space, and multiple driving operations (e.g., gear changes) are performed by the user within that space, the vehicle determines that the user is having difficulty with manual parking. This allows for efficient provision of prompts to prevent continued low-quality / inappropriate operation within the space.

[0007] According to one aspect of the present invention, a vehicle control system is provided. This control system includes one or more processors, which are configured to: receive one or more parking space signals from one or more sensors of the vehicle that identify a parking space near the vehicle; determine a region of interest of the identified parking space; receive one or more vehicle position signals from one or more sensors that indicate the vehicle is located within the at least partially determined region of interest; and, while the vehicle is determined to be partially located within the region of interest, output an automatic parking operation prompt indicating the availability of parking assistance to the user, depending on a predetermined number of turns made by the user of the vehicle. Advantageously, the automatic parking prompt is efficiently provided to prevent continued poor / inappropriate operation within the parking space if it is determined that the driver is having difficulty completing the operation.

[0008] Identifying a parking space involves receiving at least one parking space signal from one or more sensors on the vehicle. This at least one parking space signal indicates the identification of a parking space near the vehicle. Advantageously, it is possible to detect the act of parking in a parking space.

[0009] The identified area of ​​interest for a parking space may constitute an area that includes the parking space and at least a portion of its surrounding area. Advantageously, by identifying the area of ​​interest for the parking space and its surrounding area, it is possible to determine that a user is attempting to park in that space.

[0010] To determine the region of interest, the control system is configured to: Identify the parking space as a space perpendicular or non-parallel to the vehicle's current position based on at least one received parking space signal. Calculate the width and length of the parking space. Calculate an area in the range of 1 to 2 times the width and 1 to 2 times the length. Determine the calculated area as the region of interest. Optionally, the area may be calculated as 1.5 times the width and 1.5 times the length. The calculated area is positioned at the center of the identified parking space as the region of interest. An advantage is that since the region of interest of a parking space is identified based on the shape of the space, it is possible to further clarify the determination that the user is attempting to park in that space.

[0011] To determine the region of interest, the control system is configured to: Identify a parking space as a space parallel to the vehicle's current position based on at least one received parking space signal. Calculate the length and width of the parking space. Calculate a region where the width is between 1 and 2 times the parking space and the length is between 1.5 and 2.5 times. Determine the calculated region as the region of interest. Optionally, the region is calculated as 1.5 times the width and 2 times the length. The calculated region is set as the region of interest centered on the identified parking space. An advantage is that the region of interest of a parking space is identified based on the shape of the space, further clarifying the determination that the user is attempting to park in the identified space.

[0012] The control system is configured to perform the following actions when it receives a signal indicating that the vehicle's position is not within a identified region of interest, based on at least one vehicle position signal indicating a change in the vehicle's position: It receives at least one parking space signal from at least one of the vehicle's sensors indicating that another parking space has been identified near the vehicle's current position. It determines a region of interest with respect to the identified other parking space. If it determines that the user is not attempting to park in the initially identified parking space, the vehicle can continue receiving signals about nearby identified parking spaces and update and identify the region of interest for the next closest space. The advantage is that the vehicle determines a region of interest related to the nearest space that the user may be attempting to park in, reducing unnecessary processing (e.g., processing related to spaces the user does not intend to park in).

[0013] The control system may be configured to: determine a secondary region of interest. The secondary region includes a portion of the identified parking space. Upon receiving at least one received vehicle position signal, it determines that the vehicle is at least partially located within the secondary region, based on the fact that one or more wheels of the vehicle's leading axle are within the secondary region. Here, the vehicle's leading axle is the axle of the vehicle closest to the identified parking space. Upon determining that the vehicle is at least partially located within the secondary region, it outputs an automatic parking operation prompt. An advantage is that the identified secondary region of interest provides an additional condition for triggering a prompt indicating that the user is attempting to park in that space.

[0014] The area in question may comprise less than half of the total area of ​​the identified parking space. The area may comprise the portion of the identified parking space enclosed by the first side boundary, the second side boundary, and the front boundary (the front boundary being the boundary closest to the vehicle's leading axle). Optionally, this portion may be approximately 40%. Conveniently, the defined portion of the identified space is appropriately prompted to further determine that the user is attempting to park (enter) the space.

