KR101451079B1 - Parking assistance apparatus using video camera - Google Patents

Abstract

The present invention relates to a parking assisting device for selecting a parking area targeted by a vehicle and guiding the vehicle to a selected parking area. The parking assisting device directly selects a position to be parked in a displayed image regardless of the current position of the vehicle, The steering according to the parking path and the route of the vehicle can be induced according to the parking area.

Description

[0001] The present invention relates to a parking assistance apparatus using a video camera,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a parking assisting device, and more particularly, to a parking assisting device for selecting a parking area targeted by a vehicle and guiding the vehicle to a predetermined parking area.

A driving operation for parking the vehicle generally involves steering or retreating in a narrow space, so that a relatively high driving skill is required. Therefore, various parking assisting devices or driving assisting devices have been proposed in order to alleviate the burden on the occupant when parking the vehicle.

The basic operation of the vehicle parking includes a process of going backward to a position to be parked (hereinafter referred to as " parking area "), adjusting the traveling direction of the vehicle through steering, and repeating forward / do.

In addition, since there are basically two modes of the parking method of the vehicle, that is, the parallel parking and the right angle parking, a basic operation of the parking of the vehicle may cause a difference in some operations depending on the two modes. However, Are the same.

Therefore, in the conventional parking assisting device, when the parking area and the current position of the vehicle are arranged at the positions where the parking assist can be guided, the parking assisting device moves backward in accordance with the steering from the disposed position (hereinafter referred to as " To the driver ' s driver.

The parking assisting device calculates an induced path for parking the vehicle in the parking area, when the vehicle is placed in the reverse start position.

Specifically, a white line indicating a parking zone is recognized, and a parking area is determined based on the recognition result. Next, the guidance route is calculated based on the position of the vehicle stopped at the parking area and the reverse start position. The vehicle is parked in the parking area by inducing the driver to park the vehicle through an audiovisual method or the like according to the calculated guidance route.

For example, the parking assist device may set the parking area by temporarily stopping the vehicle in the vicinity of the parking area, or by checking the parking space by the distance measuring sensor, It is possible to set the parking area by moving the vehicle to the position where parking is started and displaying the parking area over the image of the surrounding environment of the vehicle based on the information of the acquired parking area.

However, the overlapping display of the parking areas capable of parking the vehicle on the image of the surrounding environment of the vehicle is possible only when the present position of the vehicle exists in a specific area around the parking area, There is a difficulty in stopping the vehicle within a specific area in which the parking area can be set within the parking lot.

Accordingly, there is a need for a parking assisting device that directly adjusts a parking area in a video to select a parking area irrespective of the current position of the vehicle, and to guide the vehicle to park in a selected parking area.

The position to be parked can be directly selected in the displayed image regardless of the current position of the vehicle.

It is possible to provide a parking assisting device capable of guiding the parking of the vehicle according to the selected parking area regardless of the current position of the vehicle.

When the vehicle is out of the parking path guided by the vehicle, a parking assist device capable of correcting the parking path and inducing parking of the vehicle can be provided.

According to one aspect of the present invention, a parking assisting device includes a video display unit for displaying video information of a scene around a vehicle, a target display unit for displaying a target area generated according to a size and a form determined based on the specification of the vehicle, A target control unit for determining the target area as a parking area when the moved target area overlaps with the parking line indicated in the image information, and a parking path for parking the vehicle from the current position of the vehicle to the determined parking area And a path display unit for displaying the path.

The path display unit generates two circular paths that are tangential to each other to have standard tangential lines among the respective circular paths generated in consideration of the current position of the vehicle and the steered parking angle of the vehicle on the basis of the determined parking range, (Path 1) to a position where the circular path generated at the current position of the parking space is tangential to the standard tangent, and the circular path generated in the determined parking area is a parking And displays the parking path of the vehicle according to the route to the area (route 2).

In addition, when the route display unit is not able to park according to the route 1 or the route 2 without any other movement with respect to the vehicle at the present position of the vehicle, the route display unit displays the route, which is generated in the parallel direction from the current position of the vehicle, The route of the vehicle along the path where the circular path generated in consideration of the steering angle of the steering of the vehicle 1 overlaps with the route 1 or the route 2 is displayed.

