Method and vehicle system for autonomous parking of vehicle

Abstract

The present disclosure relates to an autonomous parking method for a vehicle and a vehicle system for performing the same. The vehicle system may include a communication unit that communicates with a parking system; a sensor unit configured to detect vehicle state information including gear position information and steering information of a steering wheel; an image capturing unit including at least one camera located inside or outside the vehicle; and a control unit that acquires driver's gaze information from an image of the driver of the vehicle captured through the image capturing unit, receives parking map information corresponding to the parking space from the parking system when the vehicle enters a parking space managed by the parking system, determines a target parking area from the parking map information based on the driver's gaze information and vehicle state information when the vehicle enters the parking space and maintains a stationary state for a predetermined time or longer, and executes an autonomous parking function to park the vehicle in the target parking area.

Description

Technology Field

[0001] The present disclosure relates to an autonomous parking method for a vehicle and a vehicle system for performing the same. Background Technology

[0002] With the recent advancement of technology, vehicles capable of autonomous driving and autonomous parking are being developed and distributed. Generally, in vehicles equipped with autonomous parking functions, when the driver activates the feature via a separate switch operation or execution command, the vehicle system performs tasks such as searching for a parking space, guiding the parking route, and maneuvering the vehicle to complete the parking process. The problem to be solved

[0003] The problem to be solved through the embodiments is to provide an autonomous parking method for a vehicle that performs an autonomous parking function by identifying the driver's intention, and a vehicle system that performs the same. means of solving the problem

[0004] A vehicle system according to one embodiment may include a sensor unit configured to detect vehicle state information including gear position information and steering information of a steering wheel, and a control unit that, when the vehicle enters a parking space and maintains a stationary state for a predetermined time or longer, determines a target parking area among the parking areas included in the parking space based on the gear position information and the steering information, and executes an autonomous parking function to park in the target parking area.

[0005] In a vehicle system according to the above embodiment, the control unit may determine a parking area located to the left of the vehicle or a parking area located to the right of the vehicle as the target parking area based on the steering direction of the steering wheel.

[0006] In a vehicle system according to the above embodiment, the control unit can determine a parking area located in front, to the side, or to the rear of the vehicle as the target parking area based on the gear stage information.

[0007] The vehicle system according to the above embodiment may further include at least one camera located in the vehicle. The control unit obtains gaze information of the driver from an image of the driver captured through the at least one camera, and may determine the target parking area by additionally using the gaze information.

[0008] In the vehicle system according to the above embodiment, the control unit can determine the direction in which the target parking area is located relative to the vehicle based on the gaze direction corresponding to the gaze information and the steering direction of the steering wheel.

[0009] In a vehicle system according to the above embodiment, the control unit can determine the parking area determined by the combination of the steering direction and the direction of the line of sight pointing toward the front, side, and rear of the left or right side of the vehicle as the target parking area.

[0010] The vehicle system according to the above embodiment may further include a display unit. The control unit displays a parking space image corresponding to the parking space through the display unit, and causes a parking area determined as the target parking area within the parking space image to flash or be highlighted, thereby providing the driver with location information regarding the target parking area determined by the vehicle.

[0011] A vehicle system according to the above embodiment may further include a communication unit that communicates with a parking system managing the parking space. The control unit receives parking map information corresponding to the parking space from the parking system, identifies at least one empty parking area within the parking space based on the parking map information, and can determine the target parking area among the at least one empty parking area.

[0012] A vehicle system according to the above embodiment may further include at least one sensing device configured to acquire surrounding environment information of the vehicle. The control unit may identify at least one empty parking area within the parking space based on the surrounding environment information and determine the target parking area among the at least one empty parking area. The at least one sensing device may include at least one camera or at least one sensor located on the vehicle.

[0013] A vehicle system according to another embodiment may include at least one camera located in the vehicle, a sensor unit configured to detect steering information of a steering wheel, and a control unit that acquires driver's gaze information from an image of a driver captured through the at least one camera, and when the vehicle enters a parking space and maintains a stationary state for a predetermined time or longer, determines a target parking area among the parking areas included in the parking space based on the gaze information and the steering information, and executes an autonomous parking function to park in the target parking area.

[0014] In a vehicle system according to the other embodiment above, the control unit can determine the direction in which the target parking area is located relative to the vehicle based on the gaze direction corresponding to the gaze information and the steering direction of the steering wheel.

[0015] In a vehicle system according to the other embodiment above, the control unit may determine the parking area determined by the combination of the steering direction and the direction of the line of sight pointing toward the front, side, and rear of the left or right side of the vehicle as the target parking area.

[0016] The vehicle system according to the other embodiment above may further include a display unit. The control unit displays a parking space image corresponding to the parking space through the display unit, and causes the parking area determined as the target parking area within the parking space image to flash or the parking area determined as the target parking area to be highlighted, thereby providing the driver with location information regarding the target parking area determined by the vehicle.

[0017] A vehicle system according to the other embodiment above may further include a communication unit that communicates with a parking system managing the parking space. The control unit receives parking map information corresponding to the parking space from the parking system, identifies at least one empty parking area within the parking space based on the parking map information, and can determine the target parking area among the at least one empty parking area.

[0018] A vehicle system according to the other embodiment above may further include at least one sensing device configured to acquire surrounding environment information of the vehicle. The control unit may identify at least one empty parking area within the parking space based on the surrounding environment information and determine the target parking area among the at least one empty parking area. The at least one sensing device may include at least one camera or at least one sensor located on the vehicle.