[0015] A change of direction includes a gear change indicating control of the vehicle's forward or reverse movement, and a change in vehicle steering indicating a steering input by the user to change direction. Optionally, the number of changes of direction may be three. Preferably, this allows prompts to be efficiently provided to prevent continued poor-quality / inappropriate operation within the parking space if the user determines that parking is difficult, while considering a balance with unnecessary prompt outputs.

[0016] The control system may be configured to output an automatic parking prompt in response to the reception of a signal indicating that the vehicle is stationary. An advantage is that the prompt is provided when the vehicle is not moving, such as when a brake signal is received, allowing the driver to safely and conveniently confirm the prompt.

[0017] The control system may be configured to receive a user input signal indicating acceptance of an automatic parking operation prompt and to output a control signal that causes the vehicle to perform an automatic parking operation to complete the parking operation into the identified parking space. Preferably, if the user indicates acceptance of the prompt, the vehicle can automatically complete the parking operation, further reducing the occurrence of poor quality / improper manual parking.

[0018] The control system may be configured to stop outputting the automatic parking prompt in any one or more of the following cases: when a predetermined amount of time has elapsed without receiving user input indicating acceptance of the automatic parking prompt; and when at least one vehicle position signal has been received indicating that the vehicle is no longer located within the area of ​​interest. An advantage is that the prompt output can be stopped when there is no user input at all, and / or when the vehicle has moved and / or no longer requests parking in the initially identified parking space. This prevents unnecessary output and improves efficiency.

[0019] According to one aspect of the present invention, a system is provided which includes: a control system for any control system disclosed herein, and one or more sensors configured to sense one or more parking spaces in the vicinity of a vehicle. Optionally, the system may further include one or more sensors configured to detect that a vehicle is at least partially located within a region of interest.

[0020] According to one aspect of the present invention, a vehicle is provided which is equipped with any control system disclosed herein or any system disclosed herein.

[0021] A further aspect of the present invention provides a method for controlling a vehicle. This method includes: receiving at least one parking space signal from one or more sensors of the vehicle, the at least one parking space signal indicating the identification of a parking space near the vehicle; determining a region of interest of the identified parking space; receiving at least one vehicle position signal from one or more sensors of the vehicle, the signal indicating that the vehicle is at least partially located within the region of interest; and, while it is determined that the vehicle is at least partially located within the region of interest, outputting an automatic parking operation prompt indicating the availability of parking assistance to the user, in accordance with a predetermined number of turns made by the user of the vehicle.

[0022] In one embodiment of the present invention, a computer-readable command is provided that, when executed by one or more processors, causes one or more processors to perform any of the methods disclosed herein.

[0023] In one embodiment of the present invention, a computer-readable medium is provided which, when executed by a processor, includes a computer-readable instruction that causes the execution of any of the methods disclosed herein.

[0024] Within the scope of this application, various aspects, embodiments, examples, and alternatives described in the preceding paragraph, claims, and / or the following description and drawings, particularly their individual features, are explicitly intended to be adopted independently or in any combination. That is, unless such features are incompatible, any embodiment and / or its features can be combined in any way and / or combination. The applicant reserves the right to amend the originally filed claims or to file new claims accordingly. This also includes the right to amend the originally filed claims to depend on or incorporate features of other claims that were not originally so claimed.

Brief Description of the Drawings

[0025] One or more embodiments of the invention will be described with reference to the accompanying drawings for the sole purpose of illustration.

[0026] [Figure 1] FIG. 1 shows a vehicle according to an embodiment of the present invention.

[0027] [Figure 2] FIG. 2 shows a control system according to an embodiment of the present invention.

[0028] [Figure 3A] FIG. 3A shows a diagram for determining a vehicle within an area of interest of a parking space according to an embodiment of the present invention.

[0029] [Figure 3B] FIG. 3B shows a diagram for determining a vehicle within an area of interest of a parking space according to an embodiment of the present invention.

[0030] [Figure 4A] FIG. 4A shows a diagram for determining a vehicle within an area of interest of a parking space according to an embodiment of the present invention.

[0031] [Figure 4B]Figure 4B shows a diagram illustrating the determination of a vehicle within a region of interest of a parking space according to an embodiment of the present invention.

[0032] [Figure 5A] Figure 5A shows a diagram that identifies the region of interest of a parking space according to an embodiment of the present invention.

