KR20190095591A - Auto parallel parking method of car - Google Patents

Auto parallel parking method of car Download PDF

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KR20190095591A
KR20190095591A KR1020180008232A KR20180008232A KR20190095591A KR 20190095591 A KR20190095591 A KR 20190095591A KR 1020180008232 A KR1020180008232 A KR 1020180008232A KR 20180008232 A KR20180008232 A KR 20180008232A KR 20190095591 A KR20190095591 A KR 20190095591A
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South Korea
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vehicle body
vehicle
distance
parking
obstacle
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KR1020180008232A
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Korean (ko)
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김승호
이석호
손성환
주백석
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금오공과대학교 산학협력단
이석호
손성환
김승호
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Priority to KR1020180008232A priority Critical patent/KR20190095591A/en
Publication of KR20190095591A publication Critical patent/KR20190095591A/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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W2550/10—
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The present invention relates to an automatic parallel parking method of a vehicle, capable of automatically parallel parking a vehicle without intervention by a driver. An automatic parallel parking system of a vehicle comprises: a vehicle body which drives front and rear wheels by a DC motor; a steering unit coupled to the front wheel of the vehicle body which adjusts the steering direction of the vehicle body; a braking unit which brakes the movements of the vehicle body; an obstacle detecting unit which detects an obstacle on the front, lateral, and rear sides of the vehicle body; and an ECU which controls the steering unit, the braking unit, and the DC motor to automatically parallel park the vehicle body in accordance with a detection result of the obstacle detecting unit. Moreover, the obstacle detecting unit comprises front and rear infrared sensors and a plurality of lateral infrared sensors. According to the present invention, the automatic parallel parking method of a vehicle comprises the following steps: allowing the lateral infrared sensors to detect a lateral space to determine whether the vehicle body can be parked within the lateral space when the vehicle body is moved; moving the vehicle body in a forward direction until a predetermined distance is spaced apart from an obstacle in front of the detected parking space; moving the vehicle body backward into the detected parking space in a left direction up to a set backward distance; moving the vehicle body forward in a right direction up to a set front distance; moving the vehicle body backward up to the set backward distance; moving the vehicle body backward in the left direction by a predetermined distance and moving the vehicle body forward in the right direction by a predetermined distance to align the vehicle body to a lateral surface; and braking the vehicle body when the vehicle body moves backward up to the set backward distance to be placed at the center of the parking space.

Description

차량 자동평행주차방법{AUTO PARALLEL PARKING METHOD OF CAR}Auto parallel parking method {AUTO PARALLEL PARKING METHOD OF CAR}

본 발명은 차량이 자동평행주차방법에 관한 것으로서, 보다 자세히는 배터리로 구동되는 전기차량을 자동으로 평행주차하는 방법에 관한 것이다. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for parallel parking of a vehicle, and more particularly, to a method of automatically parallel parking a battery powered electric vehicle.

초보 운전자가 운전을 할 때 가장 어렵게 생각하는 부분이 주차이다. 평행주차 또는 종렬 주차를 할 때, 초보운전자나 여성운전자는 숙련된 운전자보다 많은 주의와 시간을 요하게 된다. The most difficult part of a novice driver's driving is parking. When parallel parking or parallel parking, novice or female drivers require more attention and time than experienced drivers.

그럼에도 불구하고 자동차 사고 중 주차시 발생하는 사고가 전체의 30%를 차지한다. 주차사고의 충돌대상은 충돌대상은 82% 가량이 차량이고 벽이나 기둥에 충돌한 사고는 11~12% 내외이며 대인 사고는 0.1%이다.Nevertheless, parking accidents account for 30% of the total. About 80% of the car accidents were hit by car, about 11 ~ 12% of them hit a wall or pillar, and about 0.1% of people were involved in a car accident.

주차시 사고가 발생하는 가장 큰 이유는 운전자들의 미숙한 주차실력 때문이다. 또한, 평행주차가 종렬주차와 비교할 때 시야 확보가 어려워 후방 접촉사고가 자주 발생하게 된다.The biggest reason for accidents when parking is due to the driver's immature parking skills. In addition, as compared with parallel parking, it is difficult to secure a field of view as compared with parallel parking, and rear contact accidents frequently occur.

이에 따라 최근에는 운전자의 개입없이 차량이 자동으로 주차를 할 수 있는 자동주차시스템이 개발되고 있다. Accordingly, recently, an automatic parking system has been developed in which a vehicle can be parked automatically without driver intervention.

한국공개특허 제2014-0030531호 "AVM 센서를 이용한 자동주차 장치 및 방법"Korean Laid-Open Patent No. 2014-0030531 "Automatic Parking Device and Method Using AVM Sensor"

본 발명의 목적은 상술한 문제를 해결하기 위한 것으로, 운전자의 개입없이 자동으로 평행주차를 할 수 있는 차량 자동평행주차방법을 제공하는 것이다. SUMMARY OF THE INVENTION An object of the present invention is to solve the above-described problem, and to provide a vehicle automatic parallel parking method capable of automatically performing parallel parking without intervention of a driver.