In addition, when the current position of the vehicle is out of the parking path of the vehicle, the path display unit displays a path generated in a direction parallel to the current position of the vehicle or a circular path generated in consideration of the steering angle of the steering of the vehicle And displays the parking path of the vehicle along the route overlapping the route 1 or the route 2.

The path display unit overlaps with the determined parking area and generates a circular path in consideration of the steering angle of steering of the vehicle on the basis of the current position of the vehicle. A path from the current position of the vehicle to the determined parking area according to the generated circular path (Path 3) of the vehicle.

In addition, when the route display unit is not capable of parking along the route 3 without any other movement with respect to the vehicle at the current position of the vehicle, the route display unit displays the route of the vehicle based on the route generated in the parallel direction from the current position of the vehicle, The parking path of the vehicle along the path where the circular path generated in consideration of the steering angle overlaps with the path 3 is displayed.

In addition, when the current position of the vehicle is out of the parking path of the vehicle, the path display unit displays a path generated in a direction parallel to the current position of the vehicle or a circular path generated in consideration of the steering angle of the steering of the vehicle And the parking path of the vehicle according to the route overlapping with the route 3 is displayed.

The driver directly selects the position to park in the displayed image without considering the position and steering of the vehicle.

Further, it is possible to detect the parking position while driving and to view the monitor to determine whether or not parking support is possible, thereby inducing safe driving.

Since it is possible to directly manipulate the displayed image of the driver, quick parking induction is performed.

In addition, when the vehicle departs from the parking path guided by the vehicle, the parking path is corrected to perform the parking induction.

1 is a view showing a vehicle equipped with a parking assisting device according to a preferred embodiment of the present invention.
2 is a detailed block diagram of a vehicle equipped with a parking assist device according to an embodiment of the present invention.
3 is a block diagram showing a detailed configuration of a parking assisting device according to a preferred embodiment of the present invention.
4 is a block diagram illustrating a connection relationship between a detailed configuration of a parking assisting device and a detailed configuration of a vehicle according to a preferred embodiment of the present invention.
5A and 5B are views showing an image displayed on a screen before a parking area is set in a parking assisting device according to a preferred embodiment of the present invention.
6A and 6B are views showing an image displayed on a screen when a parking area is set in the parking assisting device according to the preferred embodiment of the present invention.
7A to 7F are views illustrating a process of calculating a guidance route from a parking assist device to a parking area in parallel parking according to a preferred embodiment of the present invention.
FIGS. 8A to 8E are diagrams illustrating a process of calculating a guidance route to a parking area in a parking assisting device according to a preferred embodiment of the present invention.

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

1 is a view showing a vehicle equipped with a parking assisting device according to a preferred embodiment of the present invention.

A vehicle 100 according to an embodiment of the present invention includes a camera module 110 and a display device 120.

The display device 120 may be disposed near the driver's seat, and the display device 120 may include a touch panel and a monitor. Also, the display device 120 is suitably used as a navigation system.

A camera 110 is provided at the rear end of the vehicle 100 as a photographing device for photographing a situation around the vehicle. 1 illustrates the camera 110 that photographs the rear of the vehicle 100, it is also possible to mount only cameras that photograph the front of the vehicle 100, or two cameras that photograph the front and rear. It is also possible to photograph the forward direction using two cameras on the side of the front of the vehicle 100. [

The camera 110 may be implemented using a digital camera having a built-in image pickup device such as a CCD (charge coupled device) or a CIS (CMOS image sensor), and outputs captured image information as moving image information in real time can do.

In an embodiment of the present invention, the camera 110 may be a wide angle camera, a viewing angle of 120 to 140 degrees in the horizontal direction is secured, and an angle of about 30 degrees in the optical axis, It is possible to photograph an area up to a predetermined distance rearward.

The vehicle 100 is provided with various sensors for detecting a driving operation and a moving state of the vehicle 100, and they transmit information through CAN (Controller Area Network) communication.

As one embodiment of the present invention, the parking assisting device may be included as one configuration of the camera module 110. [

The camera module 110 according to an exemplary embodiment of the present invention includes a camera, a central processing unit, and a memory as hardware, and performs a program related to the parking assist device.

Further, the parking assisting device may be included in an ECU (Electronic Control Unit) which is an electronic control device for controlling the state of the engine, the automatic transmission, the ABS, and the like of the vehicle by a computer.

The ECU according to an embodiment of the present invention may include an input / output interface for input / output of information and a microprocessor or DSP (Digital Signal Processor) for processing information obtained through the input / output interface. Of course, some or all of the input / output interfaces may be included in such a microprocessor.

