KR20120117263A - Apparatus and method for parking assist - Google Patents

Abstract

PURPOSE: A parking support device and a method thereof are provided to directly select a place for parking in a displayed image regardless of a current position of a car. CONSTITUTION: An image display unit(310) displays image information. The image information includes information about surroundings of a car. A target display unit(320) displays a target area generated according to a size and a shape selected based on a specification of the car. A target control unit(330) moves the target area through external input. If the moved target area is overlapped with a parking line in the image information, the target control unit determines the target area as a parking area. [Reference numerals] (310) Image display unit; (320) Target display unit; (330) Target control unit; (340) Route display unit; (350) Distance display unit

Description

Apparatus and method for Parking Assist}

The present invention relates to an apparatus and method for parking assistance, and more particularly, to a parking assist apparatus and method for setting a parking area targeted by a vehicle and guiding the vehicle to a set parking area.

Driving operations for parking a vehicle generally require relatively high driving skills since they involve steering or retraction in confined spaces. Therefore, various parking assisting devices or driving assistance devices have been proposed to reduce the burden on occupants during parking driving.

The basic operation of vehicle parking involves reversing to the position to be parked (hereinafter referred to as "parking area"), adjusting the driving direction of the vehicle through steering, and repeatedly performing forward / reverse based on reverse. do.

In addition, since the parking mode of the vehicle basically has two modes of parallel parking and right-angle parking, the basic operation of the vehicle parking may differ in some operations depending on the two modes, but the vehicle parking based on the reverse as described above The basic behavior of is the same.

Accordingly, in the conventional parking assisting device, when the parking area and the current position of the vehicle are disposed at a parking assistable guide position, the conventional parking assisting device moves backward in accordance with the steering at the arranged position (hereinafter referred to as the "reverse start position") and moves the vehicle to the parking area. It is disclosed to support a driving operation to park the vehicle.

The parking assist device calculates an induction path for parking the vehicle in the parking area when the vehicle is disposed at the reverse start position.

Specifically, a white line representing a parking section 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 starting position. According to the calculated guidance path, the driver guides the parking of the vehicle through an audiovisual method and parks the vehicle in the parking area.

For example, the parking assist apparatus sets the parking area, for example, once the vehicle is stopped in the vicinity of the parking area, the location information is stored, or the parking space is irradiated by a range sensor to determine the parking area. After acquiring the information and moving the vehicle to the position where the parking is started, the parking area can be set by superimposing the parking area on the image reflecting the surrounding environment of the vehicle based on the acquired parking area information.

However, the display of the parking area where the vehicle can be parked overlaid on the image reflecting the surrounding environment of the vehicle is possible only when the current position of the vehicle is located in a specific area around the parking area, which means that the driver is narrow. There is a difficulty in stopping a vehicle in a specific area where a parking area can be set in a parking lot.

Accordingly, there is a need for a parking assist apparatus for directly adjusting a parking area within an image to set a parking area regardless of the current position of the vehicle and to guide the vehicle to be parked in the set parking area.

Regardless of the current position of the vehicle, the position to be parked can be directly selected within the displayed image.

Regardless of the current position of the vehicle, it is possible to provide a parking assist apparatus and method for inducing parking of the vehicle according to the selected parking section.

Parking support apparatus according to an aspect of the present invention is an image display unit for displaying image information of the situation around the vehicle, a target display unit for displaying a target area generated according to a predetermined size and shape based on the specifications of the vehicle and the outside And a target controller configured to move the target area through the input and determine the target area as the parking area when the moved target area overlaps the parking line shown in the image information.

The apparatus may further include a path display unit displaying a parking path for parking the vehicle from the current position of the vehicle to the determined parking area.

In addition, when the vehicle is parked along the parking path, the vehicle may further include a distance display unit displaying the moving distance and the moving distance of the vehicle using the information received from the controller area network (CAN) communication.

In addition, the image display unit collects the image information of the situation around the vehicle through the camera mounted on the vehicle, and displays the image information correcting the image distortion of the camera.

In addition, the target display unit displays the target area to be moved when the target control unit moves the target area through an external input, and displays the parking line and the target area to overlap when the target control unit determines the target area as the parking area.

In addition, the target controller moves or rotates the target area up, down, left, and right through an external input key arranged to receive an external input.