[0019] An autonomous parking method for a vehicle according to one embodiment may include the steps of: acquiring gear information of the vehicle and steering information of a steering wheel; determining a target parking area among parking areas included in the parking space based on the gear information and the steering information when the vehicle enters the parking space and maintains a stationary state for a predetermined time or longer; and executing an autonomous parking function to park the vehicle in the target parking area.

[0020] In the autonomous parking method according to the above embodiment, the determining step may include determining a parking area located to the left of the vehicle or a parking area located to the right of the vehicle as the target parking area based on the steering direction of the steering wheel.

[0021] In the autonomous parking method according to the above embodiment, the determining step may include the step of obtaining gaze information of the driver from an image of the driver captured through at least one camera located in the vehicle, and the step of determining the target parking area by additionally using the gaze information.

[0022] In the autonomous parking method according to the above embodiment, the step of determining the target parking area by additionally using the gaze information may include the step of determining the direction in which the target parking area is located relative to the vehicle according to the gaze direction corresponding to the gaze information and the steering direction of the steering wheel, and the step of determining the target parking area on the left or right side of the vehicle based on the determined direction.

[0023] In the autonomous parking method according to the above embodiment, the determining step may include the step of determining the target parking area in front, to the side, or to the rear of the vehicle based on the current gear position of the vehicle.

[0024] The autonomous parking method according to the above embodiment may further include the step of displaying a parking space image corresponding to the parking space on a screen. The parking space image may be configured such that the parking space determined as the target parking space within the parking space image flashes, or the parking space determined as the target parking space is highlighted, in order to provide the driver with location information regarding the target parking space determined by the vehicle.

[0025] The autonomous parking method according to the above embodiment may further include the step of receiving parking map information corresponding to the parking space from a parking system managing the parking space, and the step of identifying at least one empty parking area within the parking space based on the parking map information. The determining step may include the step of determining the target parking area among the at least one empty parking area.

[0026] The autonomous parking method according to the above embodiment may further include the step of acquiring surrounding environment information of the vehicle through at least one sensing device, and the step of identifying at least one empty parking area within the parking space based on the surrounding environment information. The determining step may include the step of determining the target parking area among the at least one empty parking area. The at least one sensing device may include at least one camera or at least one sensor located on the vehicle.

[0027] An autonomous parking method for a vehicle according to another embodiment may include the steps of: obtaining driver's gaze information from an image of a driver captured through at least one camera located in the vehicle; detecting steering information of a steering wheel; determining a target parking area among parking areas included in the parking space based on the gaze information and the steering information when the vehicle enters a parking space and maintains a stationary state for a predetermined time or longer; and executing an autonomous parking function to park in the target parking area.

[0028] In the autonomous parking method according to the other embodiment above, the determining step may include the step of determining the target parking area on the left or right side of the vehicle based on the gaze direction corresponding to the gaze information and the steering direction of the steering wheel.

[0029] The autonomous parking method according to the other embodiment above may further include the step of displaying a parking space image corresponding to the parking space on a screen. The parking space image may be configured such that the parking space determined as the target parking space within the parking space image flashes, or the parking space determined as the target parking space is highlighted, in order to provide the driver with location information regarding the target parking space determined by the vehicle.

[0030] The autonomous parking method according to the other embodiment above may further include the step of receiving parking map information corresponding to the parking space from a parking system managing the parking space, and the step of identifying at least one empty parking area within the parking space based on the parking map information. The determining step may include the step of determining the target parking area among the at least one empty parking area.

[0031] The autonomous parking method according to the other embodiment above may further include the step of acquiring surrounding environment information of the vehicle through at least one sensing device, and the step of identifying at least one empty parking area within the parking space based on the surrounding environment information. The determining step may include the step of determining the target parking area among the at least one empty parking area. The at least one sensing device may include at least one camera or at least one sensor located on the vehicle. Effects of the invention

[0032] According to the embodiments, the driver's convenience is enhanced by automatically identifying the desired parking area and parking the vehicle in that area, even without the driver entering a separate switch operation or execution command. Brief explanation of the drawing

[0033] FIG. 1 schematically illustrates a vehicle system according to an embodiment. FIGS. 2a and 2b illustrate examples of parking space images displayed in a vehicle system according to an embodiment. FIG. 3 illustrates an example of autonomous parking guide information displayed in a vehicle system according to an embodiment. FIG. 4 illustrates an example of a graphic object displayed to indicate that autonomous parking is in progress in a vehicle system according to an embodiment. FIG. 5 schematically illustrates an autonomous parking method according to an embodiment. Specific details for implementing the invention

[0034] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings, provided that identical or similar components are given identical or similar reference numerals and redundant descriptions thereof will be omitted.

[0035] The suffixes "module" and / or "part" for components used in the following description are assigned or used interchangeably solely for the sake of ease of drafting the specification, and do not have distinct meanings or roles in themselves. Furthermore, in describing the embodiments disclosed in this specification, detailed descriptions of related prior art are omitted if it is determined that such detailed descriptions could obscure the essence of the embodiments disclosed in this specification. Additionally, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification; the technical concept disclosed in this specification is not limited by the attached drawings and should be understood to include all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the present invention.

[0036] Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another.

[0037] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0038] In this application, terms such as “comprising” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0039] Additionally, terms such as "~part," "~unit," and "~module" described in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware, software, or a combination of hardware and software.