The ECU comprises an electronic circuit including a microprocessor. Further, the ECU may include a memory device including a memory, a register, or the like which is embedded in the microprocessor or mounted as a separate part.

2 is a detailed block diagram of a vehicle equipped with a parking assist device according to an embodiment of the present invention. 2, the vehicle includes a camera module 110 and a display device 120, and the camera module 110 includes a camera 200 and a parking assist device 210 And the image information captured through the camera 200 and processed by the parking assist device 210 is provided to the user (or driver) through the display device 120. [

3 is a block diagram showing a detailed configuration of a parking assisting device according to a preferred embodiment of the present invention. 3, the parking assisting device 210 includes a video display unit 310, a target display unit 320, a target control unit 330, a path display unit 340, and a distance display unit 350 .

The video display unit 310 displays video information of a scene around the vehicle. In addition, the image display unit 310 collects image information of the surroundings of the vehicle through a camera mounted on the vehicle, and displays image information obtained by correcting the image distortion of the camera.

The target display unit 320 displays a target area generated according to a predetermined size and shape based on the specifications of the vehicle.

The target control unit 330 moves the target area through the external input, and when the moved target area overlaps with the parking line indicated in the video information, the target area is determined as the parking area.

In addition, the target control unit 330 moves or rotates the target area up, down, left, and right through the external input key arranged for external input.

Also, the target control unit 330 directly scrolls the displayed target area through the touch panel, and moves or rotates in the up, down, left, and right directions.

Also, the target control unit 330 determines the parking area as the target area when the size or shape of the parking area is equal to or larger than the target area.

The path display unit 340 displays a parking path for parking the vehicle from the current position of the vehicle to the determined parking area.

In addition, the path display unit 340 superimposes and displays the movement path for parking the vehicle at the current position in parallel or orthogonal to the defined parking area, on the displayed image information.

For this, the path display unit 340 derives a movement path for parking the vehicle in consideration of the position of the vehicle and the parking area, and obtains the current position of the vehicle through the movement path DB and the movement path DB, And a detailed description thereof will be given later with reference to FIG.

When parking the vehicle along the parking path, the distance display unit 350 displays the moving distance along the parking path and the moving distance of the vehicle using information received from the CAN (Controller Area Network) communication.

In this case, the information received via the CAN communication may be information on the travel distance (or travel distance) of the vehicle received by the ECU mounted on the vehicle, or may include wheel speed information and information sensed from the ultrasonic distance sensor .

Further, the distance display unit 350 calculates the moving distance of the vehicle using the four wheel speed information of the vehicle received in the CAN communication and the traveling time of the vehicle, and calculates the moving distance of the vehicle based on the calculated parking distance A guide line for the travel distance is displayed.

Here, considering the basic method of obtaining the moving distance of the vehicle, the moving distance can be calculated by obtaining the average speed of the wheel from the four wheel speed information of the vehicle and multiplying the average speed and the running time. This method is a one - dimensional method for calculating the moving distance of the vehicle and it is possible to calculate the moving distance by various methods using the wheel speed information received by the CAN communication.

4 is a block diagram illustrating a connection relationship between a detailed configuration of a parking assisting device and a detailed configuration of a vehicle according to a preferred embodiment of the present invention.

FIG. 4 is a block diagram of the parking assisting device of FIG. 3 in a block diagram of FIG. 2. FIG.

A display 411, a speaker 412, and a touch panel 413 may be included in the display device 120 provided in the vehicle 100. A liquid crystal display having a backlight is suitable for the monitor 411, but it is also possible to use a plasma display type or a CRT type.

Further, the touch panel 413 may be constituted by a depressurization type or an electrostatic type input device capable of outputting the contact position of the finger or the like as location data. The display device 120 may also include a speaker 412, but the speaker 412 may also be implemented through a speaker included in the vehicle, such as the inside of the door.

The video display unit 310 receives the video information from the camera 200 that captures the surroundings of the vehicle, and outputs the video information to the screen through the monitor 411.

The target display unit 320 is sized and shaped based on the specifications of the vehicle, and displays a target area generated according to the determined size and shape.

The target control unit 330 receives movement information from a driver or the like through a device capable of receiving an external input such as an external input button or a touch panel 413, moves the target area from the current position to a desired position, When the area is overlapped with the parking line included in the image information, the target area is determined as the parking area.