In addition, the target controller directly drags the displayed target area through the touch panel to move or rotate it up, down, left, or right.

In addition, the path display unit displays a moving path superimposed on the displayed image information to park the vehicle in a parallel or right angle to the parking area determined at the current location.

In addition, the route display unit derives a movement route for parking the vehicle in consideration of the position and the parking region of the vehicle, and obtains the movement route suitable for the current position of the vehicle and the determined parking region through the movement route DB and the movement route DB. It may include a path acquisition unit.

In addition, the distance display unit calculates the moving distance of the vehicle using the four wheel speed information and the traveling time of the vehicle received by the CAN communication, and using the calculated movement distance of the vehicle for the moving distance according to the parking path Display the guide line.

According to an aspect of the present invention, there is provided a parking assisting method including displaying image information photographing a situation around a vehicle, displaying a target region generated according to a predetermined size and shape based on specifications of the vehicle, and external input. And moving the target area through the target area and determining the target area as the parking area when the moved target area overlaps the parking line shown in the image information.

The method may further include displaying a parking path for parking the vehicle from the current position of the vehicle to the determined parking area.

In addition, when the vehicle is parked along the parking path, the method may further include displaying a moving distance according to the parking path and a moving distance of the vehicle using wheel speed information received from a controller area network (CAN) communication.

Parking support apparatus according to another aspect of the present invention is an image display unit for displaying image information of the situation around the vehicle, a parking line recognition unit for recognizing the parking area or the parking area generated by the parking line shown in the image information, the vehicle The target display unit is configured to display a target area generated according to a predetermined size and shape based on the specifications of the target area. The target area is moved through an external input, and when the moved target area overlaps the parking area more than a predetermined area, the parking is performed. And a target controller configured to determine an area as the target area.

In addition, the parking line recognition unit recognizes the parking line indicated in the image information through the line recognition, and recognizes the empty parking area according to the connection relationship of the recognized parking line and whether or not the vehicle parking.

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

In addition, it is necessary to find a parking position while driving and look at the monitor to determine whether parking assistance is possible, thereby inducing safe driving.

Since direct manipulation of the driver's displayed image is possible, fast parking guidance is performed.

1 is a view showing a vehicle equipped with a parking assisting device according to an embodiment of the present invention.
2 is a view showing a detailed configuration included in a vehicle equipped with a parking assisting 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 an 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 provided in a vehicle according to an exemplary embodiment of the present invention.
5A and 5B are views illustrating an image displayed on a screen before a parking area is set in the parking assisting device according to an exemplary embodiment of the present invention.
6A and 6B illustrate an image displayed on a screen when a parking area is set in a parking assisting device according to an exemplary embodiment of the present invention.
7A to 7F are views illustrating a process of calculating an induction path to a parking area in parallel parking in a parking assisting device according to an exemplary embodiment of the present invention.
8A to 8E are views illustrating a process of calculating an induction path to a parking area at a right angle parking in a parking assisting device according to an exemplary embodiment of the present invention.
9 is a block diagram showing a detailed configuration of a parking assisting device according to another embodiment of the present invention.
10 is a block diagram illustrating a connection relationship between a detailed configuration of a parking assisting device and a detailed configuration provided in a vehicle according to another exemplary embodiment of the present invention.

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

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

Vehicle 100 according to an embodiment of the present invention is provided with a camera module 110, the display device 120.

The display apparatus 120 may be disposed near the driver's seat, and the display apparatus 120 may include a touch panel and a monitor. In addition, the display device 120 is also suitable to use a navigation system.

In addition, the camera 110 is provided at the rear end of the vehicle 100 as a photographing apparatus for photographing a situation around the vehicle. Although FIG. 1 illustrates a camera 110 for photographing the rear of the vehicle 100, only a camera for photographing the front of the vehicle 100 may be mounted or two cameras for photographing the front and the rear may be mounted. In addition, the front side of the vehicle 100 may be taken by using two cameras to the side.

In addition, the camera 110 may be implemented by using a digital camera including an imaging device such as a charge coupled device (CCD) or a CMOS image sensor (CIS), and outputs captured image information in real time as video information in time series. can do.

As an embodiment of the present invention, the camera 110 may be a wide-angle camera, the viewing angle of 120 to 140 degrees in the horizontal direction is secured, and is installed with an incidence of about 30 degrees in the optical axis of the vehicle 100 The area | region up to a predetermined distance back can be imaged.