본 발명의 상기 목적과 여러 가지 장점은 이 기술분야에 숙련된 사람들에 의해 본 발명의 바람직한 실시예로부터 더욱 명확하게 될 것이다.The above objects and various advantages of the present invention will become more apparent from the preferred embodiments of the present invention by those skilled in the art.

본 발명의 목적은 차량 자동평행주차 방법에 의해 달성될 수 있다. 본 발명의 차량 자동평행주차방법은, 상기 차량의 자동평행주차시스템은, DC모터에 의해 전륜과 후륜이 구동되는 차량본체와; 상기 차량본체의 전륜에 결합되어 상기 차량본체의 조향방향을 조절하는 조향부와; 상기 차량본체의 이동을 제동하는 제동부와; 상기 차량본체의 전면, 측면 및 후방의 장애물을 감지하는 장애물감지부와; 상기 장애물감지부의 감지결과에 따라 차량본체가 자동으로 평행주차가 되도록 상기 조향부와 상기 제동부 및 상기 DC모터를 제어하는 ECU를 포함하되, 상기 장애물감지부는 전방적외선센서, 후방적외선센서, 복수개의 측면적외선센서를 포함하며, 상기 차량본체가 이동할 때 상기 복수개의 측면적외선센서가 측면공간을 감지하여 상기 차량본체가 주차가능한 공간인지 판단하는 단계와; 상기 주차가능 공간 전방 장애물과 일정 거리가 될 때까지 전진하는 단계와; 설정된 후방거리까지 상기 주차가능 공간으로 우향후진하는 단계와; 설정된 후방거리까지 좌향후진하는 단계와; 설정된 전방거리까지 우향전진하는 단계와; 설정된 후방거리까지 후진하는 단계와; 차량본체의 측면정렬을 위해 차량본체를 일정 거리만큼 좌향후진 및 우향전진하는 단계와; 설정된 후방거리까지 후진하여 주차가능 공간 정중앙에 상기 차량본체가 위치되면 상기 차량본체를 제동하는 단계를 포함하는 것을 특징으로 한다. The object of the present invention can be achieved by a vehicle parallel parking method. According to an aspect of the present invention, there is provided a vehicle parallel parking method including: a vehicle body in which front and rear wheels are driven by a DC motor; A steering unit coupled to the front wheel of the vehicle body to adjust a steering direction of the vehicle body; A braking unit for braking the movement of the vehicle body; An obstacle detecting unit detecting an obstacle on the front, side, and rear of the vehicle body; And an ECU for controlling the steering unit, the brake unit, and the DC motor so that the vehicle body is automatically parallel parking according to the detection result of the obstacle detecting unit, wherein the obstacle detecting unit is a front infrared sensor, a rear infrared sensor, and a plurality of sensors. And a plurality of side infrared sensors, wherein the plurality of side infrared sensors sense side spaces when the vehicle body moves to determine whether the vehicle body is a parking space; Advancing until there is a distance from the obstacle in front of the parking space; Reversing right toward the parking space up to a set rear distance; Reversing leftward to a set rearward distance; Advancing rightward to a set forward distance; Backing up to a set rear distance; Reversing left and right forward the vehicle body by a predetermined distance for the side alignment of the vehicle body; And a step of braking the vehicle body when the vehicle body is positioned at the center of the parking space by reversing to the set rear distance.

일 실시예에 따르면, 상기 ECU는 상기 복수개의 적외선센서로부터 수신되는 신호의 경과시간에 기초하여 주차가능공간을 판단하는 것을 특징으로 하는 차량 자동평행주차 방법. According to one embodiment, the ECU auto-parallel parking method, characterized in that for determining the available parking space based on the elapsed time of the signal received from the plurality of infrared sensors.

본 발명에 따른 차량 자동평행주차방법은 ECU가 장애물감지부에서 감지한 결과를 기초로 자동으로 조향부와 DC모터를 제어하여 차량본체를 주차공간에 자동으로 평행주차한다. 이에 의해 운전이 미숙한 운전자나 여성운전자도 안전하게 평행주차를 수행하게 된다. In the vehicle parallel parking method according to the present invention, the ECU automatically controls the steering unit and the DC motor based on the result detected by the obstacle detecting unit to automatically park the vehicle body in the parking space. As a result, even inexperienced drivers and female drivers can safely perform parallel parking.

특히, 본 발명의 차량 자동평행주차방법은 기존의 자동평행주차 공식을 개선하여 차량본체가 주차공간의 정중앙에 위치하도록 하므로 안전하고 완벽한 평행주차를 수행하게 한다. In particular, the vehicle autoparallel parking method of the present invention improves the conventional autoparallel parking formula so that the vehicle body is located at the center of the parking space, thereby enabling safe and perfect parallel parking.