[0033] [Figure 5B] Figure 5B shows a diagram illustrating the identification of the region of interest in a parking space according to an embodiment of the present invention.

[0034] [Figure 5C] Figure 5C shows a diagram illustrating the identification of the region of interest in a parking space according to an embodiment of the present invention.

[0035] [Figure 6] Figure 6 shows the display of the automatic parking operation prompt according to an embodiment of the present invention.

[0036] [Figure 7] Figure 7 shows a system according to an embodiment of the present invention.

[0037] [Figure 8] Figure 8 shows a method according to an embodiment of the present invention. [Modes for carrying out the invention]

[0038] An object of the present invention is to provide an improved system and method for determining whether to provide parking assistance to complete a parking operation. Embodiments of the present invention aim to identify when a vehicle driver is having difficulty manually maneuvering the vehicle to park in a designated parking space and to prompt the driver to initiate an automated parking operation to complete the parking operation. This prompt is efficiently provided to prevent continued improper maneuvers within the parking space when the user is identified as having difficulty parking.

[0039] Referring to Figure 1, a vehicle 100 is provided according to embodiments of the present invention described herein. The vehicle 100 can accommodate one or more occupants, one of whom is the user of the vehicle 100 (also referred to herein as the driver). The vehicle 100 shown in Figure 1 is an example, and the embodiments and examples described herein are understood to include vehicle types other than those shown.

[0040] Referring to Figure 2, a control system 200 for vehicle 100 is provided. The control system 200 comprises one or more controllers 210. One or more controllers 210 are configured to determine whether or not to provide an automatic parking assistance prompt to the driver. The control system 200 shown in Figure 2 consists of one controller 210, but this is merely an example. The controller 210 includes processing means 212 and storage means 214. The processing means 212 is one or more electronic processing devices 212 that operationally execute computer-readable commands. The storage means 214 is one or more storage devices 214. The storage means 214 is electrically connected to the processing means 212. The storage means 214 is configured to store commands, and the processing means 212 is configured to access the storage means 214 and execute the commands stored therein.

[0041] The controller 210 includes an input means 216 and an output means 218. The input means 216 may include electrical inputs to the controller 210. The output means 218 may include electrical outputs to the controller 210. The control system 200 can receive signals 222, 224 from one or more sensors 220, for example, from one or more sensors 220 provided in the vehicle 100, via the input means 216. The output means 218 is configured to output a control signal 232 for outputting an automatic parking operation prompt to, for example, an in-vehicle display 230.

[0042] One or more sensors 220 of the vehicle 100 include one or more environmental sensors and / or imaging sensors (e.g., cameras or imaging devices) that can determine and identify objects and / or features of the environment surrounding the vehicle 100. For example, one or more sensors 220 may include one or more ultrasonic proximity sensors (detectors) that emit radiation. This reflected radiation can be reflected from one or more features or objects surrounding the vehicle 100 and detected.

[0043] The control system 200 can use one or more sensors 220 to sense or identify one or more parking spaces located near the vehicle 100 where a driver may be attempting to park the vehicle 100. The control system 200 can receive one or more parking space signals 222 from one or more sensors 220 of the vehicle 100 indicating the identified parking spaces. For example, the control system 200 can use one or more sensors 220 to identify multiple parking spaces near the current location of the vehicle 100 and identify the parking space closest to the vehicle 100 from among the identified spaces as the identified parking space. Here, proximity is understood to mean being within a preset distance from the vehicle 100, and identifying a proximity parking space means identifying a space that is within a set or defined distance from the current location of the vehicle 100. For example, the distance is set according to the resolution, range, or accuracy of one or more sensors 220.

[0044] For example, the step of identifying one or more parking spaces using one or more sensors 220 may be performed depending on the fulfillment of one or more parking space identification preconditions. This allows the sensors 220 of the vehicle 100 to be efficiently utilized when it is determined that there is a high probability that the driver is attempting to park. In yet another example, one or more preconditions are set when it is determined that the vehicle 100 is capable of safely performing an automated parking operation in the identified parking space. For example, parking space identification preconditions include the control system 200 determining one or more of the following: that the vehicle 100 is currently moving at or below a predetermined speed (e.g., less than 16 km / h), that no trailer is attached to the vehicle 100, that there are no faults currently indicated as active, and / or that the current road surface gradient is below a predetermined angle. These conditions are examples, and the control system 200 may consider additional or alternative further parking space identification conditions.

