KR20170041521A - Parking assistance system and a control method using the information of the outside vehicle - Google Patents

Parking assistance system and a control method using the information of the outside vehicle Download PDF

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Publication number
KR20170041521A
KR20170041521A KR1020150141055A KR20150141055A KR20170041521A KR 20170041521 A KR20170041521 A KR 20170041521A KR 1020150141055 A KR1020150141055 A KR 1020150141055A KR 20150141055 A KR20150141055 A KR 20150141055A KR 20170041521 A KR20170041521 A KR 20170041521A
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South Korea
Prior art keywords
parking
vehicle
information
unit
sensor
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KR1020150141055A
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Korean (ko)
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김기혁
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주식회사 성우모바일
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Priority to KR1020150141055A priority Critical patent/KR20170041521A/en
Publication of KR20170041521A publication Critical patent/KR20170041521A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
    • B60W2050/0064—Manual parameter input, manual setting means, manual initialising or calibrating means using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/06—Automatic manoeuvring for parking

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

According to the present invention, a parking assisting system using vehicle outside information is capable of analyzing necessary information for parking through a parking control part by receiving the necessary information for parking from an ultrasonic sensor and an image sensor of a vehicle while receiving vehicle outside information from a CCTV, which is installed outside the vehicle, through a wireless surrounding information providing part, and controlling the speed and direction of the vehicle based on vehicle control information, provided by the parking control part, through a parking performing part. The parking control part comprises: a parking space recognizing part exploring for a parking space by three-dimensionally analyzing distance information and image information which are provided from the image sensor, the ultrasonic sensor, and the wireless surrounding information providing part; a movement route setting part setting an optimal movement route for a parking target vehicle based on the parking space, discovered by the parking space recognizing part, and a current position of the parking target vehicle; and a parking route tracking part confirming whether the vehicle moves along the movement route, set by the movement route setting part, by tracking the position of the vehicle, which is being parked along the set movement route, and then correcting the vehicle control information to control the parking of the vehicle when the vehicle gets out of the movement route.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a parking assistance system and a control method thereof,

More particularly, the present invention relates to a vehicle auxiliary information system and a control method thereof, and more particularly, to a vehicle auxiliary information system using information provided by an external image sensor such as CCTV, together with information obtained by an image sensor or an ultrasonic sensor mounted on a vehicle Analyzing and tracking the parking space to be parked, the scheduled parking path of the vehicle, and the parking execution path, thereby enabling to accurately identify and park the parking space to be parked and obstacles or other vehicles around the parking space To an external information utilizing parking assist system and a control method thereof.

In recent years, when the vehicle is parked, the vehicle is controlled by the operation of the vehicle ECU, not the operation of the driver, based on the information about the object sensed through the ultrasonic sensor and the image sensor (rear camera, etc.) Techniques have been developed to allow parking, and some of these techniques have been applied to real vehicles. As a part of the above, research and development on a parking assist system (PAS) using various IT equipments mounted on a vehicle have been actively conducted as described above.

The research and development of the parking assist system described above can be linked to the development of unattended parking (valet parking, etc.) and a vehicle capable of autonomous driving in the long term. Therefore, most automobile manufacturers, automobile parts companies, IT related companies, IT related research institutes Is also being actively researched and developed.

An example of such a conventional parking assist system is to check whether a parking area is empty by searching a parking area using a camera installed in the vehicle, and when the parking area is empty as a result of confirmation, the corner of the parking line is detected, A method of acquiring the coordinates of an edge using an ultrasonic sensor that can be used, comparing the size of the parking space with the size of the vehicle to determine whether or not the vehicle can be parked, and displaying the related information on a monitor installed in the vehicle.

Further, when the parking assist system determines that parking is possible by the information input from the camera and the ultrasonic sensor installed in the vehicle, it determines the shape of the parking line, sets the direction of the parking vehicle according to the shape of the parking line, And a function of automatically parking the vehicle according to the parking trajectory after calculating the parking trajectory based on the direction of the vehicle and the current vehicle position is also applied.

On the other hand, as disclosed in Korean Patent Application Publication No. 10-2014-0073131 (automatic parking control method in conjunction with a CCTV camera), a system for assisting parking of a vehicle by receiving parking information from a CCTV installed outside the vehicle is developed It is in the present situation.