[0041] FIG. 1 schematically illustrates a vehicle system according to an embodiment.

[0042] Referring to FIG. 1, the vehicle system (10) may include a communication unit (11), a user input unit (12), a sensor unit (13), an image capturing unit (14), a display unit (15), an audio output unit (16), a storage unit (17), and a control unit (18).

[0043] The communication unit (11) is connected to an external device (e.g., a parking system (30)) via a communication network and can transmit and receive information, data, etc. between the vehicle system (10) and the external device. For example, the communication unit (11) is connected to an external parking system (30) via a communication network and can receive parking map information from the external parking system (30). Here, the parking map information may include information about the parking space managed by the parking system (30) (e.g., section information, shape information, etc.). The parking map information may further include information indicating the parking method (parallel parking or perpendicular parking) and whether parking is possible for each parking area. The parking map information may further include location information of a vehicle within the corresponding parking space.

[0044] The user input unit (12) can receive control input for the vehicle system (10) from the user. The user input unit (12) may include various input devices such as touch type, rotary type, tilt type, button type, etc. As an example, the user input unit (12) may include a touch pad including a touch sensor combined in a layered structure with the display unit (15) described later.

[0045] The sensor unit (13) may include at least one sensor installed in the vehicle to detect the state of the vehicle. For example, the sensor unit (13) may include a steering angle sensor, an accelerator pedal position sensor (APS), a brake pedal position sensor (BPS), an acceleration sensor, etc. The sensor unit (13) may further include a sensor for detecting the current location information of the vehicle, for example, a GPS (global positioning system) sensor, etc. The sensor unit (13) may further include at least one sensor for detecting the surrounding environment of the vehicle. For example, the sensor unit (13) may include at least one sensor capable of detecting the location of surrounding objects (obstacles), such as a LiDAR sensor, a RADAR sensor, an ultrasonic sensor, an infrared sensor, a thermal sensor, a millimeter wave sensor, etc.

[0046] The video recording unit (14) may include at least one camera positioned to record the interior or exterior of the vehicle. For example, the video recording unit (14) may include at least one camera that records the driver inside the vehicle. Additionally, for example, the video recording unit (14) may include at least one camera installed on the front, left side, right side, rear, etc. of the vehicle to record the surroundings of the vehicle.

[0047] The display unit (15) includes one or more displays and can display various information and data processed by the vehicle system (10). For example, the display unit (15) can display status information indicating the current state of the vehicle, parking map information of the parking space where the vehicle is located, parking guidance information to assist in parking the vehicle, parking route information, etc. on the screen.

[0048] The sound output unit (16) can output various sound signals processed by the vehicle system (10). For example, the sound output unit (16) can output various guidance sounds related to autonomous parking.

[0049] The storage unit (17) can store various information and data processed in the vehicle system (10). For example, the storage unit (17) can store parking map information received from an external parking system (30) through the communication unit (11). In addition, for example, the storage unit (17) can store vehicle status information, current location information, surrounding environment information, etc., collected by the control unit (18) described later.

[0050] The control unit (18) can perform overall control operations of the vehicle system (10). This control unit (18) may include a driver information collection unit (21), a vehicle information collection unit (22), a surrounding environment information collection unit (23), a target parking area prediction unit (24), a parking path acquisition unit (25), and a vehicle control unit (26).

[0051] The driver information collection unit (21) can receive an image of the driver captured by the image capturing unit (14), for example, an image of the driver's face. When the driver information collection unit (21) receives an image of the driver captured by the image capturing unit (14), it can extract driver behavior information through image analysis. The driver behavior information may include driver gaze information. The driver gaze information is information indicating the driver's gaze direction, that is, the driver's viewpoint.

[0052] The vehicle information collection unit (22) can collect various information related to the vehicle state through the sensor unit (13). For example, the vehicle information collection unit (22) can collect vehicle state information including the vehicle's current gear information, steering information, brake pedal operation status information, accelerator pedal operation status information, speed information, etc.

[0053] The vehicle information collection unit (22) may collect vehicle location information indicating the current location of the vehicle. In this case, the vehicle information collection unit (22) may collect the current location information of the vehicle through a location sensor, such as a GPS included in the sensor unit (13).

[0054] The surrounding environment information collection unit (23) can collect surrounding environment information including information about surrounding objects (moving objects such as surrounding vehicles, pedestrians, and obstacles such as fixed facilities) located around the vehicle through at least one sensing device for acquiring information about the surrounding environment of the vehicle (e.g., location information of surrounding objects).

[0055] For example, the surrounding environment information collection unit (23) can collect surrounding environment information of the vehicle through a lidar sensor, radar sensor, ultrasonic sensor, etc. included in the sensor unit (13). The lidar sensor is used to detect information such as distance, speed of movement, and direction to surrounding objects by transmitting a laser signal to the surroundings of the vehicle and receiving a signal that is reflected back by surrounding objects after the transmitted laser signal is transmitted, and it may also be used to detect shape information of surrounding objects by extracting three-dimensional spatial information around the vehicle. The radar sensor can be used to detect information such as distance, speed of movement, and direction to surrounding objects based on a signal that is reflected back by surrounding objects after the transmitted electromagnetic signal is transmitted to the surroundings of the vehicle. The ultrasonic sensor can be used to detect information such as distance, speed of movement, and direction to surrounding objects based on a signal that is reflected back by surrounding objects after the transmitted ultrasonic signal is transmitted to the surroundings of the vehicle.