The route acquisition unit 401 of the route display unit 340 searches the route DB 402 using the current position of the vehicle identified through the navigation function or the like and the determined parking area and various information of the vehicle transmitted through the CAN communication, (Guidance route) for parking from the current position of the vehicle to the parking area.

The calculated guidance path is converted into image information that can be displayed on the monitor in the path display unit 340 and superimposed on the monitor together with the image information output from the image display unit 310.

The parking assisting device 210 according to an embodiment of the present invention basically performs parking induction to the driver through the screen displayed on the monitor 411 or sounds the voice or the like through the speaker 412 equipped with the vehicle As shown in FIG.

5A and 5B are views showing an image displayed on a screen before a parking area is set in a parking assisting device according to a preferred embodiment of the present invention.

5A and 5B illustrate screens implemented on a monitor or the like through the parking assisting device of FIG. 4, and illustrate a parking area and a target area displayed on the screen according to two basic parking modes of a vehicle represented by parallel parking and right- Respectively.

5A is a diagram showing a parking area and a target area displayed on the screen in the case of rectangular parking.

The parking assisting device grasps the situation around the vehicle through the camera and displays the image information 500. From the displayed image information, the parking assist device displays, as 501, an empty parking area where the vehicle is not parked among the parking lines displayed on the floor.

On the other hand, in some areas on the screen, the target area 502 generated according to the size and shape determined based on the specification of the vehicle is displayed. The target area 502 is generated by calculating the size and shape based on the specification of the vehicle in consideration of the ratio between the size and the actual size displayed in the image information 500.

Accordingly, when the target area 502 is moved through the external input device such as the external input button 503 to overlap the parking area 501, the target area 502 is determined as the parking area of the vehicle, .

5B is a diagram showing a parking area and a target area displayed on the screen in the case of parallel parking.

In this case, as described above with reference to FIG. 5A, the user can grasp the situation around the vehicle through the camera, display the image information 510, and display an empty parking area in which the vehicle is not parked, such as 511 in the parking area. In addition, in some areas on the screen, the target area 512 generated according to the size and shape determined based on the specification of the vehicle is displayed.

Therefore, when the target area 512 is moved through the external input device such as the external input button 513 to overlap the parking area 511, the parking area 511 in which the target area 512 overlaps can be parked Area, and the parking induction can be performed.

6A and 6B are views showing an image displayed on a screen when a parking area is set in the parking assisting device according to the preferred embodiment of the present invention.

6A and 6B are diagrams illustrating a case where a parking area is defined as a target area according to two basic parking modes of a vehicle represented by parallel parking and right angle parking of a vehicle on a screen implemented on a monitor or the like through the parking assisting device of Figs. The process of induction is shown on the screen.

6A is a diagram showing a case where a parking area is determined as a target area in the case of rectangular parking.

When the driver or the like moves the target area 602 around the parking area 601 through the external input device such as the external input button 603 and the target area 602 overlaps the parking area 601 as described above The parking area 601 is displayed so as to coincide with the target area 602. [ This state will be referred to as a case where the parking area 601 is determined as the target area 602.

As a result, the parking assisting device according to the embodiment of the present invention guides the vehicle to the parking area 601 determined as the target area 602 according to the right angle parking mode.

(Path 1 and path 2 in FIG. 6A) from the current position of the vehicle to the confirmed parking area 601, and when the driver performs parking along the indicated guidance path, It is possible to derive the travel distance that must be moved along the path.

Reference numeral 604 denotes a distance at which the vehicle travels and a proper distance at which the vehicle should travel along the guide path, and if the gray marks indicated at 604 disappear, the driver is informed that the vehicle has traveled by a proper distance.

It should be noted that the display method of the moving distance 604 is only an embodiment according to the present invention, and a method in which the guide line indicating the appropriate distance to be moved in the guide path according to the moving distance of the vehicle is displayed by the present invention .

6B is a diagram showing a case where a parking area is determined as a target area in parallel parking.

When the driver or the like moves the target area 612 to the vicinity of the parking area 611 through the external input device such as the external input button 613 and the target area 612 overlaps the parking area 611 as described above The parking area 611 is displayed so as to coincide with the target area 612. This state will be referred to as a case where the parking area 611 is determined as the target area 612.

