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 PDFInfo
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- 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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- parking
- vehicle
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- sensor
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- 238000000034 method Methods 0.000 title claims description 31
- 230000002093 peripheral effect Effects 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004141 dimensional analysis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Classifications
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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
Description
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.
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
The
The
The peripheral information wireless providing
Unlike the
In particular, the peripheral information wireless providing
The
The
The
In addition, in the embodiment of the present invention, the
In addition, in another embodiment of the present invention, the
The guidance
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
At this time, the peripheral information wireless providing
As a result, if the surrounding information is not detected because the CCTV 310, the parking
However, when the surrounding information is received from various sensors including the CCTV 310 located in the parking lot, the
When the information on whether the vehicle is parked on each parking surface of the corresponding parking lot is received from the parking
As described above, the information about the obstacle near the vehicle and the image of the other vehicle from the
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
When the peripheral information about the parking line sensed by the parking
The
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)
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.
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.
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.
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.
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 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.
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.
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.
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.
Further comprising a guide message output unit including an LCD and a speaker for displaying a parking process performed by the parking control unit.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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KR1020150141055A KR20170041521A (en) | 2015-10-07 | 2015-10-07 | Parking assistance system and a control method using the information of the outside vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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KR1020150141055A KR20170041521A (en) | 2015-10-07 | 2015-10-07 | Parking assistance system and a control method using the information of the outside vehicle |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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KR1020170108747A Division KR20170102192A (en) | 2017-08-28 | 2017-08-28 | Parking assistance system and a control method using the information of the outside vehicle |
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KR20170041521A true KR20170041521A (en) | 2017-04-17 |
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KR1020150141055A KR20170041521A (en) | 2015-10-07 | 2015-10-07 | Parking assistance system and a control method using the information of the outside vehicle |
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Cited By (3)
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 |
-
2015
- 2015-10-07 KR KR1020150141055A patent/KR20170041521A/en not_active Application Discontinuation
Cited By (4)
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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