[0056] Additionally, for example, the surrounding environment information collection unit (23) may obtain surrounding environment information from image data captured by the image capturing unit (14) of the surrounding environment of the vehicle. When the surrounding environment information collection unit (23) receives image data captured by the image capturing unit (14) of the surrounding environment, it can detect the location, distance, speed of movement, direction of movement, etc. of surrounding objects through image analysis.

[0057] The target parking area prediction unit (24) can identify empty parking areas among the parking areas and predict the driver's parking intention to determine the area among the empty parking areas where the vehicle will be parked.

[0058] The target parking area prediction unit (24) can identify empty parking areas, i.e., available parking areas, within the parking space where the vehicle is currently located, based on parking map information received from an external parking system (30) through the communication unit (11). In this case, the target parking area prediction unit (24) can identify whether the vehicle is occupied not only in parking areas close to the vehicle's current location but also in parking areas far from the vehicle.

[0059] The target parking area prediction unit (24) can identify empty parking areas within the parking space where the vehicle is currently located based on surrounding environment information and surrounding environment image data received through the surrounding environment information collection unit (23). In this case, the target parking area prediction unit (24) can identify empty parking areas among the parking areas close to the vehicle's current location.

[0060] The target parking area prediction unit (24) can identify the driver's parking intention based on parking map information received from the parking system (30), driver behavior information (driver gaze information) obtained through the driver information collection unit (21), vehicle status information and vehicle location information obtained through the vehicle information collection unit (22). That is, the target parking area prediction unit (24) can predict the parking area where the driver wants to park (hereinafter referred to as "target parking area") in the parking space where the vehicle is currently located, based on the aforementioned information.

[0061] The target parking area prediction unit (24) can first identify at least one parking area close to the vehicle's current location among the identified empty parking areas as described above in order to predict the target parking area. Then, the target parking area prediction unit (24) can predict the target parking area that the driver intends to park in among the identified parking areas based on the vehicle's current gear information, the vehicle's steering information, the driver's gaze information (gaze direction), etc. The target parking area prediction unit (24) can determine whether to select a parking area located on the left or right side of the vehicle as the target parking area based on the driver's gaze information and the vehicle's steering information. In this case, if either the left or right side of the vehicle is selected, the target parking area prediction unit (24) may select a parking area located in front of, to the side of, or to the rear of the driver in the selected direction as the target parking area based on which direction the gaze information indicates among the driver's front, side, or rear. Additionally, the target parking area prediction unit (24) may determine which direction a parking area is located to be selected as the target parking area based on the vehicle's current gear information and the vehicle's steering information. In this case, the target parking area prediction unit (24) may select either the left or right direction of the vehicle based on the vehicle's steering information, and determine which parking area among the parking areas located in front, to the side, and to the rear of the vehicle in the selected left or right direction to be selected as the target parking area based on the vehicle's steering information.

[0062] For example, if the vehicle is stopped by operating the brake pedal and the driver's gaze is directed toward the left front and the steering wheel is rotated to the left for a predetermined period of time or longer, the target parking area prediction unit (24) can estimate a parking area located to the left front of the driver (or the vehicle) as the target parking area. Additionally, for example, if the vehicle is stopped by operating the brake pedal and the vehicle's current gear is in the reverse position and the steering wheel is rotated to the right for a predetermined period of time or longer, the target parking area prediction unit (24) can estimate a parking area located to the right rear as the target parking area. Additionally, for example, if the vehicle is stopped by operating the brake pedal and the driver's gaze is directed toward the left side and the steering wheel is rotated to the left for a predetermined period of time or longer, the target parking area prediction unit (24) can select a parking area located to the left side of the vehicle as the target parking area.

[0063] The parking path acquisition unit (25) can acquire a parking path to park the vehicle in the target parking area when the target parking area intended by the driver is predicted through the target parking area prediction unit (24). That is, the parking path acquisition unit (25) can acquire location information and shape information of the target parking area from parking map information received from the external parking system (30), and can generate a parking path for the vehicle based on the vehicle's current location information and the vehicle's surrounding environment information collected through the surrounding environment information collection unit (23). The parking path information may include a movement path from the vehicle's current location to the target parking area and until it is parked in the target parking area, and vehicle operation information for each link constituting the movement path. Here, the vehicle operation information may include gear position, steering angle, movement speed, etc.

[0064] The vehicle control unit (26) can control the operation of the autonomous parking mode of the vehicle system (10). The vehicle control unit (26) can operate the vehicle system (10) in autonomous parking mode when the vehicle's current location is included in a parking space that includes at least one parking area, and the vehicle's stopped state due to brake pedal operation is maintained for a predetermined time or longer. At this time, the vehicle control unit (26) may operate the vehicle system (10) in autonomous parking mode only when there is a parking system (30) that controls the parking space where the vehicle is currently located, and parking map information for autonomous parking is received from the parking system (30). The vehicle control unit (26) may deactivate the autonomous operation mode of the vehicle when the vehicle operating in autonomous parking mode executes the autonomous parking function to complete parking, leaves the parking space, or starts driving.

[0065] The vehicle control unit (26) can control information displayed on the screen through the display unit (15). For example, when the vehicle system (10) operates in an autonomous parking operation mode, the vehicle control unit (26) can display a two-dimensional or three-dimensional image (hereinafter referred to as "parking space image") representing the parking space where the vehicle is currently located on the display unit (15) based on parking image information received from the parking system (30).