As a result, the parking assisting device according to an embodiment of the present invention guides the vehicle to the parking area 611 determined as the target area 612 according to the parallel parking mode.

(Path 1 and path 2 in FIG. 6A) from the current position of the vehicle to the determined parking area 611, and when the driver performs parking along the indicated guidance path, It is possible to derive the travel distance that must be moved along the path.

Reference numeral 614 denotes a distance at which the vehicle travels and an appropriate distance at which the vehicle should travel along the guide path, and if the gray mark shown at 614 disappears, it indicates to the driver that the vehicle has traveled by a proper distance.

It should be noted that the display of the moving distance 614 is merely an embodiment of the present invention, and a method of displaying a guide line capable of displaying an appropriate distance to travel in the guide path according to the distance the vehicle travels .

7A to 7F are views illustrating a process of calculating a guidance route from a parking assist device to a parking area in parallel parking according to a preferred embodiment of the present invention.

7A to 7F illustrate a route for parking in a parking area at a current position of the vehicle using a current position and a parking area of the vehicle, which are detected through a navigation function or the like, and information sensed through various sensors provided in the vehicle ).

7A to 7F are diagrams for explaining a difference in the guidance route calculated according to the current position of the vehicle according to the present position in relation to the parking area which can be considered in the parking assisting device according to the embodiment of the present invention FIG. 2 is a diagram illustrating a method for calculating a guidance path leading to parallel parking.

FIG. 7A shows a standard route for guiding the parking of the vehicle when the current position of the vehicle and the parking area are parallel.

Calculates a guidance route required for parallel parking based on a position 701 at which the vehicle is finally parked in the parking area and a current position 700 of the vehicle.

In this case, it is possible to calculate each circular path generated considering the steer angle of steering of the vehicle based on the current position 700 of the vehicle and the position 701 where the vehicle is finally parked, 701 that are tangential to each other so as to have a standard tangential line (A) among the circular paths generated from the two tangential paths (701, 701).

In the two circular paths 702 and 703 thus calculated, a path from the current position 700 of the vehicle to the position where the circular path 702 generated in the current position 700 of the vehicle contacts the standard tangent line A And then the vehicle is finally parked at a position where the circular path 703 generated at the position 701 where the vehicle is finally parked contacts the standard tangent line A And leads to the steering and running of the vehicle by the route (route 2) to the position 701. [

7A, if it is possible to parallelly park through the standard route (route 1 and route 2) without any other movement to the vehicle at the current position 700 of the vehicle, the current position 700 of the vehicle ) Is referred to as a standard position

FIG. 7B shows a route for guiding the parking of the vehicle when the current position of the vehicle and the parking area are parallel but the current position of the vehicle is located farther away from the standard position in a direction perpendicular to the parking area.

In this case, considering the two circular paths 702 and 703 forming the standard path as described above with reference to FIG. 7A, the standard tangent A to which the two circular paths 702 and 703 are tangent, As shown in FIG. At this time, the generated circular path 712 is in contact with the vehicle position 711 when moving in the parallel direction at the current position 710 of the vehicle.

According to the generated guidance path, the vehicle at the present position 710 of the vehicle is guided to move in a direction parallel to the parking range to the position of 711, and when the vehicle reaches the position 711, And leads to steering and running of the vehicle by a path (path 1) to a point tangential to the standard tangent line (A).

Next, it is guided to move from the point in contact with the standard tangent line A in the circular path 712 to the path (path 2) from the point where the two circular paths 702 and 703 contact the standard tangent line A, By moving along the path 3, the vehicle can be parked at the position 701 to be finally parked.

FIG. 7C is a view showing a state in which when the current position of the vehicle and the parking area are parallel but the current position of the vehicle is located closer to the normal direction than the standard position and perpendicular to the parking area, Of the parking space.

In this case, considering the two circular paths 702 and 703 forming the standard path as described above with reference to Fig. 7A, the standard position (the circular path) generated in accordance with the steering angle of the steering of the vehicle at the current position 720 of the vehicle 700). ≪ / RTI >

The steering path thus generated induces steering and running of the vehicle to a path (path 1) generated by the circular path 721 from the current position 721 to the standard position 700 of the vehicle. Once the vehicle is in the standard position 700, the next procedure leads to steering and running of the vehicle along path 2 and path 3 as described in FIG. 7A.

