KR101202905B1 - Method and system for assisting parking - Google Patents

Abstract

The present invention relates to parking assistance technology. More specifically, the present invention relates to a parking support method and system for supporting a vehicle to park safely by checking an alarm situation that may occur during automatic parking control and responding accordingly.

Description

Parking assistance method and system {METHOD AND SYSTEM FOR ASSISTING PARKING}

The present invention relates to parking assistance technology. More specifically, the present invention relates to a parking support method and system for supporting a vehicle to park safely by checking an alarm situation that may occur during automatic parking control and responding accordingly.

Nowadays, automatic parking control technology is being developed to support parking, and this automatic parking control technology searches the periphery of the space to be parked so that the vehicle can be parked in the space to be parked. The vehicle calculates the parking path and controls steering along the parking path.

In such a conventional automatic parking control technology, a problem of failing to accurately detect and respond to a collision prediction situation (alarm situation) of the front and / or rear that may occur during steering control along the calculated parking path may occur. In particular, during the steering control, if a collision prediction situation occurs for both the front and the rear, a safe parking may not be achieved through incorrect steering control.

In this background, an object of the present invention is to identify an alarm situation that may occur during automatic parking control and to allow a vehicle to park safely through a corresponding process.

In order to achieve the above object, in one aspect, the present invention, the automatic steering control for performing automatic steering control for the automatic parking of the vehicle; During the automatic steering control, based on the front distance with the front obstacle and the rear distance with the rear obstacle, the parking situation checking unit for checking whether the parking situation is the front warning situation, the rear warning situation and the front and rear warning situation; And outputting a backward message or a forward message for inducing a change of direction of the vehicle when the parking situation is the front warning situation or the rear warning situation, and stopping the vehicle when the parking situation is the forward and backward warning situation. A parking assistance system including an alarm situation controller for outputting an inducing stop message is provided.

In another aspect, the present invention provides an automatic steering control start step of starting automatic steering control for automatic parking; During the automatic steering control, the front distance with the front obstacle and the rear distance with the rear obstacle are measured, and based on the measurement result, it is determined whether the parking situation is a front alarm situation, a rear warning situation, or a front and rear warning condition. Checking the parking situation; And outputting a backward message for inducing backward movement of the vehicle when the parking situation is the front warning situation, and outputting a forward message for inducing forward movement of the vehicle when the parking situation is the rear warning situation, In the case of front and rear warning situation, provides a parking assistance method of the parking assist system including an alarm situation control step of outputting a stop message for inducing the stop of the vehicle.

As described above, according to the present invention, there is an effect of confirming an alarm situation that may occur during automatic parking control and allowing the vehicle to park safely through corresponding processing.

1 is a block diagram of a parking assistance system according to an embodiment of the present invention.
2 is an exemplary view of automatic parking using a parking assist system according to an embodiment of the present invention.
3 is another exemplary diagram of automatic parking using a parking assist system according to an embodiment of the present invention.
4 is another exemplary diagram of automatic parking using a parking assist system according to an embodiment of the present invention.
5 is a flowchart illustrating a parking assisting method according to an embodiment of the present invention.
6 is a detailed flowchart illustrating a parking state checking step in a parking assisting method according to an embodiment of the present invention.
7 is a detailed flowchart illustrating an alarm situation control step in a parking assisting method according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

1 is a block diagram of a parking assistance system 100 according to an embodiment of the present invention.

Referring to FIG. 1, the parking assisting system 100 according to an exemplary embodiment of the present invention may include an automatic steering controller 110 that performs automatic steering control for automatic parking of a vehicle, and a front obstacle and a vehicle during automatic steering control. A parking situation checking unit 120 that checks whether the parking situation is a front warning situation, a rear warning situation, or a front and rear warning situation based on the front distance of the vehicle and the rear distance from the rear obstacle. Or an alarm situation controller 130 for outputting a backward message or a forward message for inducing a change of direction of the vehicle in the case of a rear warning situation, and a stop message for inducing a stop of the vehicle in the case of a parking situation in the forward and backward directions. It includes.