[0066] FIGS. 2a and 2b illustrate examples of parking space images displayed through a display unit (15), representing a parking space for perpendicular parking and a parking space for parallel parking, respectively. Referring to FIGS. 2a and 2b, the parking space images (100a, 100b) may include parking zones (101, 102) included in the parking space and a graphic object (120) representing the current position of a vehicle within the parking space. Additionally, the parking space images (100a, 100b) may further include a graphic object or graphic effect to distinguish the current parking status of each parking zone (101, 102), that is, whether another vehicle is parked there or if it is empty. For example, in the parking space images (100a, 100b), a graphic object (111) indicating this (e.g., a graphic object of a vehicle shape, text indicating a completed parking status, etc.) may be displayed in the parking zone (101) where another vehicle is parked. Additionally, for example, in the parking space images (100a, 100b), the colors of the parking area (101) occupied by another vehicle and the empty parking area (102) may be displayed differently. Additionally, for example, a separate graphic effect (blinking, highlight, etc.) may be applied to the currently empty parking area (102) in the parking space images (100a, 100b). Additionally, for example, guide information (112) that guides a vehicle operation method for selecting the area as a target parking area may be placed in the currently empty parking area (102) in the parking space images (100a, 100b).

[0067] FIG. 3 illustrates an example of guide information (112) for autonomous parking. Referring to FIG. 3, the guide information (112) may include graphic objects (201, 202, 203) representing a vehicle operation method for selecting each parking area as a target parking area. For example, the guide information (112) may include a graphic object (201) indicating a gear position (e.g., forward (D), neutral (N), reverse (R)), a graphic object (202) indicating the steering direction of the vehicle, and a graphic object (203) indicating the stopping of the vehicle. The graphic objects (201, 202, 203) included in the guide information (112) may be arranged sequentially according to a corresponding operation order. Taking FIG. 3 as an example, the guide information (112) of FIG. 3 is information that guides a vehicle operation method for selecting a parking area located on the front left side of the vehicle as a target parking area. For example, in order for a driver to select a parking area located on the front left as a target parking area, the vehicle's gear position is first set to the forward position (see graphic object (201)), and then the vehicle's steering wheel is rotated to the left (see graphic object 202)). Then, the vehicle is stopped in this state and waits for a predetermined amount of time (see graphic object (203)) to select a parking area located on the front left as a target parking area.

[0068] Meanwhile, FIGS. 2a and 2b illustrate an example in which guide information (112) for selecting each parking area (102) as a target parking area is displayed within a corresponding parking area on the parking space image (100); however, the guide information (112) may be displayed in a separate area or on a separate screen from the parking space image (100). In this case, the display position or display order of each graphic object (201, 202, 203) constituting the guide information (112) of FIG. 3 may be determined according to the execution order. For example, each graphic object (201, 202, 203) constituting the guide information (112) may be displayed on the left as the execution order is earlier, and on the right as the execution order is slower. In this case, among the graphic objects (201, 202, 203) constituting the guide information (112), the graphic object whose corresponding operation has been completed may have its display deactivated or its display state, such as color or shape, may be changed. Additionally, for example, each graphic object (201, 202, 203) constituting the guide information (112) can be displayed sequentially according to the execution order. That is, a graphic object representing the operation step of the current order is displayed through the display unit (15), and when the operation step is completed, the display of the graphic object currently being displayed is deactivated and a graphic object representing the next operation step can be displayed.

[0069] Again, looking at FIG. 1, when the prediction for the target parking area is successfully completed by the target parking area prediction unit (24), the vehicle control unit (26) can display information about the parking area selected as the target parking area through the display unit (15). For example, the vehicle control unit (26) can display information about the target parking area on the screen by changing the color of the area corresponding to the target parking area in the parking map information (100a, 100b) of FIG. 2a and FIG. 2b, additionally displaying a graphic object representing the parking area selected as the target parking area, or adding graphic effects (blinking, highlighting, etc.) to the area corresponding to the target parking area.

[0070] The vehicle control unit (26) can determine that the driver has confirmed the parking area as the target parking area if the vehicle maintains its current state for a predetermined period of time or longer after the target parking area is predicted by the target parking area prediction unit (24), that is, if the vehicle's steering wheel and stationary state maintain the state at the time of the target parking area prediction for a predetermined period of time or longer. Accordingly, the vehicle control unit (26) can display a graphic object (301) indicating that the selection of the target parking area has been confirmed and autonomous parking is being executed through the display unit (15), as shown in FIG. 4. In addition, the vehicle control unit (26) can output a voice signal (e.g., "Please take your hands off the steering wheel," "Please release the brake," etc.) that guides the execution of autonomous parking through the sound output unit (16). Additionally, the vehicle control unit (26) receives parking path information to a confirmed target parking area through the parking path acquisition unit (25), and controls the vehicle to park in the target parking area by controlling steering, acceleration / deceleration, gear shifting, stopping, etc. based on the received parking path information and the vehicle's surrounding environment information.

[0071] Meanwhile, FIG. 1 illustrates an example in which the vehicle system (10) performs the function of obtaining parking path information to a target parking area and moving the vehicle to the target parking area based thereon, but the embodiments of the present invention are not limited thereto. For example, in another embodiment, when a target parking area is determined, the parking system (30) may generate parking path information based on location information of the target parking area, current location information of the vehicle, surrounding environment information of the vehicle, facility information of the parking space, etc., and transmit this to the vehicle system (10). In addition, in yet another embodiment, the parking system (30) may take control of the vehicle from the vehicle system (10) and directly control the vehicle based on the parking path information generated as described above to park the vehicle in the target parking area.