[0045] Once a parking space is identified, the control system 200 is configured to determine the region of interest of the identified parking space. The determination of the region of interest will be explained with reference to Figures 3A-3B.

[0046] Figures 3A-3B illustrate the determination of vehicle entry into a region of interest of a parking space according to an embodiment of the present invention. Specifically, Figures 3A-3B show vehicle 100 entering a specific parking space 302 by manual operation by a driver. The specific space 302 is one of several other spaces (for example, spaces 304 and 306 occupied by vehicle 110). The control system 200 can determine a region of interest 350 associated with the specified parking space 302. The region of interest 350 consists of the specified parking space 302 and a region encompassing at least a portion of the surrounding area of ​​the specified parking space 302. The surrounding area includes an area adjacent to at least one of the boundaries of the specified parking space and may, exemplary, overlap with the surrounding areas of all the boundaries of the specified parking space 302. As shown in the example in Figure 3A, the surrounding area may overlap with the side, front, and rear boundaries of the parking space and may, exemplary, extend to overlap with one or more neighboring parking spaces 304 and 306.

[0047] The control system 200 can determine, using one or more sensors 220, that the vehicle 100 is at least partially located within the region of interest 350. That is, based on receiving one or more vehicle position signals 224 from one or more sensors 220 as described above, the control system 200 determines that the current position of the vehicle 100 is at least partially located within the identified region of interest 350. Here, "at least partially located" means that at least a part of the vehicle 100 is determined to be located within the identified region of interest 350. For example, if the driver of the vehicle 100 is moving forward into the space, the part of the vehicle 100 located within the region of interest 350 may be the front of the vehicle (e.g., the front wheels, part of the front bumper). If the vehicle 100 is moving backward into the space, the part of the vehicle 100 located within the space may be the rear of the vehicle (e.g., the rear bumper, at least one of the rear wheels of the vehicle 100).

[0048] While it is determined that the vehicle 100 is at least partially located within the region of interest 350, i.e., while one or more received position signals 224 indicate that the vehicle 100 remains within the region of interest 350, the control system 200 determines whether one or more conditions for outputting an automatic parking operation prompt are met. One or more conditions may include a predetermined number of turns made by the driver of the vehicle 100 while the vehicle 100 is located within the region of interest 350. A turn involves one or more gear changes that indicate control over the forward and reverse motion of the vehicle. Here, each motion (e.g., forward motion, reverse motion as a result of a gear change) is considered one gear change. The term “gear change” is understood to apply to changes between forward and reverse gears in manual or hybrid vehicles, or between drive gear and reverse gear (or mode) in electric vehicles. Furthermore, or alternatively, while the vehicle 100 is determined to be located within the region of interest 350, a change of direction performed by the user of the vehicle 100 may include the reception of one or more vehicle steering changes indicating a steering input change of direction performed by the driver.

[0049] An example of turning around is explained with reference to Figures 3A-3B. Referring to Figure 3A, the driver of vehicle 100 may have initially manually moved the vehicle forward to enter the identified parking space 302 in order to begin the parking operation. When any part of the vehicle (for example, any part of vehicle 100) enters the region of interest 350, the control system 200, using one or more sensors 220, determines that vehicle 100 is located within the at least partially determined region of interest 350 and begins counting the number of turning around. From the position shown in Figure 3A, the driver may reverse (turn around using reverse gear) to the position shown in Figure 3B. Vehicle 100 remains within the region of interest 350. This may be determined (or counted) as one turning around by the driver of vehicle 100.

[0050] From the position shown in Figure 3B, the driver of vehicle 100 makes another turn (towards the forward direction), moving vehicle 100 forward into the parking space (for example, to the same position as in Figure 3A). This is determined to be another turn. The control system 200 identifies that the driver of vehicle 100 has made a predetermined number of turns, and based on this number being met, identifies that the driver is attempting to manually park in the identified parking space 302, but may be experiencing difficulty in completing the parking operation due to the number of turns performed. For example, the predetermined number of turns could be three (for example, reverse, forward, reverse turn). However, the example is not limited to this, and any predetermined number can be set considering the provision of efficient and rapid assistance to the driver toward completing the parking operation.