The vehicle 100 is equipped with various sensors for detecting a driving operation or a movement state of the vehicle 100, and they transmit information through a controller area network (CAN) communication.

In one embodiment of the present invention, the parking assisting device may be included as one component of the camera module 110.

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

In addition, the parking assist device may be included in an electronic control unit (ECU), which is an electronic control device for controlling a state of the engine, automatic transmission, ABS, etc. of the vehicle by a computer.

An ECU according to an embodiment of the present invention may include an input / output interface for inputting / outputting information and may include a microprocessor or a digital signal processor (DSP) for processing information obtained through the input / output interface. Of course, some or all of the input / output interface may be included in such a microprocessor.

The ECU consists of electronic circuits containing microprocessors. In addition, the ECU may include a memory device composed of a memory, a register, or the like embedded in a microprocessor or mounted as a separate component.

2 is a view showing a detailed configuration included in a vehicle equipped with a parking assisting device according to an embodiment of the present invention. Referring to FIG. 2, as shown in FIG. 1, a 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. The image information captured by the camera 200 and processed by the parking assisting device 210 is provided to the user (or the driver) through the display device 120.

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

The image display unit 310 displays image information photographing a situation around the vehicle. In addition, the image display unit 310 collects the image information of the situation around the vehicle through the camera mounted on the vehicle, and displays the image information correcting the image distortion of the camera.

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

The target controller 330 moves the target area through an external input, and determines the target area as the parking area when the moved target area overlaps the parking line shown in the image information.

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

In addition, the target controller 330 directly drags the displayed target area through the touch panel to move up, down, left, or right.

In addition, the target controller 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 route display unit 340 displays a parking path for parking the vehicle from the current position of the vehicle to the determined target area.

In addition, the path display unit 340 displays a moving path for parking the vehicle in parallel or at a right angle to the parking area determined at the current location, superimposed on the displayed image information.

To this end, the path display unit 340 derives a moving path for parking the vehicle in consideration of the location and the parking area of the vehicle, and has a moving path DB and a moving path that matches the current location of the vehicle and the determined parking area through the moving path DB. It may include a path acquisition unit for obtaining, the details thereof will be described later in FIG.

When the vehicle is parked along the parking path, the distance display unit 350 displays the moving distance according to the parking path and the moving distance of the vehicle using the information received from the controller area network (CAN) communication.

In this case, the information received through the CAN communication may be information about the moving distance (or driving 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. Can be.

In addition, the distance display unit 350 calculates the moving distance of the vehicle using the four wheel speed information of the vehicle and the traveling time of the vehicle received in the CAN communication, and uses the calculated moving distance of the vehicle according to the parking path. Displays guideline for distance traveled.

Considering a basic method of calculating the moving distance of the vehicle, the average speed of the wheel may be obtained from the four wheel speed information of the vehicle, and the moving distance may be calculated by multiplying the average speed and the traveling time. This method is a one-dimensional method of calculating the travel distance of the vehicle, and the travel distance may be calculated by various methods using wheel speed information received through CAN communication.

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

4 is a view showing a connection relationship with the detailed configuration of the parking assisting device of FIG. 3 in the block diagram shown in FIG.

The display apparatus 120 provided in the vehicle 100 may include a monitor 411, a speaker 412, and a touch panel 413. The monitor 411 may be a liquid crystal having a backlight, but may be of a plasma display type or a CRT type.

In addition, the touch panel 413 may be configured as a pressure sensitive or capacitive input device capable of outputting a contact position by a 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 provided in a vehicle, such as an inside of a door.

The image display unit 310 receives image information from the camera 200 photographing a situation around the vehicle and outputs the image information to the screen through the monitor 411.

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

The target controller 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, a touch panel 413, etc., and moves the target area from the current position to a desired position, and then moves the target. If the area overlaps 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 by the path display unit 340 and displayed on the monitor with the image information output from the image display unit 310.

Parking assisting device 210 according to an embodiment of the present invention is basically to guide the parking to the driver through the screen displayed on the monitor 411, or even through the speaker 412 equipped with a vehicle, etc. It can also be provided in the form of.

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

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

First, FIG. 5A is a diagram illustrating a parking area and a target area displayed on a screen when the vehicle is parked at a right angle.