However, in most conventional parking assist systems, various information is received from a camera mounted on the vehicle and various sensors, and the obstacle, the vehicle, and the distance between them are two-dimensionally checked. In this case, There is a limit to precisely check the distance between them and the surrounding obstacles, vehicles, and only with the information provided by the camera and various sensors.

Especially, most of the information detected by the camera and various sensors mounted on the vehicle is analyzed in two dimensions, so that the surrounding space to be parked and the obstacles or vehicles located around the surrounding space can not be accurately detected.

Korean Patent Application Publication No. 10-2014-0073131 (Apr. Korea Intellectual Property Office Registration No. 10-1438941 (April 31, 2013) Korea Intellectual Property Office Registration No. 10-1449295 (Apr.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems of the prior art, and it is an object of the present invention to provide an information processing apparatus and a method of parking a vehicle using information provided by an external system, such as CCTV, together with information obtained by an image sensor or an ultrasonic sensor, Analyzing and tracking the parking space, the scheduled parking route of the vehicle, and the parking execution route, etc., so that the parking space to be parked and the obstacle around the parking space or other vehicles can be accurately checked and parked. System and a control method thereof.

In addition, the present invention can be applied not only to an image received from a CCTV installed in a parking lot but also to a vehicle auxiliary information utilizing parking assist system for enabling quick parking using information provided from a parking vehicle detection sensor and a parking line guidance sensor installed in a parking lot And to provide a control method thereof.

According to an aspect of the present invention, there is provided a parking assisting system using outside information of a vehicle, the information being provided for parking the vehicle from an image sensor and an ultrasonic sensor mounted on the vehicle, And the parking implement unit is configured to implement parking by controlling the direction and speed of the vehicle based on the vehicle control information provided by the parking control unit In the parking assisting system of the vehicle, the parking control unit may include a parking space recognizing unit for three-dimensionally analyzing the image information and the distance information provided in the image sensor, the ultrasonic sensor, and the peripheral information providing unit to search for the parking space; A movement route setting unit for setting an optimum movement route of the parking target vehicle based on the current position of the parking target vehicle and the parking space detected by the parking space recognition unit; And tracks the position of the vehicle being parked along the travel route set by the travel route setting unit to check whether the vehicle travels along the travel route set by the travel route setting unit and controls parking of the vehicle when the travel route is out of the travel route A parking path tracing unit for correcting the vehicle control information; May be constructed.

The external information of the vehicle provided from the peripheral information providing unit to the parking control unit in the parking assist system utilizing the external information of the vehicle according to the embodiment of the present invention includes whether the vehicle is parked on the parking surface of the parking lot May be included.

In the parking assist system utilizing the vehicle outside information according to the embodiment of the present invention, the vehicle outside information provided from the peripheral information providing unit to the parking control unit includes a parking line induction sensor More information may be included.

In the parking assist system utilizing the vehicle outside information according to the embodiment of the present invention, the peripheral information wireless provider may transmit at least one of the peripheral information detected by the CCTV, the parking vehicle detection sensor, And can be configured to wirelessly transmit when a vehicle is detected for parking or parking.

The navigation system may further include a guidance message output unit including an LCD and a speaker for displaying a parking process performed by the parking control unit in the parking assist system utilizing external information of the vehicle according to an embodiment of the present invention.

According to the present invention, information obtained from an image sensor or an ultrasonic sensor mounted on a vehicle to be parked, as well as information provided from an external image sensor or various sensors, is analyzed three-dimensionally, The route, the parking execution path, and the like can be searched, analyzed and tracked, thereby enabling the parking space to be parked and the obstacle around the parking space or other vehicles to be accurately identified and parked.

According to the parking assisting system for outside information utilizing vehicle according to the present invention, the parking process is performed more quickly by utilizing the information provided from the parking vehicle detection sensor and the parking line guidance sensor installed in the parking lot as well as the CCTV installed in the parking lot in the parking process of the vehicle There is an effect that can be.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a vehicle auxiliary information utilizing parking assistance system according to an embodiment of the present invention; FIG.
FIG. 2 is a flowchart schematically showing a control method of a vehicle auxiliary information utilizing parking assisting system according to an embodiment of the present invention shown in FIG. 1. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of a parking assisting system utilizing an external information according to an embodiment of the present invention.