도 1은 본 발명에 따른 자동평행주차가 가능한 차량의 구성을 개략적으로 도시한 개략도,
도 2는 본 발명에 따른 차량 자동평행주차 과정을 도시한 흐름도,
도 3은 종래 차량이 평행주차를 하는 과정을 도시한 예시도,
도 4은 본 발명에 따른 차량 자동평행주차 과정을 개략적으로 도시한 예시도,
도 5 내지 도 13은 본 발명의 자동평행주차방법에 의해 실제 차량이 주차하는 과정을 도시한 예시도들이다. 1 is a schematic diagram schematically showing the configuration of a vehicle capable of automatic parallel parking according to the present invention;
2 is a flowchart illustrating a process of a vehicle parallel parking process according to the present invention;
3 is an exemplary view illustrating a process of parallel parking of a conventional vehicle;
4 is an exemplary view schematically showing a vehicle automatic parallel parking process according to the present invention;
5 to 13 are exemplary views illustrating a process of parking a real vehicle by the automatic parallel parking method of the present invention.

본 발명을 충분히 이해하기 위해서 본 발명의 바람직한 실시예를 첨부 도면을 참조하여 설명한다. 본 발명의 실시예는 여러 가지 형태로 변형될 수 있으며, 본 발명의 범위가 아래에서 상세히 설명하는 실시예로 한정되는 것으로 해석되어서는 안 된다. 본 실시예는 당업계에서 평균적인 지식을 가진 자에게 본 발명을 보다 완전하게 설명하기 위해서 제공되어지는 것이다. 따라서 도면에서의 요소의 형상 등은 보다 명확한 설명을 강조하기 위해서 과장되어 표현될 수 있다. 각 도면에서 동일한 부재는 동일한 참조부호로 도시한 경우가 있음을 유의하여야 한다. 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 공지 기능 및 구성에 대한 상세한 기술은 생략된다.In order to fully understand the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Embodiment of the present invention may be modified in various forms, the scope of the invention should not be construed as limited to the embodiments described in detail below. This embodiment is provided to more completely explain the present invention to those skilled in the art. Therefore, the shape of the elements in the drawings and the like may be exaggerated to emphasize a more clear description. It should be noted that the same members in each drawing are sometimes shown with the same reference numerals. Detailed descriptions of well-known functions and configurations that are determined to unnecessarily obscure the subject matter of the present invention are omitted.

도 1은 본 발명에 따른 자동평행주차시스템(1)의 구성을 개략적으로 도시한 개략도이고, 도 2는 본 발명의 자동평행주차시스템(1)의 자동평행주차과정을 도시한 흐름도이다. 1 is a schematic diagram schematically showing the configuration of an automatic parallel parking system 1 according to the present invention, and FIG. 2 is a flowchart illustrating an automatic parallel parking process of the automatic parallel parking system 1 of the present invention.

본 발명에 따른 자동평행주차방법은 차체에 결합된 복수개의 적외선센서를 통해 장애물과 차체 사이의 거리를 인식하고, 차체가 주차할 수 있는 주차가능공간으로 판단되면 자동으로 평행주차공식에 따라 차체의 조향방향을 제어하여 차량을 평행주차한다. The parallel parking method according to the present invention recognizes the distance between the obstacle and the vehicle body through a plurality of infrared sensors coupled to the vehicle body, and automatically determines that the vehicle can park the vehicle according to the parallel parking formula. Park the vehicle in parallel by controlling the steering direction.

이에 따라 운전이 미숙한 초보운전자나, 여성운전자도 별도의 조작없이 안전하게 평행주차를 할 수 있다.  Accordingly, even inexperienced novice drivers and female drivers can safely park in parallel without additional manipulation.

본 발명의 자동평행주차시스템(1)은 한 쌍의 전륜(110,120)과 한 쌍의 후륜(130,140)이 구비된 차량본체(100)와, 차량본체(100)가 구동되도록 구동력을 제공하는 DC모터(200)와, 차량본체(100)의 조향방향을 조절하는 조향부(300)와, 차량본체(100)를 제동시키는 제동부(400)와, 차량본체(100)와 장애물과의 거리를 감지하는 장애물감지부(500)와, 장애물감지부(500)의 감지결과에 따라 자동으로 차량본체(100)가 평행주차되도록 DC모터(200)와 조향부(300) 및 제동부(400)를 제어하는 ECU(600)를 포함한다. The parallel parking system 1 of the present invention includes a vehicle body 100 having a pair of front wheels 110 and 120 and a pair of rear wheels 130 and 140, and a DC motor providing driving force to drive the vehicle body 100. And 200, a steering unit 300 for adjusting a steering direction of the vehicle body 100, a braking unit 400 for braking the vehicle body 100, and a distance between the vehicle body 100 and an obstacle. The DC motor 200, the steering unit 300 and the braking unit 400 are controlled so that the vehicle body 100 is automatically parked in parallel according to the obstacle detecting unit 500 and the detection result of the obstacle detecting unit 500. ECU 600 is included.