After the reverse message or the forward message is output by the alarm situation controller 130, when the reverse gear information or the forward gear information is input, the automatic steering control unit 110 according to the input reverse gear information or the input forward gear information. Perform automatic steering control in the reverse or forward direction.

The above-described parking situation checking unit 120 checks the parking situation as the front warning situation when the front distance with the front obstacle is less than or equal to the critical front distance, and alerts the parking situation when the rear distance with the rear obstacle is less than or equal to the critical rear distance. Check with the situation.

The above-mentioned forward alarm situation may be divided into several stages, such as, for example, 1st stage front alarm situation (lowest level front alarm situation), 2nd stage front alarm situation and 3rd stage forward alarm situation (highest level front alarm situation). It may include a forward alert situation. Accordingly, the critical front distance diagram, the first stage critical front distance (for example, 100 cm) for confirming the first stage warning situation, the second stage critical front distance (for example, 60 cm), for the third stage warning situation, three steps It may include multiple step threshold forward distances, such as a three-step threshold forward distance (eg, 30 cm) to confirm a forward alert situation.

The above-mentioned rear alarm situation can be divided into several stages, such as, for example, a first stage rear alarm situation (lowest level rear alarm situation), a second stage rear alarm situation and a third stage rear alarm situation (highest level rear alarm situation). It may include a rear alarm situation. Accordingly, the critical rear distance diagram, the first stage rear critical distance (eg 100 cm) to confirm the first stage rear alarm situation, the second stage rear critical distance (eg 60 cm) to confirm the second stage rear alarm situation, three stages It may include a multi-step critical rear distance such as a three-stage critical rear distance (eg, 30 cm) for checking the rear warning situation.

The threshold back distance and the threshold forward distance mentioned above may be different values or the same value.

The above-mentioned parking state confirming unit 120 confirms the parking situation at that time as the front and rear warning situation when the above-mentioned front warning situation and the above-mentioned rear warning condition are confirmed at the same time. In particular, in the front and rear warning situations in which the three-stage forward warning situation and the three-stage rear warning situation are confirmed at the same time, it corresponds to a case where there is little space for the vehicle to move forward and backward.

The automatic steering control unit 110, the parking situation checking unit 120, and the alarm situation control unit 130 operate in parallel with each other while interlocking with each other.

The above-described parking condition checking unit 120 continuously grasps the front distance with the front obstacle and the rear distance with the rear obstacle until the parking support system 100 is normally terminated or forcibly released. Check it.

The result confirmed by the parking situation confirming unit 120, that is, the result of whether the parking situation is a normal situation, a front warning situation, a rear warning situation, or a front and rear warning situation is used by the alarm situation control unit 130.

The above-mentioned alarm situation controller 130 operates the timer after outputting the reverse message (output in the front alarm situation) or the forward message (output in the rear alarm situation) or the stop message (output in the front and rear alarm situation). The duration of the front alarm situation, the rear alarm condition or the front and rear alarm condition can be counted.

Thus, the reason for counting the duration of an alarm situation is as follows.

Since the front and / or rear obstacles may be objects that act as obstacles when parked continuously, or may be objects that act as obstacles only temporarily, whether the identified alarm situation is a real alarm condition (long-lived alarm condition). Or it may be necessary to determine if it is a temporary alarm situation and count the duration of the alarm condition for this confirmation.

In the case where the identified alarm situation is a temporary alarm condition, the front obstacle and / or the rear obstacle have the following characteristics.

When the front warning situation is confirmed, in which the front obstacle is close to the critical front distance, the front obstacle may be a temporary obstacle disappearing after a while, such as a vehicle passing by temporarily. Similarly, when a rear warning situation is identified in which a rear obstacle is within a critical rear distance, the rear obstacle may be a temporary obstacle disappearing after a while, such as a passing vehicle.