As shown in FIG. 1, the vehicle outside information utilizing parking assist system according to the embodiment of the present invention includes an image sensor 100 mounted on a vehicle, an ultrasonic sensor 200 mounted on a vehicle, And a wireless communication module 340 including a parking line detection sensor 330 corresponding to a parking parking line and a parking vehicle detection sensor 320 installed on a parking lot surface of the parking lot, A parking control unit 400 including a parking space recognizing unit 410, a travel path setting unit 420, a parking vehicle tracking unit 430 and a wireless communication module 440 to control parking of the vehicle, A parking implement unit 500 for implementing parking, a guidance message output unit 600 including an LCD or a speaker, and an input unit 700 including a touch screen or the like.

The image sensor 100 according to the embodiment of the present invention photographs an obstacle or other vehicle located in the vicinity of the vehicle to be parked in the automatic parking mode and provides the corresponding image information to the parking control unit 400 .

The ultrasonic sensor 200 according to the embodiment of the present invention photographs the distance to an obstacle or other vehicle located in the vicinity of the vehicle to be parked in the automatic parking mode in real time and transmits the distance information to the parking controller 400, Respectively.

The peripheral information wireless providing unit 300 according to the embodiment of the present invention is installed outside the vehicle to be parked (such as the upper part of the parking lot) unlike the image sensor 100 or the ultrasonic sensor 200 mounted on the vehicle to be parked A CCTV 310, a parking vehicle detection sensor 320, a parking line induction sensor 330, a wireless communication module 340, and the like.

Unlike the image sensor 100 and the ultrasonic sensor 200, the CCTV 310 constituting the peripheral information wireless providing unit 300 is installed at the upper part of the parking lot to be parked, An image of an obstacle or another vehicle, and wirelessly transmit the image information to the parking controller 400 through the wireless communication module 340.

In particular, the peripheral information wireless providing unit 300 may transmit at least one of the peripheral information detected by the CCTV 310, the parking vehicle detection sensor 320, and the parking line inductive sensor 330, Or when the vehicle is detected for parking.

The parking control unit 400 analyzes the information provided from the peripheral information wireless providing unit 300 located in the parking lot together with the information provided from the image sensor 100 and the ultrasonic sensor 200 mounted on the vehicle, The parking control unit 400 controls the image information provided from the peripheral information wireless providing unit 300 including the image sensor 100, the ultrasonic sensor 200 and the CCTV 310, A parking space recognizing unit 410 for three-dimensionally analyzing the parking space to search for a parking space, a parking space recognizing unit 410 for analyzing the current position of the vehicle to be parked and the parking space detected by the parking space recognizing unit 410 It is possible to track the position of the vehicle being parked along the travel route set by the travel route setting unit 420 and the travel route setting unit 420 for setting the optimal travel route and to determine whether the vehicle is set by the travel route setting unit 420 And a parking vehicle tracking unit 430 for confirming whether the vehicle moves along the movement path and correcting the vehicle control information for controlling the parking of the vehicle when the vehicle is out of the movement path.

The parking control unit 400 mounted on the vehicle to be parked may also receive various information wirelessly transmitted through the wireless communication module 340 of the peripheral information wireless providing unit 300, A wireless communication module 440 is provided.

The parking implementing section 500 carries out substantial parking of the vehicle through steering, acceleration / deceleration control of the wheel by the vehicle control information of the parking control section 400. [

In addition, in the embodiment of the present invention, the parking control unit 300 further includes a parking vehicle detection sensor 320 installed on a plurality of parking surfaces provided inside the parking lot to detect whether or not the vehicle is parked, It is possible to display or display the vehicle control information on the parking implementor 500 for indicating whether or not the vehicle is parked and moving to the parking space where the vehicle can park.

In addition, in another embodiment of the present invention, the parking control unit 400 further includes a parking line induction sensor 330 that displays a parking space of the parking space in which the vehicle can be parked, so that the final parking destination of the vehicle is the parking line induction sensor 330 to be located within the parking space sensed by the vehicle.

The guidance message output unit 600 according to the embodiment of the present invention includes an LCD and a speaker for displaying a parking process under the control of the parking controller 400. The LCD may be a touch screen. The input unit 700 inputs various operation modes including an automatic parking mode for automatic parking of the vehicle, and the LCD of the above-mentioned touch screen may be one example thereof.

FIG. 2 is a flowchart illustrating a method of controlling an external information utilizing parking assisting system according to an embodiment of the present invention shown in FIG. 1. Referring to FIG.

Referring to FIG. 2, when the automatic parking mode is set (S1) by the operation of the input unit 700, the parking control unit 400 controls the CCTV 310, the parking vehicle detection sensor 320, A parking induction sensor 330 and the like are installed to confirm whether peripheral information for automatic parking is wirelessly transmitted (S2).