차량본체(100)는 운전자와 동승자가 탑승할 수 있게 구비된다. 차량본체(100)의 전방에는 좌우 한 쌍의 전륜(110,120)이 구비되고, 후방에는 좌우 한 쌍의 후륜(130,140)이 구비된다. The vehicle body 100 is provided to allow a driver and a passenger to board. The front of the vehicle body 100 is provided with a pair of left and right front wheels (110, 120), the rear is provided with a pair of left and right rear wheels (130, 140).

본 발명의 차량은 DC모터(200)의 구동에 의해 전륜(110,120)과 후륜(130,140)이 회전하여 주행하게 된다. DC모터(200)는 제1배터리(210)로부터 전원을 공급받아 구동된다. In the vehicle of the present invention, the front wheels 110 and 120 and the rear wheels 130 and 140 are driven by the driving of the DC motor 200. The DC motor 200 is driven by receiving power from the first battery 210.

조향부(300)는 서보모터(310)의 구동에 의해 구동된다. 조향부(300)는 서보모터(310)에 의해 구동된다. 서보모터(310)는 좌측전륜(110)과 우측전륜(120)과 연결된 조향액츄에이터(미도시)를 구동하여 조향방향을 조절한다. 서보모터(310)는 ECU(600)의 제어에 의해 정역구동되며 조향액츄에이터(미도시)의 조향각을 조절한다. 서보모터(310)는 제2배터리(320)로부터 전원을 공급받아 동작된다. The steering unit 300 is driven by the driving of the servo motor 310. The steering unit 300 is driven by the servo motor 310. The servo motor 310 controls a steering direction by driving a steering actuator (not shown) connected to the left front wheel 110 and the right front wheel 120. The servo motor 310 is driven forward and backward by the control of the ECU 600 and adjusts the steering angle of the steering actuator (not shown). The servo motor 310 is operated by receiving power from the second battery 320.

여기서, 본 발명의 바람직한 실시예에 따른 자동평행주차시스템(1)은 DC모터(200)에 의해 차량본체(100)가 주행되도록 구현되나, 이는 일례일 뿐이며 가솔린엔진이나 디젤엔진에 의해 주행되거나, 전기충전방식에 의해 주행되는 차량에도 적용될 수 있다. Here, the automatic parallel parking system 1 according to the preferred embodiment of the present invention is implemented such that the vehicle body 100 is driven by the DC motor 200, but this is only an example and is driven by a gasoline engine or a diesel engine, It can also be applied to a vehicle driven by the electric charging method.

제동부(400)는 ECU의 제어에 의해 전진 거리 이동을 종료하거나, 후진 후 자동제동을 수행한다. 또한, 차량본체(100)의 이동을 위해 제동을 해제한다. The braking unit 400 terminates the movement of the forward distance under the control of the ECU or performs automatic braking after reversing. In addition, the braking is released to move the vehicle body 100.

장애물감지부(500)는 차량본체(100)에 구비되어 주변의 장애물과의 거리를 감지한다. 장애물감지부(500)는 차량본체(100)의 전방에 구비된 전방적외선센서(510)와, 차량의 측면에 구비되는 복수개의 측면적외선센서(520,530), 차량의 후방에 구비된 후방적외선센서(540)를 포함한다. The obstacle detecting unit 500 is provided in the vehicle body 100 to detect a distance from the surrounding obstacle. The obstacle detecting unit 500 includes a front infrared sensor 510 provided at the front of the vehicle body 100, a plurality of side infrared sensors 520 and 530 provided at the side of the vehicle, and a rear infrared sensor provided at the rear of the vehicle ( 540).

각각의 적외선센서(510,520,530,540)가 빈공간을 감지하게 되면, 리셋 블리언 값이 false가 되어 카운트가 시작된다. 이후 빈공간이 끝나면, 즉 주차되어 있는 차량이나 장애물이 인삭되면 리셋 블리언 값이 true가 되어 경과시간이 0이 되어 카운트가 종료된다. When each of the infrared sensors 510, 520, 530, and 540 detects an empty space, the reset blion value becomes false and counting starts. After that, when the empty space ends, that is, when the parked vehicle or obstacle is cut, the reset blion value becomes true and the elapsed time becomes 0, and the count ends.

이러한 경과시간을 기초로 차량본체(100)가 주차할 수 있는 여부를 판단하게 된다. 차량본체(100)의 주행속도를 기초로 차량본체(100)의 전체길이가 주차할 수 있는 길이를 경과시간으로 설정하여 주차가능여부를 판단하게 된다. 일례로, 차량길이가 3m이고, 차량 주행속도가 10m/s 일 때, 적외선센서(510,520,530,540)로부터 감지된 경과시간이 4초 이상일 때 주차가능한 것으로 ECU(600)가 판단할 수 있다. It is determined whether the vehicle body 100 can park based on the elapsed time. On the basis of the traveling speed of the vehicle body 100, the total length of the vehicle body 100 is set to the length of time that can be parked by the elapsed time to determine whether parking is possible. For example, when the vehicle length is 3m and the vehicle traveling speed is 10m / s, the ECU 600 may determine that parking is possible when the elapsed time detected by the infrared sensors 510, 520, 530, and 540 is 4 seconds or more.