In addition, counting the duration of the alarm situation using the timer described above determines whether the front obstacle and / or the rear obstacle are objects that act as actual (long lasting) obstacles or objects that temporarily act as obstacles, that is, In order to determine whether the identified alarm situation is a real and long lasting alarm situation or an alarm situation which is generated only temporarily and then released, it is used for controlling the corresponding alarm situation.

For example, the above-described alarm situation controller 130 is a front and rear warning situation where the front obstacle is within the critical front distance and at the same time the rear obstacle is within the critical rear distance (that is, there is little space for the vehicle to move forward and backward). ) Is checked and outputs a stop message to operate the timer, and monitors whether the front and rear warning situation persists for a threshold time through the parking situation check unit 120.

As a result of monitoring, if the front and rear warning situation persists for a threshold time (i.e., there is little space for the vehicle to move forward and backward), the alarm situation controller 130 induces the release of the front parking assist system 100. Print a system release message.

If the monitoring indicates that the front and rear warning situation changes to a normal situation or a front warning situation or a rear warning condition within the threshold time (i.e. when there is little space for the vehicle to move forward and backward, there is room for the vehicle to move forward or backward). The alarm situation controller 130 may output a backward message or a forward message for inducing a change of direction corresponding to the changed situation.

The situation where the front and rear warning situation changes to the normal situation or the front warning situation or the rear warning condition within the threshold time may occur when the front obstacle or the rear obstacle that caused the front and rear warning condition is out of the critical front distance or the critical rear distance. As an example, it may be a situation in which a front obstacle or a rear obstacle passes and enters a critical front distance or a critical rear distance to generate a temporary front warning situation or a temporary rear warning situation.

The parking assistance provided by the parking assisting system 100 according to an exemplary embodiment of the present invention described above will be described with reference to FIGS. 2, 3, and 4.

2 is an exemplary view of automatic parking using the parking assistance system 100 according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a step-by-step state in which automatic parking control is performed when a front alarm situation and a rear alarm condition occur at the same time, that is, a case in which the front and rear warning situations do not occur.

Referring to FIG. 2 (a), after the automatic parking starts and outputs a message 210 to inform the driver that automatic steering control for automatic parking starts, the automatic steering control is started to start the parking assistance system ( The vehicle 100 is moved backwards into the space between the two vehicles. At this time, the path to move backward, search the parking space (space between the two vehicles) to park in advance by using an ultrasonic sensor, etc. and the information of the parking space (which is the location of the two vehicles in the vicinity) Information, information on the width, depth, etc. of the parking space) may be calculated to park the target parking location.

Referring to FIG. 2B, when the vehicle moves backward to the parking space to be parked, the vehicle becomes closer to the rear obstacle at the rear, and eventually, the vehicle is separated from the rear obstacle (the vehicle at the rear). There may be a situation where the distance is less than the critical back distance. The parking assistance system 100 confirms such a parking situation as a rear alarm situation, makes a rear alarm (alarm sound or alarm vibration) and outputs a forward message 220 corresponding to the rear alarm situation to inform the driver.

Referring to FIG. 2C, when the driver sees the forward message 220 and inserts the forward gear, the parking assist system 100 detects the input of the forward gear and controls the vehicle to steer and move forward. do. While performing the steering control in the forward direction, a parking situation may occur in which the front distance with the front obstacle (the vehicle in front) that is in front of the vehicle is less than the critical front distance. The parking assistance system 100 confirms such a parking situation as a front warning situation, makes a front alarm (alarm sound or alarm vibration), and outputs a backward message 230 suitable for the front warning situation to inform the driver.

Referring to FIG. 2 (d), when the driver sees the reverse message 230 and puts in the reverse gear, the automatic steering control is performed so that the vehicle moves backward and the automatic parking ends. Accordingly, the parking end message 240 is output to inform the driver that the automatic parking control is terminated.

3 is another exemplary diagram of automatic parking using the parking assistance system 100 according to an embodiment of the present invention.