At this time, the peripheral information wireless providing unit 300 transmits at least one of the peripheral information detected by the CCTV 310, the parking vehicle detecting sensor 320, and the parking line inductive sensor 330, Or when the vehicle is detected for parking, the unnecessary power consumption can be reduced.

As a result, if the surrounding information is not detected because the CCTV 310, the parking vehicle detection sensor 320, and the parking line guidance sensor 330 are not disposed in the parking lot where the vehicle is located, the parking control unit 400 The navigation apparatus searches for a parking space by analyzing image information provided from the image sensor 100 mounted on the vehicle and distance information provided from the ultrasonic sensor 200 and displays information about the current position of the vehicle to be parked and the detected parking space It is possible to track the position of the vehicle being parked while parking the vehicle along the set travel path by driving the parking implement 500 by setting the optimal travel route of the vehicle to be parked on the basis of the travel route, And corrects the parking control information provided to the parking implementor 500 for accurate parking when the vehicle is out of the route (S3).

However, when the surrounding information is received from various sensors including the CCTV 310 located in the parking lot, the parking control unit 400 detects the presence of the parking vehicle on each parking surface of the corresponding parking lot, It is confirmed whether peripheral information is received from the sensor 320 (S4).

When the information on whether the vehicle is parked on each parking surface of the corresponding parking lot is received from the parking vehicle detection sensor 320, the parking control unit 400 displays the parking space available for parking through the guidance message output unit 600, The vehicle control information may be output to the parking implementor 500 so that the vehicle can be moved to the parking space where the vehicle can be parked (S5).

As described above, the information about the obstacle near the vehicle and the image of the other vehicle from the image sensor 100, the distance information about the distance from the ultrasonic sensor 200 to the obstacle around the vehicle and the other vehicle, The parking control unit 400 obtains the image information of the obstacle including the obstacle and the other vehicle by three-dimensionally analyzing various kinds of information as described above (S7).

If it is found that there is a parking space available for parking in the vicinity of the vehicle through the above-described searching process, the parking control unit 400 detects the obstacle around the vehicle and the image information about the other vehicle from the image sensor 100, The parking control unit 400 obtains the above-described various kinds of information from the CCTV 310 of the parking lot to the obstacle including the vehicle 3 (S8). In step S8, the vehicle is parked in the parking space.

When the peripheral information about the parking line sensed by the parking line guidance sensor 330 is received from the peripheral information received from the peripheral information wireless providing unit 300, the parking control unit 400 sets the final parking destination of the vehicle The moving route of the vehicle for parking can be set so as to be located in the parking space sensed by the parking line guidance sensor 330. [

The parking control unit 400 provides the vehicle control information to the parking implement unit 500 so that the vehicle 100 is parked along the set travel path while the vehicle 100 is being parked along with the ultrasound sensor 200, The vehicle monitoring unit 500 tracks the position of the vehicle being parked through three-dimensional analysis to confirm whether the vehicle is moving accurately along the set travel path, (Step S9).

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Modification is possible. Accordingly, the spirit of the present invention should be understood only by the appended claims, and all equivalent or equivalent variations thereof are included in the scope of the present invention.

100: image sensor 200: ultrasonic sensor
300: peripheral information providing unit 310: CCTV
320: Parked vehicle detection sensor 330: Parking line detection sensor
400: Parking Control Unit 410: Parking Space Recognition Unit
420: movement route setting unit 430: parking vehicle tracking unit
500: parking implement unit 600: guidance message output unit
700: input

Claims (10)