The parking assist device detects the situation around the vehicle through the camera and displays the image information 500. The parking assist device displays an empty parking area in which no vehicle is parked among the parking lines displayed on the floor as shown in the image information.

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

Therefore, when the target area 502 is moved through an external input device such as an external input button 503 and overlaps the parking area 501, the target area 502 is determined as a parking available area of the vehicle to perform parking guidance. Can be.

5B is a diagram illustrating a parking area and a target area displayed on the screen when parallel parking is performed.

In this case, as described above with reference to FIG. 5A, the image information 510 may be displayed by identifying a situation around the vehicle and the empty parking area in which the vehicle is not parked may be displayed as 511. In addition, the target area 512 generated according to the size and shape determined based on the specifications of the vehicle is displayed on some areas of the screen.

Therefore, when the target area 512 is moved through an external input device such as an external input button 513 and overlaps the parking area 511, the parking area 511 where the target area 512 overlaps can be parked by the vehicle. It is determined as an area so that parking guidance can be performed.

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

6A and 6B illustrate parking when a parking area is determined 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 through a parking assist device of FIGS. 5A and 5B. The process of performing the derivation is shown on the screen.

First, FIG. 6A is a diagram illustrating a case where a parking area is determined as a target area when the vehicle is parked at a right angle.

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

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

Inducement paths (route 1 and route 2 in FIG. 6A) from the current position of the vehicle to the determined parking area 601 are displayed, and the corresponding induction as indicated in 604 when the driver performs parking along the indicated guidance path The distance traveled along the path can be derived.

604 indicates the distance that the vehicle moves and the appropriate distance to be moved along the guidance path in stages so that when the gray mark displayed in 604 disappears, the driver indicates that the vehicle has moved by the appropriate distance.

However, the display of the movement distance of 604 is only one embodiment according to the present invention, and all the methods of displaying the guide lines that can display the appropriate distance to be moved in the guidance path according to the distance the vehicle moves are all in the present invention. Will be available.

6B is a diagram illustrating a case where the parking area is determined as the target area in the case of parallel parking.

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

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

Inducement paths (route 1 and route 2 in FIG. 6A) from the current position of the vehicle to the determined parking area 611 are displayed, and when the driver performs parking along the indicated guidance path, the corresponding guidance as shown in 614. The distance traveled along the path can be derived.

614 indicates the distance that the vehicle travels and the appropriate distance to be moved along the guidance path in stages, and when the gray mark displayed in 614 disappears, the driver indicates that the vehicle has moved by the appropriate distance.

However, the movement distance display of 614 is only one embodiment according to the present invention, and the manner in which the guide line can display the appropriate distance to be moved in the guidance path according to the distance that the vehicle moves is all in the present invention. Will be available.

7A to 7F are views illustrating a process of calculating an induction path to a parking area in parallel parking in a parking assisting device according to an exemplary embodiment of the present invention.

7A to 7F illustrate a path for parking from the current location of the vehicle to the parking area by using the current location and parking area of the vehicle identified through the navigation function, and information detected through various sensors provided in the vehicle. ) Is calculated.

However, since the difference in the guide route calculated according to the current position of the vehicle occurs, Figures 7a to 7f is in accordance with the current position in the relationship with the parking area that can be considered in the parking assisting apparatus according to an embodiment of the present invention A diagram illustrating a technique for calculating an induction path for inducing parallel parking.

7A illustrates a standard path for inducing parking of a vehicle when the current position of the vehicle is parallel to the parking area.

Based on the position 701 where the vehicle is finally parked in the parking area and the current position 700 of the vehicle, the guidance path required for parallel parking is calculated.

In this case, each circular path generated based on the steering angle of the steering of the vehicle may be calculated based on the current position 700 of the vehicle and the position 701 where the vehicle is finally parked. Of the circular paths generated from 701, two circular paths 702 and 703 which come into contact with the standard tangent A are calculated.

In the two circular paths 702 and 703 calculated as described above, the path from the current position 700 of the vehicle to the position where the circular path 702 generated at the current position 700 of the vehicle is in contact with the tangent line A ( The vehicle is finally parked from the position where the circular path 703 generated at the position 701 where the vehicle is finally parked is in contact with the standard tangent A. The path (path 2) to the position 701 leads to steering and driving of the vehicle.