3 is a step-by-step view and a message output for each step when automatic parking control is performed when a front alarm situation and a rear alarm condition occur at the same time, that is, when a front and rear warning situation where there is no space to move forward and backward occurs. The figure which shows. However, in FIG. 3, it is assumed that the front obstacle X when occurring in the front and rear warning situation is an obstacle that is temporarily sensed. That is, the front obstacle X when the front and rear warning situation occurs is a temporary obstacle that the front distance with the vehicle is within the threshold front distance and disappears out of the threshold front distance within a predefined threshold time.

Referring to (a) of FIG. 3, after the automatic parking starts, the driver 310 outputs a message 310 informing the driver that automatic steering control for automatic parking starts, and then starts automatic steering control to start the parking assistance system ( The vehicle 100 is moved backwards into the space between the two vehicles. At this time, the path to move backward, search the parking space (space between the two vehicles) to park in advance by using an ultrasonic sensor, etc. and the information of the parking space (which is the location of the two vehicles in the vicinity) Information, information on the width, depth, etc. of the parking space) may be calculated to park the target parking location.

Referring to FIG. 3B, when the vehicle moves backward to the parking space to be parked, the vehicle becomes closer to the rear obstacle at the rear, and eventually, the vehicle is separated from the rear obstacle (the vehicle at the rear). A rear warning situation occurs, a parking situation in which the distance is less than or equal to the threshold back distance. Simultaneously with the occurrence of such a rear warning situation, a front warning situation, which is a parking situation in which the front distance away from the front obstacle X in the front also falls below the threshold front distance, occurs. Accordingly, the parking assistance system 100 checks the parking situation as a front and rear warning situation, makes a front and rear alarm (alarm sound or alarm vibration), and outputs a stop message 320 according to the front and rear warning situation to inform the driver. Then, the parking assist system 100 starts counting the duration of the front and rear warning situation by operating the timer together with the output of the stop message 320.

Referring to (c) of FIG. 3, after the driver stops the vehicle by viewing the stop message 320, the front and rear warning situation, which is the parking situation confirmed in FIG. Confirm that you have changed to an alarm condition. This is because the front obstacle (X), which has generated the front and rear warning situation, and the front obstacle (X), which is within the critical front distance, out of the critical front distance within the threshold time, are changed to the rear warning situation. will be. According to the changed rear alert situation, the parking assist system 100 generates a rear alert (alarm sound or alarm vibration) and outputs a forward message 330 to inform the driver.

Referring to FIG. 3D, when the driver sees the forward message 320 and puts the forward gear, the parking assist system 100 detects the input of the forward gear and controls the vehicle to steer and move forward. do. While performing the steering control in the forward direction, a parking situation may occur in which the front distance with the front obstacle (the vehicle in front) that is in front of the vehicle is less than the critical front distance. The parking assistance system 100 confirms the parking situation as a front warning situation, makes a front alarm (alarm sound or alarm vibration), and outputs a backward message 340 corresponding to the front warning situation to inform the driver.

Referring to FIG. 3E, when the driver sees the reverse message 340 and puts in the reverse gear, the automatic steering control is performed so that the vehicle moves to the reverse and auto parking ends. Accordingly, the parking end message 350 is output to inform the driver that the automatic parking control has ended.

4 is another exemplary diagram of automatic parking using the parking assistance system 100 according to an embodiment of the present invention.

4 is a step-by-step view of the automatic parking control when the front alarm situation and the rear alarm situation occurs at the same time, that is, when there is a front and rear warning situation where there is no space to move forward and backward and the message outputted for each step The figure which shows. However, in FIG. 4, it is assumed that the front obstacle Y when occurring in the front and rear warning situation is not an obstacle that is temporarily sensed. That is, the front obstacle Y when the front and rear warning situation occurs is a non-temporary obstacle which is within the critical front distance while the front distance with the vehicle is within the critical front distance and continues for a predetermined threshold time.