In addition, while receiving the information necessary for parking the vehicle from the image sensor and the ultrasonic sensor mounted on the vehicle, the external information of the vehicle is received from the CCTV installed outside the vehicle through the peripheral information providing unit and analyzed the vehicle control information necessary for parking in the parking control unit And a parking assistance unit configured to implement parking by controlling the direction and speed of the vehicle based on the vehicle control information provided by the parking control unit,
Wherein the parking control unit comprises:
A parking space recognition unit for three-dimensionally analyzing the image information and the distance information provided in the image sensor, the ultrasonic sensor, and the peripheral information providing unit to search for a parking space;
A movement path setting unit for setting an optimum movement path of the parking target vehicle based on the current position of the parking target vehicle and the parking space detected by the parking space recognizing unit; And
The control unit tracks the position of the vehicle being parked along the travel route set by the travel route setting unit to check whether the vehicle travels along the travel route set by the travel route setting unit and controls the parking of the vehicle when the travel route is out of the travel route A parking path tracing unit for correcting the vehicle control information to be transmitted to the vehicle; And a parking assist system using external information of the vehicle. The method according to claim 1,
Wherein the external information of the vehicle provided to the parking control unit in the peripheral information providing unit includes information on whether or not the vehicle is parked on the parking surface of the parking lot from the parking lot vehicle detection sensor installed in the parking lot. One parking assist system. 3. The method according to claim 1 or 2,
Wherein the vehicle external information provided to the parking control unit in the peripheral information wireless provisioning further includes information provided by a parking line guidance sensor that indicates a parking space of the parking space in which the vehicle can be parked. Utilized parking assist system. The method of claim 3,
Wherein the peripheral information wireless providing unit wirelessly transmits at least one of peripheral information detected by the CCTV, the parking vehicle detection sensor, and the parking line induction sensor when a vehicle is requested for parking or when a vehicle is detected for parking. Parking assist system utilizing external information of the vehicle. 5. The method of claim 4,
Further comprising an information message output unit including an LCD and a speaker for displaying a parking process performed by the parking control unit. A first step of, when the automatic parking mode is set, a first step of the parking control unit collecting distance information between the image information of other vehicles or obstacles in the parking lot provided from the image sensor and other vehicles or obstacles in the parking lot provided by the ultrasonic sensor;
A second step of receiving, by wireless communication, video information about a parking lot provided from a CCTV when the peripheral information is wirelessly transmitted from the surrounding information wireless providing unit;
A third step of searching for a parking space by three-dimensionally analyzing the image information of the image sensor, the distance information of the ultrasonic sensor, and the image signal wirelessly transmitted from the CCTV;
A fourth step of setting an optimal travel route of the vehicle to be parked on the basis of the current position of the vehicle to be parked by the travel route setting unit and the parking space searched in the third step; And
The parking vehicle tracking section tracks the position of the vehicle being parked along the travel route set by the travel route setting section while parking the vehicle in the parking space searched for by the parking implementing section, And correcting the vehicle control information for controlling the parking of the vehicle when the vehicle is out of the traveling path. And a control unit for controlling the parking assist system. The method according to claim 6,
Wherein the vehicle peripheral information provided to the parking control unit in the peripheral information wireless unit further includes information provided by a parking line guidance sensor that displays a parking space of the parking space in which the vehicle can be parked. Control method of parking assist system. 8. The method according to claim 6 or 7,
Wherein the vehicle peripheral information provided to the parking control unit in the peripheral information wireless unit further includes information provided by a parking line guidance sensor that displays a parking space of the parking space in which the vehicle can be parked. Control method of parking assist system. 9. The method of claim 8,
The peripheral information wirelessly providing unit is configured to wirelessly transmit at least one of peripheral information detected by the CCTV, the parking vehicle detection sensor, and the parking line induction sensor when a vehicle is requested for parking or when a vehicle is detected for parking A control method of a parking assist system using external information of a vehicle. 10. The method of claim 9,
Further comprising a guide message output unit including an LCD and a speaker for displaying a parking process performed by the parking control unit.
KR1020150141055A 2015-10-07 2015-10-07 Parking assistance system and a control method using the information of the outside vehicle KR20170041521A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108860141A (en) * 2018-06-26 2018-11-23 奇瑞汽车股份有限公司 Method, apparatus of parking and storage medium
CN109493633A (en) * 2018-12-20 2019-03-19 广州小鹏汽车科技有限公司 It is a kind of can parking stall detection method and device
CN112319464A (en) * 2020-11-09 2021-02-05 恒大新能源汽车投资控股集团有限公司 Automatic parking method, device, equipment and storage medium

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108860141A (en) * 2018-06-26 2018-11-23 奇瑞汽车股份有限公司 Method, apparatus of parking and storage medium
CN109493633A (en) * 2018-12-20 2019-03-19 广州小鹏汽车科技有限公司 It is a kind of can parking stall detection method and device
CN112319464A (en) * 2020-11-09 2021-02-05 恒大新能源汽车投资控股集团有限公司 Automatic parking method, device, equipment and storage medium
CN112319464B (en) * 2020-11-09 2021-10-15 恒大新能源汽车投资控股集团有限公司 Automatic parking method, device, equipment and storage medium

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