여기서, 카운트된 경과시간을 기초로 감지된 빈공간이 주차가능공간으로 판단되면, ECU(600)는 장애물감지부(500)의 감지를 종료시켜 이후 평행주차를 위한 공간측정과 주차가능공간을 감지하기 위한 공간측정 과정이 충돌되지 않게 한다.  Here, when it is determined that the detected empty space on the basis of the counted elapsed time is a parking available space, the ECU 600 terminates the detection of the obstacle detecting unit 500 and then detects the space measurement and parking space for parallel parking. Do not conflict with the space measurement process.

여기서, 본 발명의 바람직한 실시예에 따른 장애물감지부(500)는 2개의 측면적외선센서(520,530)를 갖는 것으로 구현되었으나, 이는 일예일 뿐이며 보다 정밀한 감지를 위해서 측면적외선센서(520,530)의 개수는 증가될 수 있다. Here, the obstacle detecting unit 500 according to the preferred embodiment of the present invention is implemented as having two side infrared sensors 520 and 530, but this is only one example and the number of side infrared sensors 520 and 530 is increased for more precise detection. Can be.

한편, 장애물감지부(500)는 주차가능공간 검색시 뿐만 아니라, 평행주차과정에서 전방장애물과 차량본체(100)와의 거리, 후방장애물과 차량본체(100)와의 거리, 측면주차라인 또는 측면장애물과 차량본체(100)와의 거리를 감지하여 ECU(600)로 전송한다. On the other hand, the obstacle detection unit 500 is not only in the search for parking space, but also in the parallel parking process, the distance between the front obstacle and the vehicle body 100, the distance between the rear obstacle and the vehicle body 100, the side parking line or the side obstacle and The distance to the vehicle body 100 is sensed and transmitted to the ECU 600.

ECU(600)는 장애물감지부(500)의 감지결과에 의해 평행주차가능공간이 감지되면, 차량본체(100)의 평행주차를 위한 평행주차알고리즘을 수행한다. The ECU 600 performs a parallel parking algorithm for parallel parking of the vehicle body 100 when the parallel parking available space is detected by the detection result of the obstacle detecting unit 500.

본 발명의 ECU(600)에서 수행하는 평행주차알고리즘은 종래 평행주차를 할 때 운전자가 숙지하는 평행주차5단계 공식을 기초로 수행된다. The parallel parking algorithm performed by the ECU 600 of the present invention is performed based on the formula of the parallel parking step 5 which the driver is familiar with when performing conventional parallel parking.

도 3은 종래 평행주차 5단계 공식에 따라 차량이(10)이 주차공간(C)에 평행주차하는 과정을 개략적으로 도시한 개략도이다. 3 is a schematic diagram schematically illustrating a process in which the vehicle 10 is parallel parked in the parking space C according to the conventional parallel parking formula.

1단계로, B 차량과 평행으로 일정 간격을 두어 진입하면서, B 차량 뒤 선의 일직 선상에 놓였을 때 정지한다.In step 1, the vehicle enters at a predetermined interval parallel to the vehicle B and stops when placed on the straight line of the vehicle behind the vehicle B.

2단계, 차량(10) 바퀴를 오른쪽으로 최대한 돌리고 후진하면서 바깥쪽 후방바퀴가 주차라인과 맞닿았을 때 정지한다.Step 2, turning the wheel to the right as far as possible to the right and stops when the outer rear wheel is in contact with the parking line.

3단계, 차량(10) 바퀴를 왼쪽으로 최대한 돌리고 측면이 정렬될 때까지 혹은 차량 후방이 A 차량과 적절한 거리가 될 때까지 후진한다. Step 3, turn the wheel of the vehicle 10 to the left as far as possible and back until the side is aligned or until the rear of the vehicle is at a suitable distance from the vehicle A.

4단계, 차량(10)의 측면정렬이 미흡할 시 우향전진, 좌향후진을 반복하여 측면을 정렬시킨다. In step 4, when the side alignment of the vehicle 10 is insufficient, the side is aligned by repeating rightward forward and leftward backward.

5단계, 차량(10)을 주차공간(C) 정중앙에 위치시킨 후, 바퀴를 정위치시킨다Step 5, after placing the vehicle 10 in the center of the parking space (C), place the wheels correctly

ECU(600)는 상술한 종래 평행주차 5단계 공식을 8단계로 변형한 평행주차알고리즘을 이용해 차량을 평행주차하게 된다. The ECU 600 parks the vehicle in parallel using a parallel parking algorithm in which the above-described conventional 5-step formula of parallel parking is modified to eight steps.

도 4는 평행주차알고리즘을 이용해 차량본체(100)가 평행주차를 하는 과정을 개략적으로 도시한 개략도이다. 4 is a schematic diagram illustrating a process in which the vehicle body 100 performs parallel parking using a parallel parking algorithm.