Referring to FIG. 4A, after the automatic parking is started, a message 410 indicating that the automatic steering control for the automatic parking starts is output and notified to the driver, and then the automatic steering control is started to start the parking assistance system ( The vehicle 100 is moved backwards into the space between the two vehicles. At this time, the path to move backward, search the parking space (space between the two vehicles) to park in advance by using an ultrasonic sensor, etc. and the information of the parking space (which is the location of the two vehicles in the vicinity) Information, information on the width, depth, etc. of the parking space) may be calculated to park the target parking location.

Referring to FIG. 4B, when the vehicle moves backward to the parking space to be parked, the vehicle becomes closer to the rear obstacle at the rear, and eventually, the vehicle is separated from the rear obstacle (the vehicle at the rear). A rear warning situation occurs, a parking situation in which the distance is less than or equal to the threshold back distance. Simultaneously with the occurrence of such a rear warning situation, a front warning situation, which is a parking situation in which the front distance away from the front obstacle Y in the front also falls below the threshold front distance, occurs. Accordingly, the parking assistance system 100 checks the parking situation as a front and rear warning situation, makes a front and rear alarm (alarm sound or alarm vibration), and outputs a stop message 420 according to the front and rear warning situation to inform the driver. Then, the parking assist system 100 starts counting the duration of the front and rear warning situation by operating the timer together with the output of the stop message 420.

Referring to FIG. 4C, after the driver stops the vehicle by viewing the stop message 420, the front and rear warning situation, which is the parking situation confirmed in FIG. You will see that it lasts for a defined threshold time. This means that both the front obstacle Y and the rear obstacle that caused the front and rear warning situations do not deviate from the critical front distance and the critical rear distance within the threshold time, so that the front and rear warning situations last for the threshold time. Accordingly, the parking assistance system 100 outputs a system release message 430 indicating that the system is released without performing the automatic parking control function to induce a manual operation of the driver.

The various messages exemplified above may be HMI messages output through a human machine interface (HMI).

5 is a flowchart illustrating a parking assisting method of the parking assisting system 100 according to an exemplary embodiment of the present invention.

Referring to FIG. 5, the parking assisting method of the parking assisting system 100 according to an embodiment of the present invention includes an automatic steering control start step S500 of starting automatic steering control for automatic parking, and automatic steering control. In step S502, the front distance with the front obstacle and the rear distance with the rear obstacle are measured, and the parking situation is checked whether the parking situation is the front warning situation, the rear warning situation, or the front and rear warning situations based on the measurement result (S502). ), And if the parking situation is a front warning situation, outputs a backward message to induce backward movement of the vehicle; if the parking situation is a rear warning situation, outputs a forward message that induces forward movement of the vehicle; And an alarm situation control step (S504) for outputting a stop message for inducing a stop.

In the above-described alarm situation control step (S504), after outputting the stop message, by operating the timer, and repeatedly performing the parking condition check step (S502), to monitor whether the front and rear warning situation persists for a threshold time, monitoring As a result, if the front and rear warning situation persists for the threshold time, the system release message outputting the induction of the parking assistance system 100 is output, and within the threshold time, the front and rear warning situation is normal. Reversal messages that lead to a change to the changed situation when the vehicle is changed from a rear distance) or a forward warning situation (a front obstacle is out of the critical front distance) or a rear warning situation (a rear obstacle is out of the critical back distance). Or print a forward message.

6 is a detailed flowchart of the parking situation checking step (S502) in the parking assisting method of the parking assisting system 100 according to an embodiment of the present invention.

6 is a view illustrating in detail the parking state checking step (S502) of Figure 5 in the parking assisting method of the parking assisting system 100 according to an embodiment of the present invention in more detail.