7D is a view showing a state in which when the current position of the vehicle and the parking area are parallel but the current position of the vehicle is closer to the normal direction than the standard position and is not able to move to a position coinciding with the standard position through steering adjustment of the vehicle, Of the parking space.

In this case, considering the two circular paths 702 and 703 forming the standard path as described above with reference to FIG. 7A, the circular path 731 contacting the tangent to the standard position 700 and the current position 730 of the vehicle, To generate a circular path 732 that is generated in accordance with the steering angle of steering of the vehicle. The two circular paths 731 and 732 generated at this time have a contact point between the standard position 700 and the current position 730 of the vehicle.

According to the generated guidance path, first, the steering and the running of the vehicle are induced to the path (path 1) generated by the circular path 732 at the current position 730 of the vehicle. In this case, the vehicle is guided to a position where the two circular paths 731 and 732 are in contact, and then the vehicle is guided by a path (path 2) generated by a circular path 731 contacting the tangent line tangent to the standard position 700 Steering and driving.

The vehicle then reaches a position parallel to the standard position 700 and the vehicle can reach the standard position 700 as it progresses in the parallel direction of the vehicle at this position.

Once the vehicle is in the standard position 700, the next process will lead to steering and running of the vehicle along path 4 and path 5 as described in FIG. 7A.

7E shows a case where the current position of the vehicle and the parking area are not parallel and the current position of the vehicle is closer to the normal position than the standard position and perpendicular to the parking area and can be moved to a position coincident with the standard position through steering adjustment of the vehicle And shows a route leading to parking of the vehicle.

In this case, considering the two circular paths 702 and 703 forming the standard path as described above in FIG. 7A, the current position 740 of the vehicle, in contact with the circular path 702 generated in the standard position 700, To generate a circular path 741 that is generated in accordance with the steering angle of the steering of the vehicle.

(Path 1) generated along the circular path 741 from the current position 740 of the vehicle to the position where the circular path 741 and the circular path 702 contact with each other, Steering and running of the vehicle. In this case, the vehicle is guided to a position where the two circular paths 741 and 702 are in contact with each other.

When the vehicle reaches the standard position 700 and the vehicle is placed in the standard position 700, the next process is to steer and steer the vehicle along path 2 and path 3 as described in FIG. Driving.

7F shows a case where the current position of the vehicle and the parking area are not parallel and the current position of the vehicle is located closer to the normal direction than the standard position with respect to the parking area and can not be moved to a position coinciding with the standard position through steering adjustment of the vehicle And shows a route leading to parking of the vehicle.

In this case, considering the two circular paths 702 and 703 forming the standard path as described in Fig. 7A, a circular path 751 generated according to the steering angle of the steering of the vehicle at the current position 750 of the vehicle and Creating a circular path 752 in contact with the tangent to the standard position 700. The two circular paths 751 and 752 generated at this time have a contact point between the standard position 700 and the current position 750 of the vehicle.

According to the generated guidance path, first, the steering and the running of the vehicle are induced to the path (path 1) generated by the circular path 751 at the current position 750 of the vehicle. In this case, the vehicle is guided to a position where the two circular paths 751 and 752 are in contact, and then the vehicle is guided by a path (path 2) generated by a circular path 752 contacting the tangent line tangent to the standard position 700 Steering and driving.

The vehicle then reaches a position parallel to the standard position 700 and the vehicle can reach the standard position 700 as it progresses in the parallel direction of the vehicle at this position.

Once the vehicle is in the standard position 700, the next process will lead to steering and running of the vehicle along path 4 and path 5 as described in FIG. 7A.

FIGS. 8A to 8E are diagrams illustrating a process of calculating a guidance route to a parking area in a parking assisting device according to a preferred embodiment of the present invention.

8A to 8E illustrate a route (guidance route) for parking in a parking area at a current position of the vehicle using the current position of the vehicle, the parking area, and information sensed through various sensors provided in the vehicle, .

8A to 8E are diagrams for explaining the difference in the guidance route according to the present position in relation to the parking area which can be considered in the parking assisting device according to the embodiment of the present invention, FIG. 2 is a diagram illustrating a method of calculating a guidance path for inducing right-angle parking.

8A shows an optimal path leading to parking of a vehicle when the parking area is present on a circular path generated from the current position of the vehicle according to the steering angle of steering of the vehicle.