However, as shown in FIG. 7A, when parallel parking is possible directly through the standard path without any other movement with respect to the vehicle at the current position 700 of the vehicle, the current position 700 of the vehicle is hereinafter referred to as a standard position.

FIG. 7B illustrates a path for inducing parking of the vehicle when the current position of the vehicle is parallel to the parking area, but the current position of the vehicle is farther away from the standard position than in the normal direction.

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

According to the generated guidance path, the vehicle at the current position 710 of the vehicle to guide the vehicle to move in a direction parallel to the parking area to the position of 711, and when the vehicle reaches the 711 position from the circular path 712 from the 711 position A path (path 1) to the point of contact with the standard tangent (A) guides the steering and driving of the vehicle.

Next, the circular path 712 is guided to move from the point of contact with the standard tangent (A) to the path (path 2) from the two circular paths (702, 703) to the position where it is in contact with the standard tangent (A), and finally Moving along path 3 allows the vehicle to park to the location 701 where it will finally park.

7C shows that the vehicle is parallel to the current position of the vehicle, but the vehicle is in a position where the current position of the vehicle is closer to the parking position than the standard position and can be moved to a position consistent with the standard position through steering of the vehicle. It shows the path to induce parking.

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 of the circular path generated according to the steering angle of the steering of the vehicle at the current location 720 of the vehicle ( Create a circular path 721 that matches 700.

According to the guidance path generated in this way, steering and driving of the vehicle are guided to a path (path 1) generated by the circular path 721 from the current position 721 to the standard position 700 of the vehicle. When the vehicle is located at the standard position 700, the next process will induce steering and driving of the vehicle along the path 2 and the path 3 as described in Figure 7a.

FIG. 7D illustrates a vehicle in which the current position of the vehicle is parallel to the parking area, but the current position of the vehicle is located closer to the parking area than the standard position, and cannot be moved to a position consistent with the standard position through steering of the vehicle. It shows the path to induce parking.

In this case, in consideration of the two circular paths 702 and 703 forming the standard path as described above in FIG. 7A, the circular path 731 in contact with the tangent contacting the standard location 700 and the current location 730 of the vehicle Generates a circular path 732 generated according to the steering angle of the 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 driving of the vehicle are induced from the current position 730 of the vehicle to the path (path 1) generated by the circular path 732. In this case, the vehicle is guided to a position where the two circular paths 731 and 732 are in contact with each other, and then the path (path 2) generated by the circular path 731 which is in contact with the tangent line in contact with the standard position 700. Induce steering and driving.

In this case, the vehicle reaches a position parallel to the standard position 700, and when the vehicle progresses in the parallel direction of the vehicle at this position, the vehicle may reach the standard position 700.

When the vehicle is located at the standard position 700, the next process leads to steering and driving of the vehicle along the path 4 and the path 5 as described in FIG. 7A.

7E illustrates a case in which 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 parking area than the standard position in the vertical direction and can be moved to a position consistent with the standard position through steering of the vehicle. It shows the path to guide the 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 while contacting the circular path 702 generated at the standard location 700. Generates a circular path 741 generated according to the steering angle of the steering of the vehicle.

According to the guidance path thus generated, first, the vehicle is a path (path 1) generated according to 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 each other. Induces steering and driving. In this case, the vehicle is guided to the position where the two circular paths 741, 702 abut.

In this case, the vehicle reaches the standard position 700, and when the vehicle is positioned at the standard position 700, the next process is to steer the vehicle along the paths 2 and 3 as described in FIG. Induces driving.

FIG. 7F illustrates a case in which 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 parking area than the standard position in the vertical direction and cannot be moved to a position consistent with the standard position through steering of the vehicle. It shows the path to guide the parking of the vehicle.

In this case, the circular path 751 generated according to the steering angle of the steering of the vehicle at the current position 750 of the vehicle in consideration of the two circular paths 702 and 703 forming the standard path as described above in FIG. 7A and A circular path 752 is created in contact with the tangent tangent to the standard location 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 guidance path thus generated, first, the steering and driving of the vehicle are induced from the current position 750 of the vehicle to the path (path 1) generated by the circular path 751. In this case, the vehicle is guided to a position where the two circular paths 751 and 752 are in contact with each other, and then the path (path 2) generated by the circular path 752 which is in contact with the tangent line in contact with the standard position 700. Induce steering and driving.