Referring to FIG. 6, the occurrence of the front alert situation (that is, the situation of outputting the backward message) and the rear alert situation (that is, the situation of outputting the forward message) occur by reading the setting values of the reverse flag and the forward flag. You can check it. In other words, if the reverse flag is set to the initial value (eg 0), no forward alarm condition has occurred, and if the reverse flag is set to a value other than the initial value (eg 1), the forward alarm condition has occurred. Can be. If the forward flag is set to an initial value (eg 0), no rearward alarm condition has occurred. If the forward flag is set to a value other than the initial value (eg 1), it can be confirmed that a rearward alarm condition has occurred. . For example, if the forward and reverse flags are both set to 0, the parking situation is normal, and if the forward flag is 1 and the reverse flag is set to 0, the parking condition is that the rear obstacle is within the critical back distance and must move forward. If the forward alarm is 0 and the reverse flag is set to 1, the parking condition is a forward warning situation where the forward obstacle must be within the critical forward distance to reverse, and if both the forward and reverse flags are set to 1 The situation is a forward and backward warning situation in which forward obstacles are within the critical forward distance and rear obstacles are also within the critical rearward distance, making both forward and reverse impossible.

Referring to FIG. 6, the method for checking the parking state is initially set by initializing the forward flag and the backward flag to 0 (S600). At this time, the count necessary for counting the duration of the front and rear warning situation is initialized to zero.

After the step S600, while the automatic steering control for the automatic parking is performed, the presence of the front obstacle and the rear obstacle in the front and rear is detected to acquire the front distance from the front obstacle and the rear distance from the rear obstacle (or Measurement) (S602).

Then, it is determined whether the acquired front distance is less than or equal to the critical front distance (S604), if it is less than or less, it is determined that the front alarm situation does not occur, and it is determined whether the rear alarm situation is less than or equal to the critical rear distance. Check (S608). In step S604, if the acquired front distance is less than or equal to the threshold front distance, the backward flag is regarded as a front warning situation, and the reverse flag is set to 1 (S606), and thereafter, the rear warning situation is also checked (S608).

After step S604 or S606, it is determined whether the acquired rearward distance is less than or equal to the threshold rearward distance (S608). Set to 1 (S610).

After the above-described step S608 or step S610, the setting value A of the forward flag and the backward flag is used in the step S700 of acquiring the forward flag and the backward flag in the alarm situation control step S504.

Steps S602 to S610 described above are repeatedly performed until automatic parking is completed.

7 is a detailed flowchart of the alarm situation control step (S504) in the parking assisting method of the parking assisting system 100 according to an embodiment of the present invention.

Referring to FIG. 7, in step S504, after the step S608 or S610 in FIG. 6, the setting value A of the forward flag and the backward flag is obtained and confirmed (S700). Subsequently, by checking the setting values A of the forward flag and the reverse flag, it is again checked whether the parking situation is a normal situation, a front warning situation, a rear warning condition, or a front and rear warning condition (S702, S704, S706). .

In step S702 and S704, if both the forward flag and the backward flag are set to 0 and the parking situation is determined to be normal, it is determined whether the system is terminated (S708). If it is output (S710), otherwise, it is performed again from the step S700.

When the forward flag is set to 0 and the backward flag is set to 1 through the steps S702 and S704, and the parking situation is determined to be the front warning situation, a backward message for inducing the reverse to output the forward warning situation is output (S712).

When the forward flag is set to 1 and the backward flag is set to 0 through the steps S702 and S706, and it is determined that the parking situation is the rear warning situation, a forward message for inducing the forward to exit the rear warning situation is output (S714).

If both the forward flag and the reverse flag are set to 1 through the steps S702 and S706, and the parking situation is determined to be the front and rear warning conditions, both forward and backward directions are impossible, and a stop message for inducing a stop is output (S716). At the same time, the timer operates to monitor the duration of the front and rear alarm conditions. At this time, the duration is checked while increasing when the variable value of the count is determined to be less than the threshold count (S718). That is, the count initially set to an initial value of 0 is incremented by 1 every time the steps S700, S702, S706, S716, and S718 are passed (S722), and when the count is greater than or equal to the threshold count, a system release message is output (S720). If the forward flag is set to 0 in step S702 or the backward flag is set to 0 in step S706 while repeatedly performing steps S700, S702, S706, S716, and S718 while the timer is running, the variable of the count The value is no longer counted and is performed along the path.