[0072] FIG. 5 schematically illustrates an autonomous parking method according to an embodiment. FIG. 5 can be performed by the vehicle system (10) described with reference to FIG. 1.

[0073] Referring to FIG. 5, the vehicle system (10) operates in autonomous parking mode (S1) and can receive parking map information of the parking space where the vehicle is currently located from the parking system (30) (S2).

[0074] In the above S1 step, if the vehicle system (10) maintains a stopped state due to brake pedal operation for a predetermined period of time or longer while the vehicle has entered a parking space managed by the parking system (30), it can enter an autonomous parking mode by predicting that the driver is proceeding with parking in that space.

[0075] A vehicle system (10) operating in autonomous parking mode collects vehicle status information through a sensor unit (13) (S3), collects surrounding environment information through the sensor unit (13), an image capturing unit (14), etc. (S4), and can collect behavior information including driver's gaze information through the image capturing unit (14) (S5). Meanwhile, FIG. 5 illustrates an example in which information collection is performed in the order of collecting vehicle status information, collecting surrounding environment information, and collecting driver behavior information, but the embodiments of the present invention are not limited thereto. The order of collecting vehicle status information, surrounding environment information, and driver behavior information may be changed according to the embodiment.

[0076] When the aforementioned information is collected, the vehicle system (10) can identify whether the current state of the vehicle or the driver's actions satisfy the conditions for initiating autonomous parking based on this information (S6). That is, the vehicle system (10) can identify whether the current driving state of the vehicle is a stationary state, the current gear position of the vehicle or the driver's gaze information, and the direction of operation of the steering wheel satisfy the conditions for initiating autonomous parking. For example, the vehicle system (10) can determine that the conditions for initiating autonomous parking are satisfied if, while the vehicle is in a stationary state due to the operation of the brake pedal, the driver's gaze direction is directed to the left or right, and the steering wheel is rotated in the same direction as the driver's gaze for a predetermined period of time or longer.

[0077] In the above step S6, if the autonomous parking start condition is not satisfied for a predetermined amount of time or longer, the vehicle system (10) can identify whether the vehicle satisfies the autonomous parking mode release condition (S7). For example, the vehicle system (10) may determine that the autonomous parking mode release condition is satisfied when the vehicle starts driving again or moves out of the parking space. Additionally, for example, the vehicle system (10) may determine that the autonomous parking mode release condition is satisfied when the vehicle's parking is completed by manual operation by the driver.

[0078] If it is identified that the conditions for releasing the autonomous parking mode in step S7 are satisfied, the vehicle system (10) can release the autonomous operation mode (S12). On the other hand, if the conditions for releasing the autonomous parking mode are not satisfied, the vehicle system (10) can maintain the autonomous parking mode and repeat steps S3 through S6.

[0079] In the above step S6, if it is identified that the autonomous parking initiation condition is satisfied, the vehicle system (10) can determine a target parking area based on parking map information, vehicle status information, and driver behavior information (S8). That is, the vehicle system (10) can obtain information about empty parking areas among parking areas close to the vehicle, and determine a target parking area among the empty parking areas close to the vehicle where the driver wants to park based on the vehicle's current gear information or the driver's gaze information and the vehicle's steering information.

[0080] For example, if the vehicle is stopped by operating the brake pedal, the vehicle's current gear is in the reverse position, and the steering wheel is rotated to the right for a predetermined period of time or longer, the vehicle system (10) may estimate a parking area located on the rear right as the target parking area. Additionally, for example, if the vehicle is stopped by operating the brake pedal, the driver's gaze is directed to the left, and the steering wheel is rotated to the left for a predetermined period of time or longer, the vehicle system (10) may select the parking area closest to the vehicle's current position among the empty parking areas on the left side of the vehicle as the target parking area. In this way, once the target parking area is determined, the vehicle system (10) can display information about the target parking area through the display unit (15), thereby enabling the driver to identify whether the parking area they want has been selected as the target parking area.

[0081] When the target parking area is determined through the above step S8, the vehicle system (10) can obtain parking path information for a vehicle to park in the determined target parking area (S9). For example, the vehicle system (10) can obtain location information and shape information of the target parking area from parking map information received from the parking system (30), and generate a parking path for the vehicle based on the vehicle's current location information and surrounding environment information. Additionally, for example, the vehicle system (10) may receive parking path information for the vehicle from the parking system (10). In this case, the parking system (30) may receive location information of the target parking area, current location information of the vehicle, surrounding environment information of the vehicle, etc. from the vehicle system (10), and generate parking path information for the vehicle based on these information and facility information of the parking space, etc.

[0082] When parking path information to a target parking area is generated, the vehicle system (10) can control the vehicle to park in the target parking area by executing an autonomous parking function (S10). That is, the vehicle system (10) can control the vehicle to park in the target parking area by controlling steering, acceleration / deceleration, gear shifting, stopping, etc., according to the parking path information. When the vehicle parking is completed by executing the autonomous parking function in this way (S11), the vehicle system (10) can disable the autonomous parking mode (S12).

[0084] The autonomous parking method of a vehicle according to the above-described embodiment can be executed via software. When executed via software, the constituent means of the present invention are code segments that perform necessary tasks. Programs or code segments may be stored on a processor readable medium or transmitted via a computer data signal combined with a carrier wave on a transmission medium or communication network.