[0051] When the control system 200 determines that the condition for a predetermined number of turns has been met, the control system 200 recognizes that the driver may be able to benefit from automatic parking assistance and outputs an automatic parking operation prompt. The automatic parking operation prompt indicates that automatic parking operation is available within the vehicle 100. Automatic parking operation refers to a parking operation performed automatically or semi-automatically by the vehicle 100, guiding the vehicle 100 into a parking space. In automatic parking operation, the vehicle 100 may complete the parking operation without user input or control. In semi-automatic operation, the vehicle 100 may require some input from the user (e.g., the vehicle 100 instructs the user to change gears or modes).

[0052] The control system 200 may be configured to receive, for example, a user input signal indicating acceptance of an automatic parking operation prompt via a receiving means 216. Upon receiving the acceptance signal, the control system 200 is configured, for example, via an output means 218, to output a control signal causing the vehicle 100 to perform an automatic parking operation to complete the parking operation in the specified parking space.

[0053] The control system 200 further receives at least one vehicle position signal 224 indicating a change in the vehicle's position. This signal indicates that vehicle 100 is not, or is no longer, located within the identified region of interest 350. For example, the driver of vehicle 100 might initially enter a designated parking space 302, but then change their mind and move vehicle 100 out of the designated parking space, thus leaving the region of interest 350. If the control system 200 determines that vehicle 100 has left the region of interest 350, it stops determining (or counting) the number of turns. In such a case, the turn count is reset and restarted when vehicle 100 subsequently enters any region of interest (the same region of interest within the same parking space, or a region of interest associated with a different parking space).

[0054] If vehicle 100 is not located within the region of interest 350, the control system 200 may then receive at least one parking space signal 222 from one or more sensors 220 of vehicle 100 indicating that it has identified an additional parking space near the vehicle's current location. The control system 200 then determines a region of interest associated with the identified additional parking space. This identified additional parking space and associated region of interest may replace a previously identified nearby parking space and determined region of interest. In other words, while vehicle 100 continues to travel, the control system 200 uses one or more sensors 220 of vehicle 100 to identify a nearby parking space (e.g., the nearest parking space within a preset distance of the vehicle) and controls the region of interest associated with this identified parking space.

[0055] Figures 4A-4B show diagrams for identifying a region of interest in a parking space according to an embodiment of the present invention. Referring to Figure 4A, as in Figures 3A-3B, a parking space 302 is identified and a region of interest 350 is determined for the associated parking space 302. However, in addition to the example shown in Figures 3A-3B, the control system 200 may determine a secondary region 360 of the region of interest 350. The secondary region 360 constitutes a portion of the area of ​​the identified parking space 302. In the example, the portion of the secondary region 360 may constitute less than half (approximately 40% in the example) of the total area of ​​the identified parking space 302. This portion is a portion of the area of ​​the identified parking space 302 between the first side boundary, the second side boundary, and the front boundary of the identified parking space 302. Here, the front boundary is the boundary closest to the front axle of the vehicle 100 when entering the parking space 302.

[0056] The control system 200 determines whether one or more conditions for outputting a prompt are met, based on determining that the vehicle is at least partially located in this secondary area 360 (e.g., maintaining its position). By determining that the vehicle is located within this area of ​​the identified parking space 302, the control system 200 can more accurately determine that the user is attempting to manually park in the identified space. The control system 200 can determine that the vehicle 100 is at least partially located in the secondary area 360, based on the fact that one or more wheels of the leading axle of the vehicle 100 are located in the secondary area 360. Here, the leading axle of the vehicle refers to the axle of the vehicle 100 that is in the closest position when entering the identified parking space 302. In other words, depending on at least one received vehicle position signal 224 indicating that the vehicle 100 is located within the secondary area 360, the control system 200 determines whether one or more conditions for outputting an automatic parking operation prompt are met, where one or more conditions include that a predetermined number of direction changes are made while the vehicle 100 is located within this area 360. If the control system 200 determines that one or more conditions are met, it controls itself to output an automatic parking operation prompt.

[0057] Referring to any of the above examples, if it is determined that the vehicle 100 is at least partially located within the region of interest 350, and in some examples also located within the secondary region 360, the control system 200 determines whether one or more additional conditions for outputting a parking operation prompt are met. These conditions may include one or more of the examples described below.