A guidance route required for right-angle parking is calculated based on a position 801 at which the vehicle is finally parked within the parking area and a current position 800 of the vehicle.

In this case, it is possible to calculate the circular path 802 that is generated in consideration of the steering angle of the steering of the vehicle including the current position 800 of the vehicle and the position 801 at which the vehicle is finally parked.

According to the calculated circular path 802, steering and running of the vehicle are induced by a path generated by the circular path 802 generated from the current position 800 of the vehicle to the current position 800 of the vehicle, And finally proceeds to the parking position 801.

8A, when it is possible to squarely park the vehicle at the current position 800 immediately through the optimal route without any other movement to the vehicle, the current position 800 of the vehicle is hereinafter referred to as an optimal position

Fig. 8B shows a route for inducing parking of the vehicle when the current position of the vehicle and the parking area are vertical, and the current position of the vehicle is parallel to the optimum position and not coincident.

In this case, an optimum tangential line B is generated in a direction parallel to the parking area at a position where the vehicle is finally parked, and a line that is parallel to the current position 810 of the vehicle while being in contact with the optimum tangential line B Thereby creating a tangential circular path 811.

In accordance with the circular path 811 thus calculated, a route (path 1) from the current position 800 of the vehicle to a position where a straight line parallel to the circular path 811 and the current position 810 of the vehicle is tangent Driving.

Next, the vehicle is guided to the position where the circular path 811 and the optimal tangential line B are in contact with each other by inducing steering and running of the vehicle with the path (path 2) generated along the circular path 811.

The vehicle reaches a position in parallel with the position 801 at which the vehicle is finally parked and the vehicle is advanced in the direction parallel to the optimal tangent line B at this position (path 3) The vehicle can be reached.

8C shows a route for guiding the parking of the vehicle when the current position of the vehicle and the parking area are within 90 degrees.

In this case, in the circular path 821 generated considering the steering angle of the steering of the vehicle on the basis of the current position 820 of the vehicle and the optimum tangent line (in the direction parallel to the parking area) B and creates a circular path 822 in contact with the circular path 821 while touching the optimal tangent line B. [

In the two circular paths 821 and 822 thus calculated, a path from the current position 820 of the vehicle to the position where the circular path 821 generated at the current position 820 of the vehicle is in contact with the circular path 822 (Path 1), and then induces the steering and running of the vehicle to the path (path 2) generated by the circular path 822. Next,

The vehicle reaches a position in parallel with the position 801 at which the vehicle is finally parked and the vehicle is advanced in the direction parallel to the optimal tangent line B at this position (path 3) The vehicle can be reached.

FIG. 8D shows a path for inducing parking of the vehicle when the current position of the vehicle and the parking area are 90 degrees or more, and the circular path generated by the maximum steering angle among the steering angles of the vehicle does not meet the optimum tangent.

In this case, the optimal tangent line B is generated in a direction parallel to the parking area at a circular path 831 generated by the maximum steering angle at the current position 830 of the vehicle and a position 801 where the vehicle is finally parked, Creating a circular path 832 that contacts the circular path 831 while touching the tangent line B.

In the two circular paths 831 and 832 thus calculated, a path from the current position 830 of the vehicle to the position where the circular path 831 generated at the current position 830 of the vehicle meets the circular path 832 (Path 1), and then induces the steering and running of the vehicle to the path (path 2) generated by the circular path 822. Next,

The vehicle reaches a position in parallel with the position 801 at which the vehicle is finally parked and the vehicle is advanced in the direction parallel to the optimal tangent line B at this position (path 3) The vehicle can be reached.

FIG. 8E shows a path leading to parking of the vehicle when the current position of the vehicle and the parking area are 90 degrees or more, and a circular path generated by the maximum steering angle of the steering angle of the vehicle meets the optimum tangent at two points.

In this case, the circular path 843 contacting the optimal tangent line B and the circular path 843 contacting the circular path 841 meet the circular path 841 generated by the maximum steering angle at the current position 840 of the vehicle, Lt; RTI ID = 0.0 > 842 < / RTI >

In the two circular paths 842 and 843 thus calculated, a path from the current position 840 of the vehicle to the position where the circular path 842 generated at the current position 840 of the vehicle meets the circular path 843 (Path 1), and then induces steering and running of the vehicle with the path (path 2) generated by the circular path 843.