[0085] Computer-readable recording media include all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording devices include ROM, RAM, CD-ROM, DVD-ROM, DVD-RAM, magnetic tape, floppy disk, hard disk, and optical data storage unit. Additionally, computer-readable recording media can be distributed across networked computer devices, allowing computer-readable code to be stored and executed in a distributed manner.

[0086] The drawings and the detailed description of the invention referenced so far are merely exemplary of the invention and are used only for the purpose of explaining the invention, not to limit the meaning or the scope of the invention as defined in the claims. Therefore, those skilled in the art can easily select and substitute from them. Furthermore, those skilled in the art may omit some of the components described in this specification without degrading performance or may add components to improve performance. In addition, those skilled in the art may change the order of the method steps described in this specification depending on the process environment or equipment. Accordingly, the scope of the invention should be determined by the claims and their equivalents, rather than by the described embodiments. Explanation of the symbols

[0087] 10: Vehicle System 11: Communications Department 12: User Input Section 13: Sensor section 14: Video Recording Department 15: Display section 16: Audio Output Section 17: Storage section 18: Control unit 21: Driver Information Collection Department 22: Vehicle Information Collection Department 23: Surrounding Environment Information Collection Department 24: Target Parking Zone Prediction Unit 25: Parking path acquisition section 26: Vehicle control unit 30: Parking System 100: Parking space image 101, 102: Parking area