주차준비단계로 주차라인(F)과 일정 간격을 두고 진입하면서, 전방 장애물(D)과 일정 거리까지 전진한 후 정지한다.As the parking preparation step enters the parking line (F) at a predetermined interval, advances to a certain distance with the front obstacle (D) and stops.

1단계, 차량바퀴를 오른쪽으로 최대한 돌리고 설정된 후방거리까지 일정각도(θ)로 후진시킨다.Step 1, turn the vehicle wheel to the right as far as possible and back up at a certain angle (θ) to the set rear distance.

2단계, 차량바퀴를 왼쪽으로 최대한 돌리고 설정된 후방거리까지 후진시킨다.Step 2, Turn the wheels to the left as far as possible and back up to the set rear distance.

3단계, 차량 바퀴를 오른쪽으로 최대한 돌리고 설정된 전방거리까지 전진시킨다.Step 3, Turn the wheels to the right as far as possible and advance to the set forward distance.

4단계, 차량 바퀴를 정 위치에 놓고 설정된 후방거리까지 후진시킨다.Step 4, Turn the vehicle wheel into position and back up to the set rear distance.

5단계, 차량의 측면정렬이 미흡할 시 우향전진, 좌향후진을 반복하며 측면을 정렬(d2)시킨다. Step 5, if the side alignment of the vehicle is insufficient, the right side and the left side is repeated and the side is aligned (d2).

6단계, 차량의 바퀴를 정 위치에 놓고 설정된 후방거리(d3)까지 후진시킨다.Step 6, the vehicle wheels are put in position and reversed to the set rear distance d3.

7단계, 차량의 바퀴를 정 위치에 놓고 설정된 전방거리(d1)까지 전진시킨다.Step 7, put the wheel of the vehicle in position and advances to the set front distance (d1).

ECU(600)는 상술한 8단계로 차량본체(100)가 이동되도록 DC모터(200)와, 조향부(300), 장애물감지부(500) 및 제동부(400)를 제어한다. The ECU 600 controls the DC motor 200, the steering unit 300, the obstacle detecting unit 500, and the braking unit 400 to move the vehicle body 100 in the above-described eight steps.

도 2 내지 도 13을 참조하여 본 발명에 따른 차량 자동평행주차 과정을 설명한다. 도 5 내지 도 12는 모형차량이 주차공간에 본 발명의 자동평행주차 과정에 의해 주차하는 과정을 각각 촬영한 사진이다. Referring to Figures 2 to 13 will be described a vehicle automatic parallel parking process according to the present invention. 5 to 12 are photographs each photographing a process of parking a model vehicle in a parking space by the automatic parallel parking process of the present invention.

사용자가 자동평행주차모드를 실행시키면, ECU(600)는 장애물감지부(500)가 평행주차가능공간을 검색하도록 제어한다. 동시에 DC모터(200)를 정방향으로 저속구동하여 차량본체(100)가 저속으로 전진하게 한다(S110).When the user executes the autoparallel parking mode, the ECU 600 controls the obstacle detecting unit 500 to search for a parallel parking available space. At the same time, the low-speed drive of the DC motor 200 to the vehicle body 100 to move forward at a low speed (S110).

복수개의 적외선센서(510,520,530,540)들은 전방장애물, 측면장애물, 후방장애물과의 거리를 경과시간으로 ECU(600)로 전송하며 주차공간을 측정한다(S120). ECU(600)는 전송된 경과시간에 기초하여 차량본체(100)가 평행주차 가능한지를 판단한다(S130) The plurality of infrared sensors 510, 520, 530, and 540 transmit the distances between the front obstacles, the side obstacles, and the rear obstacles to the ECU 600 in an elapsed time and measure a parking space (S120). The ECU 600 determines whether the vehicle body 100 can be parked in parallel based on the transmitted elapsed time (S130).

주차가능하지 않은 공간으로 판단되면 다시 차량본체(100)를 전진주행시켜 동일한 과정을 반복한다. If it is determined that the space is not available for parking, the vehicle body 100 is moved forward again and the same process is repeated.

주차가능한 공간으로 판단되면, 자동평행주차 알고리즘을 수행한다(S140). 도 5에 도시된 바와 같이 차량본체(100)가 전방 장애물(D)과 일정 거리가 될 때까지 전진한다. 그리고, 도 6에 도시된 바와 같이 설정된 후방거리까지 차량본체(100)가 우향후진한다(S150). 이를 위해 ECU(600)는 조향부(300)를 제어하고, DC모터(200)를 역방향 구동시킨다. If it is determined that the parking space is available, an automatic parallel parking algorithm is performed (S140). As shown in FIG. 5, the vehicle body 100 moves forward until it becomes a predetermined distance from the front obstacle D. Then, the vehicle body 100 is reversed backward to the rear distance set as shown in Figure 6 (S150). For this purpose, the ECU 600 controls the steering unit 300 and drives the DC motor 200 in a reverse direction.