The vehicle reaches a position in parallel with the position 801 at which the vehicle is finally parked and the vehicle is advanced in the direction parallel to the optimal tangent line B at this position (path 3) The vehicle can be reached.

One aspect of the present invention may be embodied as computer readable code on a computer readable recording medium. The code and code segments implementing the above program can be easily deduced by a computer programmer in the field. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, and the like. The computer-readable recording medium may also be distributed over a networked computer system and stored and executed in computer readable code in a distributed manner.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be construed to include various embodiments within the scope of the claims.

110 camera module
120 display device
200 cameras
210 Parking Assist Device

Claims (7)

delete delete A video display unit for displaying video information of a scene around the vehicle;
A target display unit for displaying a target area generated according to a predetermined size and shape based on the specification of the vehicle;
A target control unit for moving the target area through an external input and fixing the target area as a parking area when the moved target area overlaps with a parking line indicated by the image information; And
The two circular paths which are tangential to each other to have a standard tangent line among the respective circular paths generated in consideration of the steering angle of the steering of the vehicle on the basis of the current position of the vehicle and the determined parking area are generated and generated from the current position of the vehicle A route from the position where the circular path generated in the determined parking area contacts the standard tangent to the determined parking area (path 1) And a path display unit for displaying a parking path of the vehicle according to the path (2)
If the route display unit does not permit parking according to the route 1 or the route 2 without any other movement with respect to the vehicle at the current position of the vehicle, the route display unit displays the route of the vehicle based on the route generated in the parallel direction from the current position of the vehicle, And the parking path of the vehicle along the path where the circular path generated in consideration of the steering angle of the steering is overlapped with the path 1 or the path 2. A video display unit for displaying video information of a scene around the vehicle;
A target display unit for displaying a target area generated according to a predetermined size and shape based on the specification of the vehicle;
A target control unit for moving the target area through an external input and fixing the target area as a parking area when the moved target area overlaps with a parking line indicated by the image information; And
The two circular paths which are tangential to each other to have a standard tangent line among the respective circular paths generated in consideration of the steering angle of the steering of the vehicle on the basis of the current position of the vehicle and the determined parking area are generated and generated from the current position of the vehicle A route from the position where the circular path generated in the determined parking area contacts the standard tangent to the determined parking area (path 1) And a path display unit for displaying a parking path of the vehicle according to the path (2)
The path display unit displays a path generated in a parallel direction from the current position of the vehicle or a circular path generated in consideration of the steering angle of the steering of the vehicle based on the current position of the vehicle when the current position of the vehicle is out of the parking path of the vehicle. 1 < / RTI > or < RTI ID = 0.0 > Route 2 < / RTI > delete A video display unit for displaying video information of a scene around the vehicle;
A target display unit for displaying a target area generated according to a predetermined size and shape based on the specification of the vehicle;
A target control unit for moving the target area through an external input and fixing the target area as a parking area when the moved target area overlaps with a parking line indicated by the image information; And
A circular path is generated in consideration of the steering angle of steering of the vehicle on the basis of the present position of the vehicle based on the determined parking range from the current position of the vehicle, and a path from the current position of the vehicle to the determined parking area And a path display unit for displaying a parking path of the vehicle according to the route (route 3)
The route display unit displays the route in the parallel direction from the current position of the vehicle or the steering angle of the vehicle steering based on the current position of the vehicle when the route display unit can not park along the route 3 without any other movement with respect to the vehicle at the current position of the vehicle. And the parking path of the vehicle along the path where the circular path generated in consideration of the path is overlapped with the path. A video display unit for displaying video information of a scene around the vehicle;
A target display unit for displaying a target area generated according to a predetermined size and shape based on the specification of the vehicle;
A target control unit for moving the target area through an external input and fixing the target area as a parking area when the moved target area overlaps with a parking line indicated by the image information; And
A circular path is generated in consideration of the steering angle of steering of the vehicle on the basis of the current position of the vehicle based on the determined parking range from the current position of the vehicle, and a path from the current position of the vehicle to the determined parking area And a path display unit for displaying a parking path of the vehicle according to the route (route 3)
The path display unit displays a path generated in a parallel direction from the current position of the vehicle or a circular path generated in consideration of the steering angle of the steering of the vehicle based on the current position of the vehicle when the current position of the vehicle is out of the parking path of the vehicle. And a parking assist device for indicating a parking path of the vehicle according to a route overlapping the route.

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