Claims

Claim 1 A vehicle system comprising: a sensor unit configured to detect state information of the vehicle including at least one camera located in the vehicle, gear position information, and steering information of a steering wheel; and a control unit that acquires driver's gaze information from an image of the driver captured through the at least one camera, and when the vehicle enters a parking space and maintains a stationary state for a predetermined time or longer, determines a target parking area among the parking areas included in the parking space based on the gear position information and the steering information, and executes an autonomous parking function to park in the target parking area; wherein the control unit enters an autonomous parking mode when the vehicle is located in the parking space and the stationary state caused by the operation of the brake pedal of the vehicle continues for a predetermined time or longer, and after entering the autonomous parking mode, determines that the autonomous parking start condition is satisfied when the direction indicated by the gaze information and the direction indicated by the steering information coincide for a predetermined time or longer while the vehicle is in a stationary state, and when the autonomous parking start condition is satisfied, determines the target parking area based on the gear position information and the steering information. Claim 2 A vehicle system according to claim 1, wherein the control unit determines a parking area located to the left of the vehicle or a parking area located to the right of the vehicle as the target parking area based on the steering direction of the steering wheel. Claim 3 In paragraph 2, the vehicle system wherein the control unit determines a parking area located in front, to the side, or to the rear of the vehicle as the target parking area based on the gear stage information. Claim 4 delete Claim 5 A vehicle system according to claim 1, wherein the control unit determines the direction in which the target parking area is located relative to the vehicle based on the gaze direction corresponding to the gaze information and the steering direction of the steering wheel. Claim 6 A vehicle system according to claim 5, wherein the control unit determines the parking area determined by the combination of the steering direction and the direction of the line of sight pointing toward the front, side, and rear of the left or right side of the vehicle as the target parking area. Claim 7 A vehicle system according to claim 1, further comprising a display unit, wherein the control unit displays a parking space image corresponding to the parking space through the display unit, and causes a parking space determined as the target parking space within the parking space image to flash or a parking space determined as the target parking space to be highlighted and displayed, thereby providing the driver with location information regarding the target parking space determined by the vehicle. Claim 8 A vehicle system according to claim 7, further comprising a communication unit communicating with a parking system managing the parking space, wherein the control unit receives parking map information corresponding to the parking space from the parking system, identifies at least one empty parking area within the parking space based on the parking map information, and determines the target parking area among the at least one empty parking area. Claim 9 A vehicle system according to claim 1, further comprising at least one sensing device configured to acquire surrounding environment information of the vehicle, wherein the control unit identifies at least one empty parking area within the parking space based on the surrounding environment information and determines the target parking area among the at least one empty parking area, and wherein the at least one sensing device comprises at least one camera or at least one sensor located on the vehicle. Claim 10 A vehicle system comprising at least one camera located in a vehicle, a sensor unit configured to detect steering information of a steering wheel, and a control unit that acquires driver's gaze information from an image of a driver captured through the at least one camera, and when the vehicle enters a parking space and maintains a stationary state for a predetermined time or longer, determines a target parking area among the parking areas included in the parking space based on the gaze information and the steering information, and executes an autonomous parking function to park in the target parking area; wherein the control unit enters an autonomous parking mode when the vehicle is located in the parking space and the stationary state caused by the operation of the vehicle's brake pedal continues for a predetermined time or longer, and after entering the autonomous parking mode, determines that the autonomous parking start condition is satisfied when the direction indicated by the gaze information and the direction indicated by the steering information coincide for a predetermined time or longer while the vehicle is stationary, and when the autonomous parking start condition is satisfied, determines the direction in which the target parking area is located relative to the vehicle based on the gaze direction corresponding to the gaze information and the steering direction of the steering wheel. Claim 11 delete Claim 12 A vehicle system according to claim 10, wherein the control unit determines a parking area as the target parking area by a combination of the steering direction and which direction the line of sight points to among the front, side, and rear of the left or right side of the vehicle. Claim 13 A vehicle system according to claim 10, further comprising a display unit, wherein the control unit displays a parking space image corresponding to the parking space through the display unit, and causes a parking space determined as the target parking space within the parking space image to flash or a parking space determined as the target parking space to be highlighted and displayed, thereby providing the driver with location information regarding the target parking space determined by the vehicle. Claim 14 A vehicle system according to claim 13, further comprising a communication unit communicating with a parking system managing the parking space, wherein the control unit receives parking map information corresponding to the parking space from the parking system, identifies at least one empty parking area within the parking space based on the parking map information, and determines the target parking area among the at least one empty parking area. Claim 15 A vehicle system according to claim 10, further comprising at least one sensing device configured to acquire surrounding environment information of the vehicle, wherein the control unit identifies at least one empty parking area within the parking space based on the surrounding environment information and determines the target parking area among the at least one empty parking area, and wherein the at least one sensing device comprises at least one camera or at least one sensor located on the vehicle. Claim 16 A method for autonomous parking of a vehicle, comprising: a step of obtaining driver's gaze information from an image of a driver captured through at least one camera located in the vehicle; a step of obtaining gear information of the vehicle and steering information of a steering wheel; a step of entering an autonomous parking mode when the vehicle is positioned within a parking space and the vehicle is in a stopped state due to the operation of a brake pedal for a predetermined time or longer; a step of determining that an autonomous parking start condition is satisfied when, after entering the autonomous parking mode, the direction indicated by the gaze information and the direction indicated by the steering information coincide for a predetermined time or longer while the vehicle is in a stopped state; a step of determining a target parking area among parking zones included in the parking space based on the gear information and the steering information when the autonomous parking start condition is satisfied; and a step of executing an autonomous parking function so that the vehicle parks in the target parking area when the target parking area is determined. Claim 17 An autonomous parking method according to claim 16, wherein the determining step comprises determining a parking area located to the left of the vehicle or a parking area located to the right of the vehicle as the target parking area based on the steering direction of the steering wheel. Claim 18 An autonomous parking method according to claim 16, wherein the determining step comprises the step of determining the target parking area by additionally using the gaze information. Claim 19 An autonomous parking method according to claim 18, wherein the step of determining the target parking area using additional gaze information comprises: determining the direction in which the target parking area is located relative to the vehicle according to the gaze direction corresponding to the gaze information and the steering direction of the steering wheel; and determining the target parking area on the left or right side of the vehicle based on the determined direction. Claim 20 An autonomous parking method according to claim 16, wherein the determining step comprises determining the target parking area in front, to the side, or to the rear of the vehicle based on the current gear position of the vehicle. Claim 21 An autonomous parking method according to claim 17, further comprising the step of displaying a parking space image corresponding to the parking space on a screen, wherein the parking space image is configured such that a parking space determined as the target parking space within the parking space image flashes or a parking space determined as the target parking space is highlighted to provide the driver with location information regarding the target parking space determined by the vehicle. Claim 22 An autonomous parking method according to claim 21, further comprising the steps of receiving parking map information corresponding to the parking space from a parking system managing the parking space, and identifying at least one empty parking area within the parking space based on the parking map information, wherein the determining step comprises determining the target parking area among the at least one empty parking area. Claim 23 An autonomous parking method according to claim 17, further comprising the steps of acquiring surrounding environment information of the vehicle through at least one sensing device and identifying at least one empty parking area within the parking space based on the surrounding environment information, wherein the determining step includes determining the target parking area among the at least one empty parking area, and wherein the at least one sensing device comprises at least one camera or at least one sensor located on the vehicle. Claim 24 A method for autonomous parking of a vehicle, comprising the steps of: obtaining gaze information of a driver from an image of a driver captured through at least one camera located in the vehicle; detecting steering information of a steering wheel; entering an autonomous parking mode when the vehicle is positioned within a parking space and the vehicle is in a stopped state due to the operation of the brake pedal of the vehicle for a predetermined time or longer; determining that an autonomous parking start condition is satisfied when, after entering the autonomous parking mode, the direction indicated by the gaze information and the direction indicated by the steering information match for a predetermined time or longer while the vehicle is in a stopped state; determining that an autonomous parking start condition is satisfied when the autonomous parking start condition is satisfied, determining a target parking area among parking areas included in the parking space based on the gaze information and the steering information; and executing an autonomous parking function to park in the target parking area when the target parking area is determined, wherein the determining step includes determining the target parking area from the left or right side of the vehicle based on the gaze direction corresponding to the gaze information and the steering direction of the steering wheel. Claim 25 delete Claim 26 An autonomous parking method according to claim 24, further comprising the step of displaying a parking space image corresponding to the parking space on a screen, wherein the parking space image is configured such that a parking space determined as the target parking space within the parking space image flashes or a parking space determined as the target parking space is highlighted to provide the driver with location information regarding the target parking space determined by the vehicle. Claim 27 An autonomous parking method according to claim 26, further comprising the steps of receiving parking map information corresponding to the parking space from a parking system managing the parking space, and identifying at least one empty parking area within the parking space based on the parking map information, wherein the determining step comprises the step of determining the target parking area among the at least one empty parking area. Claim 28 An autonomous parking method according to claim 24, further comprising the steps of acquiring surrounding environment information of the vehicle through at least one sensing device, and identifying at least one empty parking area within the parking space based on the surrounding environment information, wherein the determining step includes determining the target parking area among the at least one empty parking area, and wherein the at least one sensing device comprises at least one camera or at least one sensor located on the vehicle.

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