도 7에 도시된 바와 같이 차량본체(100)를 설정된 후방거리까지 좌향후진시킨다(S160). 그리고, 도 8에 도시된 바와 같이 차량본체(100)를 설정된 전방거리, 즉 전방장애물(D)과 부딪치지 않을 최근접 거리까지 우향전진시킨다(S170).As shown in FIG. 7, the vehicle body 100 is moved backward to the set rear distance (S160). Then, as shown in FIG. 8, the vehicle body 100 is forwarded rightward to the set front distance, that is, the nearest distance not to collide with the front obstacle D (S170).

그리고, 복수개의 적외선센서(510,520,530,540)들에 의해 측정된 전방장애물(D)과의 거리 및 후방장애물(E)과의 거리, 주차라인 또는 측면장애물(F)과의 거리에 기초하여 측면거리가 정렬되었는지 판단한다(S180). The side distance is aligned based on the distance between the front obstacle D and the distance between the rear obstacle E, the parking line, or the side obstacle F measured by the plurality of infrared sensors 510, 520, 530, 540. It is determined whether (S180).

측면거리가 정렬되지 않았으면, 앞선 좌향후진단계와 우향전진단계를 반복하여 수행한다. If the side distances are not aligned, repeat the previous leftward backward and rightward forward steps.

즉, 도 9에 도시된 바와 같이 설정된 후방거리까지 후진한다. 그리고 도 10에 도시된 바와 같이 차량본체(100)를 주차라인(F)에 측면정렬시키기 위해 일정 거리만큼 좌향후진시킨다. 그리고, 도 11에 도시된 바와 같이 측면정렬을 위해 일정 거리만큼 우향전진한다.That is, the vehicle reverses back to the rear distance set as shown in FIG. 9. As shown in FIG. 10, the vehicle body 100 is moved backwards by a predetermined distance to laterally align the vehicle body 100 to the parking line F. FIG. Then, as shown in FIG. 11, the apparatus moves rightward by a predetermined distance for lateral alignment.

이러한 과정에 의해 측면거리 정렬이 완료되면, 주차공간(C) 내부의 정중앙에 차량본체(100)가 위치하도록 전/후방을 정렬한다(S190).When the lateral distance alignment is completed by this process, the vehicle body 100 is aligned in the front / rear position so that the vehicle body 100 is located at the right center of the parking space C (S190).

도 12에 도시된 바와 같이 설정된 후방거리까지 후진하고, 도 13에 도시된 바와 같이 설정된 전방거리까지 후진한 후, 주차를 종료한다. 이 때, 설정된 전방거리(d1)와 설정된 후방거리(d3)는 도 4에 도시된 바와 같이 차량본체(100)가 주차공간(C)의 가운데 위치하기 위해 산출된 거리이다. After the vehicle reverses to the rear distance set as shown in FIG. 12 and back to the forward distance set as shown in FIG. 13, parking ends. At this time, the set front distance (d1) and the set rear distance (d3) is the distance calculated for the vehicle body 100 is located in the center of the parking space (C) as shown in FIG.

이렇게 평행주차가 완료되면, ECU(600)는 제동부(400)를 제어하여 브레이크를 제동하고(S200)한다. When the parallel parking is completed, the ECU 600 controls the brake 400 to brake the brake (S200).

이상에서 살펴본 바와 같이 본 발명에 따른 차량 자동평행주차방법은 ECU가 장애물감지부에서 감지한 결과를 기초로 자동으로 조향부와 DC모터를 제어하여 차량본체를 주차공간에 자동으로 평행주차한다. 이에 의해 운전이 미숙한 운전자나 여성운전자도 안전하게 평행주차를 수행하게 된다. As described above, the vehicle autoparallel parking method according to the present invention automatically controls the steering unit and the DC motor based on the ECU detected by the obstacle detecting unit to automatically park the vehicle body in the parking space automatically. As a result, even inexperienced drivers and female drivers can safely perform parallel parking.

특히, 본 발명의 차량 자동평행주차방법은 기존의 자동평행주차 공식을 개선하여 차량본체가 주차공간의 정중앙에 위치하도록 하므로 안전하고 완벽한 평행주차를 수행하게 한다. In particular, the vehicle autoparallel parking method of the present invention improves the conventional autoparallel parking formula so that the vehicle body is located at the center of the parking space, thereby enabling safe and perfect parallel parking.

이상에서 설명된 본 발명의 차량 자동평행주차방법의 실시예는 예시적인 것에 불과하며, 본 발명이 속한 기술분야의 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 타 실시예가 가능하다는 점을 잘 알 수 있을 것이다. 그러므로 본 발명은 상기의 상세한 설명에서 언급되는 형태로만 한정되는 것은 아님을 잘 이해할 수 있을 것이다. 따라서 본 발명의 진정한 기술적 보호 범위는 첨부된 특허청구범위의 기술적 사상에 의해 정해져야 할 것이다. 또한, 본 발명은 첨부된 청구범위에 의해 정의되는 본 발명의 정신과 그 범위 내에 있는 모든 변형물과 균등물 및 대체물을 포함하는 것으로 이해되어야 한다.Embodiment of the method of the automatic parallel parking method of the present invention described above is merely exemplary, and those skilled in the art to which the present invention pertains can make various modifications and other equivalent embodiments therefrom. You can see well. Therefore, it will be understood that the present invention is not limited to the forms mentioned in the above detailed description. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims. It is also to be understood that the present invention includes all modifications, equivalents, and substitutes within the spirit and scope of the invention as defined by the appended claims.