[0058] The control system 200 identifies the condition that the vehicle 100 is within the region of interest 350 under manual control (driving) by the driver. This allows the system to identify the possibility that the user may benefit from automatic parking assistance and to decide to output an automatic parking operation prompt.

[0059] As a condition, the control system 200 receives a signal indicating that the vehicle 100 is stationary, and decides to output an automatic parking operation prompt in response to the receipt of this signal. For example, this stationary signal may be a brake signal received in response to the driver's input to the brake pedal of the vehicle 100. An advantage is that this allows the driver to safely and conveniently confirm and accept the prompt.

[0060] As a condition, the control system 200 decides to output an automatic parking operation prompt based on the determination that a parking prompt is enabled within the parking settings of the vehicle 100.

[0061] It is understood that parking spaces may have different shapes and orientations when vehicle 100 enters them. An example of determining a region of interest based on identified parking spaces with different orientations will be described in reference to Figures 5A-5C. Here, the described parking spaces may be interpreted by referring to the preceding Figures 1A-B-4A-B (for example, the points where parking space 302 and region of interest 350 are identified).

[0062] Figures 5A-5C illustrate the identification of the region of interest in a parking space according to an embodiment of the present invention.

[0063] In Figure 5A, vehicle 100 may approach a parking space 502 while traveling on a road or passage 540 (e.g., within a parking lot passage). The control system 200 may receive at least one parking space signal 222 from one or more sensors 220 of vehicle 100. Based on the received parking space signal 222, the control system identifies the space as being perpendicular to the current position of vehicle 100. In the example of Figure 5A, the identified parking space 502 is substantially perpendicular to the road 540 and therefore perpendicular to the current position of vehicle 100 on the road 540. In other words, the length of the identified parking space 502 (distance from the entry boundary 512A to the rear boundary 512b) is substantially perpendicular to the longitudinal axis (e.g., the overall length direction of the vehicle) of the vehicle positioned on the road 540 before commencing the parking operation into the parking space. The control system 200 calculates the width 520 and length 530 of the identified parking space 502. Here, the width 520 is defined as the distance between the two side boundaries 512c and 512d, and the length is defined as the distance between the entrance boundary 512a of the parking space 502 and the opposite rear boundary 512b. Using these measurements, a region of interest (e.g., region of interest 350 in Figures 3A-3B) encompassing the area of ​​the parking space 502 and the surrounding area of ​​the identified parking space is calculated. For example, a region ranging from 1 to 2 times the width and 1 to 2 times the length is calculated. As an example, a region 1.5 times the width and 1.5 times the length is given. This calculation region, encompassing the area of ​​the parking space and at least a portion of the surrounding area, is determined to be the region of interest. The calculation region is set with the parking space as the determined region of interest.

[0064] In Figure 5B, vehicle 100 approaches parking space 502, and control system 200 receives at least one parking space signal from one or more sensors 220 of vehicle 100 and identifies that the space forms an angle (diagonal space) with respect to the vehicle 200's current position. That is, the parking space is identified as forming an angle 540 (e.g., less than 90 degrees) with respect to the road 540 and the vehicle 100's current position. Similar to Figure 5A, control system 200 calculates a region that is between 1 and 2 times the width 520 and between 1 and 2 times the length 530. For example, this is 1.5 times the width and 1.5 times the length. The calculated region is determined to be the region of interest.

[0065] In Figure 5C, the vehicle 100 approaches the parking space 502, and the control system 200 receives at least one parking space signal 222 from one or more sensors 220 of the vehicle 100 and identifies that the space is substantially parallel to the current position of the vehicle 100 on the road 540. A parallel parking space is understood to be one in which the width 520 taken between the side edges 512c, 512d is substantially parallel to the current position of the vehicle 100 on the road 540. In other words, the width 520 of the parking space 502 before the parking operation is initiated is substantially parallel to the longitudinal axis of the vehicle (e.g., the length of the vehicle). The control system 200 calculates the width 520 and length 530 (e.g., between the entry boundary 512a and the opposite rear boundary 512b) of the identified parking space 502. For the identified parking space, an area in the range of 1 to 2 times the width and 1.5 to 2.5 times the length is calculated. For example, this is calculated as 1.5 times the width and 2 times the length. The calculated area is determined as the region of interest, encompassing at least a portion of the parking space and surrounding area. The calculated area is centered on the parking space as the determined region of interest.