As described above, according to the present invention, by accurately identifying and confirming an alarm situation that may occur during the automatic parking control, and by performing appropriate response processing according to the identified alarm situation, the vehicle can be safely and automatically parked. If it is determined that safe automatic parking is not possible (e.g. front and rear warning conditions), it can be guided to manual steering.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

Claims (8)

An auto steering control unit configured to perform auto steering control for auto parking of the vehicle;
During the automatic steering control, based on the front distance with the front obstacle and the rear distance with the rear obstacle, the parking situation checking unit for checking whether the parking situation is the front warning situation, the rear warning situation and the front and rear warning situation; And
When the parking situation is the front warning situation or the rear warning situation, a backward message or a forwarding message for inducing a change of direction of the vehicle is output, and when the parking situation is the front and rear warning situation, the vehicle is induced to stop. Including an alarm situation control unit for outputting a stop message,
The alarm situation control unit,
And after outputting the backward message, the forward message, or the stop message, a timer is operated to count the duration of the front alarm situation, the rear alarm situation, or the front and rear warning situations. The method of claim 1,
The parking state confirmation unit,
When the front warning situation and the rear warning situation is confirmed at the same time, the parking situation is confirmed as the front and rear warning situation,
If the forward distance with the front obstacle is less than the threshold ahead distance, the parking situation is confirmed as the front warning situation,
And when the rear distance from the rear obstacle is less than or equal to a critical rear distance, confirming the parking situation as the rear warning situation. The method of claim 1,
The parking state confirmation unit,
Until the parking assistance system is normally terminated or forcibly released, the parking assistance system, characterized in that the vehicle constantly checks the front distance with the front obstacle and the rear distance with the rear obstacle to continuously check the parking situation. delete The method of claim 1,
The alarm situation control unit,
After outputting the stop message, the timer is operated, and monitoring whether the front and rear warning situation continues for a threshold time through the parking status check unit,
Outputting a system release message for inducing release of the parking assistance system when the front and rear warning situation continues for the threshold time as a result of the monitoring;
And outputting the backward message or the forward message for inducing a change in direction corresponding to the changed situation when the front and rear warning situation is changed to the normal situation or the front warning situation or the rear warning condition within the threshold time as a result of the monitoring. Featured Parking Assistance System. The method of claim 1,
The automatic steering control unit,
After the reverse message or the forward message is output, when reverse gear information or forward gear information is input, the automatic steering control in the reverse direction or the forward direction is performed according to the input reverse gear information or the input forward gear information. Parking support system, characterized in that. An automatic steering control start step of starting automatic steering control for the automatic parking;
During the automatic steering control, the front distance with the front obstacle and the rear distance with the rear obstacle are measured, and based on the measurement result, it is determined whether the parking situation is a front alarm situation, a rear warning situation, or a front and rear warning condition. Checking the parking situation; And
If the parking situation is the front warning situation outputs a backward message for inducing the reverse of the vehicle, if the parking situation is the rear warning situation outputs a forward message for inducing the forward of the vehicle, the parking situation is the front and rear warning If the situation includes the alarm situation control step of outputting a stop message for inducing the stop of the vehicle,
The alarm situation control step,
After outputting the stop message,
By operating a timer and repeatedly performing the parking status check step, by monitoring whether the front and rear warning situation persists for a threshold time,
As a result of the monitoring, if the front and rear warning situation persists for the threshold time, a system release message for inducing release of the parking assistance system is output, and within the threshold time, the front and rear warning situation is normal or the front warning situation or the rear side. And outputting the backward message or the forward message to induce a change of direction corresponding to the changed situation when the alarm situation is changed. delete

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