1 : 자동평행주차시스템 100 : 차량본체
110 : 좌측전륜 120 : 우측전륜
130 : 좌측후륜 140 : 우측후륜
200 : DC모터 210 : 제1배터리
300 : 조향부 310 : 서보모터
320 : 제2배터리 400 : 제동부
500 : 장애물감지부 510 : 전방적외선센서
520 : 제1측면적외선센서 530 : 제2측면적외선센서
540 : 후방적외선센서 600 : ECU1: Automatic parallel parking system 100: Vehicle body
110: front left wheel 120: right front wheel
130: left rear wheel 140: right rear wheel
200: DC motor 210: first battery
300: steering unit 310: servo motor
320: second battery 400: braking part
500: obstacle detection unit 510: forward infrared sensor
520: first side infrared sensor 530: second side infrared sensor
540: rear infrared sensor 600: ECU

Claims (2)

차량 자동평행주차 방법에 있어서,
상기 차량의 자동평행주차시스템은,
DC모터에 의해 전륜과 후륜이 구동되는 차량본체와;
상기 차량본체의 전륜에 결합되어 상기 차량본체의 조향방향을 조절하는 조향부와;
상기 차량본체의 이동을 제동하는 제동부와;
상기 차량본체의 전면, 측면 및 후방의 장애물을 감지하는 장애물감지부와;
상기 장애물감지부의 감지결과에 따라 차량본체가 자동으로 평행주차가 되도록 상기 조향부와 상기 제동부 및 상기 DC모터를 제어하는 ECU를 포함하되,
상기 장애물감지부는 전방적외선센서, 후방적외선센서, 복수개의 측면적외선센서를 포함하며,
상기 차량본체가 이동할 때 상기 복수개의 측면적외선센서가 측면공간을 감지하여 상기 차량본체가 주차가능한 공간인지 판단하는 단계와;
상기 주차가능 공간 전방 장애물과 일정 거리가 될 때까지 전진하는 단계와;
설정된 후방거리까지 상기 주차가능 공간으로 우향후진하는 단계와;
설정된 후방거리까지 좌향후진하는 단계와;
설정된 전방거리까지 우향전진하는 단계와;
설정된 후방거리까지 후진하는 단계와;
차량본체의 측면정렬을 위해 차량본체를 일정 거리만큼 좌향후진 및 우향전진하는 단계와;
설정된 후방거리까지 후진하여 주차가능 공간 정중앙에 상기 차량본체가 위치되면 상기 차량본체를 제동하는 단계를 포함하는 것을 특징으로 하는 차량자동평행주차 방법.
In the vehicle parallel parking method,
The parallel parking system of the vehicle,
A vehicle body in which front and rear wheels are driven by a DC motor;
A steering unit coupled to the front wheel of the vehicle body to adjust a steering direction of the vehicle body;
A braking unit for braking the movement of the vehicle body;
An obstacle detecting unit detecting an obstacle on the front, side, and rear of the vehicle body;
Including the ECU for controlling the steering unit, the braking unit and the DC motor so that the vehicle body automatically parallel parking according to the detection result of the obstacle detection unit,
The obstacle detecting unit includes a front infrared sensor, a rear infrared sensor, a plurality of side infrared sensors,
Determining whether the vehicle body is a parking space by sensing the side spaces by the plurality of side infrared sensors when the vehicle body moves;
Advancing until there is a distance from the obstacle in front of the parking space;
Reversing right toward the parking space up to a set rear distance;
Reversing leftward to a set rearward distance;
Advancing rightward to a set forward distance;
Backing up to a set rear distance;
Reversing left and right forward the vehicle body by a predetermined distance for the side alignment of the vehicle body;
And a step of braking the vehicle body when the vehicle body is positioned at the center of the parking space by reversing to a set rear distance.
제1항에 있어서,
상기 ECU는 상기 복수개의 적외선센서로부터 수신되는 신호의 경과시간에 기초하여 주차가능공간을 판단하는 것을 특징으로 하는 차량 자동평행주차 방법.

The method of claim 1,
And the ECU determines the available parking space based on the elapsed time of the signals received from the plurality of infrared sensors.

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113734154A (en) * 2021-07-26 2021-12-03 岚图汽车科技有限公司 Automatic reversing method and system

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Publication number Priority date Publication date Assignee Title
KR20140030531A (en) 2012-08-31 2014-03-12 한국전자통신연구원 Automatic parking apparatus and method using avm sensor

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140030531A (en) 2012-08-31 2014-03-12 한국전자통신연구원 Automatic parking apparatus and method using avm sensor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113734154A (en) * 2021-07-26 2021-12-03 岚图汽车科技有限公司 Automatic reversing method and system

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