[0066] Figure 6 shows an automatic parking operation prompt according to an embodiment of the present invention. Here, the automatic parking operation prompt 620 is visually displayed on or within the parking display screen 610 of the in-vehicle display 600. The automatic parking operation prompt 620 is displayed as a selectable button 620 (for example, on the user interface of the in-vehicle display 600). When the control system 200 receives a user input signal indicating acceptance, such as when the driver selects the display button for the automatic parking operation prompt 610, it outputs a control signal to cause the vehicle 100 to perform an automatic parking operation.

[0067] In relation to the examples described with reference to one of the aforementioned drawings, the control system 200 may be configured to stop outputting the automatic parking operation prompt when one or more prompt release conditions are met. For example, if no user input indicating acceptance of the automatic parking operation prompt is received within a certain period of time, the control system 200 stops outputting the automatic parking operation prompt. Furthermore, or alternatively, the control system 200 stops outputting the automatic parking operation prompt in response to the reception of at least one vehicle position signal 224 indicating that the vehicle is no longer located within the region of interest 350. In another example, the control system 200 may stop outputting the automatic parking operation based on a signal indicating that the vehicle 100 is no longer determined to be stationary. In this example, the vehicle 100 is identified as moving when a signal indicating that user input to the brake pedal has been released disappears or when a signal is received from the accelerator pedal.

[0068] In yet another example, the control system 200 may be configured to stop outputting the automatic parking operation prompt. In relation to the above example, if the automatic parking operation prompt is a visual display prompt 620 as shown in Figure 6, the control system 200 controls the display of the prompt to stop. The control system 200 may be configured to stop outputting when it is determined that the vehicle 100 has moved out of the region of interest 350. That is, based on receiving one or more vehicle position signals 224, the control system 200 may determine that the vehicle 100 has moved out of the region of interest 350. This determination depends on whether a part of the vehicle has moved out of the region of interest 350. For example, a part of the vehicle 100 is the wheels of the leading axle of the vehicle 100, for example, the wheels of the axle that first entered the parking space 302 have moved out of the region of interest 350. For example, if a secondary region 360 is determined, the control system 200 may be configured to stop outputting the automatic parking operation prompt when it is determined that the vehicle 100 (for example, a part of the vehicle 100) has moved out of the secondary region 360. One advantage is that by stopping the prompt output when the driver no longer wishes to park in the parking space, unnecessary output can be reduced and efficiency improved.

[0069] Figure 7 shows a system 700 comprising one of the control systems 200 according to each embodiment described herein with reference to the preceding drawings, and one or more sensors 220 of the vehicle 100. The one or more sensors 220 may include sensors configured to sense or identify one or more parking spaces in the vicinity of the vehicle 100. One or more sensors 220 incorporated into the system 700 (e.g., at least one of the one or more sensors 220) may be further configured to determine the current position of the vehicle 100. Optionally, the system may include display means 230 (e.g., an in-vehicle display 230) for outputting automatic parking operation prompts.

[0070] Figure 8 shows a method 800 for controlling a vehicle 100, such as the vehicle 100 shown in Figure 1. In particular, method 800 is a computer implementation method 800 for controlling the vehicle 100. Method 800 includes, in step 802, receiving at least one parking space signal from one or more sensors 220 of the vehicle 100. This at least one parking space signal 222 indicates the identification of a parking space near the vehicle. In step 804, determining a region of interest for the identified parking space. In step 806, receiving at least one vehicle position signal 224 from one or more sensors 220 of the vehicle 100, indicating that the vehicle 100 is at least partially located within the region of interest. While it is determined that the vehicle 100 is at least partially located within the region of interest, in step 808, depending on a predetermined number of turns made by the user of the vehicle 100, an automatic parking operation prompt is output to indicate to the user the availability of the parking assist function.

[0071] Method 800 is shown in Figure 2 and can be performed by the control system 200 described in the above example. In particular, memory 214 may contain computer-readable instructions that, when executed by processor 212, perform Method 800 according to embodiments of the present invention.

[0072] It will be understood that various changes and modifications can be made to the present invention without departing from the scope of this application.

Claims

1. A control system for a vehicle, wherein the control system includes one or more processors, Using one or more sensors of the vehicle, identify a parking space near the vehicle. To determine the area of ​​interest of the identified parking space, Using one or more sensors, determine that the vehicle is at least partially located within the region of interest. While it is determined that the vehicle is at least partially located within the area of ​​interest, it is determined that one or more conditions for outputting an automatic parking operation prompt are met, wherein the one or more conditions include the number of times the vehicle's user makes a change of direction. A control system configured to perform the following actions: outputting the aforementioned automatic parking operation prompt.

2. Identifying the parking space includes receiving at least one parking space signal from one or more sensors of the vehicle. The control system according to claim 1, wherein the at least one parking space signal indicates the identification of the parking space located near the vehicle.

3. The control system according to claim 1 or 2, wherein the region of interest of the identified parking space includes the identified parking space and a region including at least a portion of the surrounding area of ​​the identified parking space.

4. To determine the region of interest, the control system Based on the received parking space signal, identify the parking space as a space perpendicular or non-parallel to the vehicle's current position; Calculate the width and length of the aforementioned parking space; Calculating an area that is one to two times the width of the parking space and one to two times the length of the parking space; and The control system according to claim 1 or 2, configured to determine the calculated region as the region of interest.

5. To determine the aforementioned region of interest, the control system: Based on the received parking space signal, identify the parking space as a space parallel to the vehicle's current position; Calculate the length and width of the aforementioned parking space; Calculating an area between 1 and 2 times the width of the parking space and between 1.5 and 2.5 times the length of the parking space; and The control system according to claim 1 or 2, configured to determine the calculated region as the region of interest.

6. If at least one vehicle position signal indicating a change in the vehicle's position is received, and the vehicle is not located within the identified region of interest, Receiving at least one parking space signal from one or more sensors of the vehicle that identifies another parking space near the vehicle's current location; and The control system according to claim 1 or 2, configured to determine the region of interest with respect to the identified other parking space.

7. Determining a secondary region of the area of ​​interest, wherein the secondary region includes a portion of the identified parking space; In response to the reception of at least one vehicle position signal, Determining that the vehicle is at least partially located within the secondary region based on the fact that one or more wheels of the vehicle's leading axle are within the secondary region, wherein the vehicle's leading axle refers to the axle of the vehicle closest to the identified parking space; The control system according to claim 3, configured to output the automatic parking operation prompt depending on whether the vehicle is at least partially located within the secondary area.

8. The aforementioned portion of the parking space is less than half of the total area of ​​the identified parking space. The control system according to claim 7, wherein the portion of the parking space is the portion of the identified parking space that is surrounded by the first side boundary, the second side boundary, and the front boundary closest to the leading axle of the vehicle.

9. The aforementioned change of direction is A gear change that controls the forward and reverse movement of the vehicle, A control system according to any one of claims 1 to 8, comprising a steering input from the user and a vehicle steering operation indicating a change in direction.

10. The control system according to any one of claims 1 to 9, configured to output the automatic parking operation prompt in response to the reception of a signal indicating that the vehicle is stationary.

11. Receiving a user input signal indicating acceptance of the automatic parking operation prompt; and The control system according to any one of claims 1-10, configured to output a control signal causing the vehicle to perform an automatic parking operation to complete a parking operation in the identified parking space.

12. If a predetermined time elapses without receiving the user input signal indicating acceptance of the automatic parking operation prompt, and When at least one vehicle position signal is received indicating that the vehicle is no longer located within the region of interest, The control system according to claim 11, configured to stop the output of the automatic parking operation prompt.

13. A control system according to any one of claims 1 to 12, A system including one or more sensors configured to detect one or more parking spaces in the vicinity of the vehicle.

14. A vehicle comprising the system described in claim 13, or the control system described in any one of claims 1 to 12.

15. Receiving at least one parking space signal from one or more sensors of the vehicle, wherein the at least one parking space signal indicates the identification of a parking space near the vehicle. To determine the area of ​​interest of the identified parking space, Receiving at least one vehicle position signal from one or more sensors of the vehicle, wherein the at least one vehicle position signal indicates that the vehicle is at least partially located within the region of interest. A method comprising, while it is determined that the vehicle is at least partially located within the area of ​​interest, outputting an automatic parking operation prompt to indicate to the user the availability of parking assistance, in accordance with the number of turns made by the user of the vehicle.

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