In this case, the vehicle reaches a position parallel to the standard position 700, and when the vehicle progresses in the parallel direction of the vehicle at this position, the vehicle may reach the standard position 700.

When the vehicle is located at the standard position 700, the next process leads to steering and driving of the vehicle along the path 4 and the path 5 as described in FIG. 7A.

8A to 8E are views illustrating a process of calculating an induction path to a parking area at a right angle parking in a parking assisting device according to an exemplary embodiment of the present invention.

8A to 8E illustrate a path (induction path) for parking from the current location of the vehicle to the parking area using information detected through the current location of the vehicle and the parking area and various sensors provided in the vehicle through the navigation function. To calculate.

However, since the difference in the guide route calculated according to the current position of the vehicle occurs, Figures 8a to 8e according to the current position in the relationship with the parking area that can be considered in the parking assisting apparatus according to an embodiment of the present invention A diagram showing a technique for calculating an induction path for inducing rectangular parking.

FIG. 8A illustrates an optimal path for inducing parking of a vehicle when the parking area is on a circular path generated according to the steering angle of the steering of the vehicle from the current position of the vehicle.

Based on the position 801 where the vehicle is finally parked in the parking area and the current position 800 of the vehicle, the guidance path required for the perpendicular parking is calculated.

In this case, the circular path 802 generated by considering the steering angle of the steering of the vehicle including the current position 800 of the vehicle and the position 801 where the vehicle is finally parked may be calculated.

According to the circular path 802 calculated in this way, the vehicle is induced by steering and driving the vehicle from the current location 800 of the vehicle to the path generated by the circular path 802 generated at the current location 800 of the vehicle. Finally, it 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 illustrates a path for inducing parking of a vehicle when the current position of the vehicle and the parking area are vertical and the current position of the vehicle is parallel and mismatched to the optimum position.

In this case, the optimum tangent B is generated in a direction parallel to the parking area at the position 801 where the vehicle is finally parked, and in a straight line parallel to the current position 810 of the vehicle while contacting the optimal tangent B. Create a contact circular path 811.

According to the circular path 811 calculated in this way, first, the path (path 1) from the current position 800 of the vehicle to the position where the straight line parallel to the circular path 811 and the current position 810 of the vehicle is in contact with the vehicle. To drive.

Next, the vehicle is guided to the path (path 2) generated along the circular path 811 to guide the vehicle to the position where the circular path 811 and the optimum tangent (B) contact.

In this case, the vehicle reaches a position parallel to the position 801 where the vehicle is finally parked, and when the vehicle is advanced in the direction parallel to the optimum tangent B (path 3), the parking area 801 The vehicle can reach.

8C illustrates a path for inducing parking of the vehicle when the current position of the vehicle and the parking area are within 90 degrees.

In this case, the optimal tangent line in the direction parallel to the parking area at the circular path 821 generated in consideration of the steering angle of the steering of the vehicle with respect to the current position 820 of the vehicle and the position 801 where the vehicle is finally parked ( B) is generated and a circular path 822 is in contact with the circular path 821 while contacting the best tangent (B).

In the two circular paths 821 and 822 thus calculated, first, 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 contacts the circular path 822 ( The path 1) guides the steering and driving of the vehicle, and then the steering and driving of the vehicle is guided to the path generated by the circular path 822 (path 2).

In this case, the vehicle reaches a position parallel to the position 801 where the vehicle is finally parked, and when the vehicle is advanced in the direction parallel to the optimum tangent B (path 3), the parking area 801 The vehicle can reach.

FIG. 8D illustrates a path for inducing parking of the vehicle when the current position of the vehicle and the parking area are greater than 90 degrees and the circular path generated by the maximum steering angle of the steering angle of the steering of the vehicle does not meet the optimum tangent line.

In this case, the optimum path B is generated in the direction parallel to the parking area at the circular path 831 generated by the maximum steering angle at the current position 830 of the vehicle and the position 801 at which the vehicle is finally parked, and optimized. A circular path 832 is created which meets the tangent B and meets the circular path 831.

In the two circular paths 831 and 832 calculated as described above, 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 ( The path 1) guides the steering and driving of the vehicle, and then the steering and driving of the vehicle is guided to the path generated by the circular path 822 (path 2).

In this case, the vehicle reaches a position parallel to the position 801 where the vehicle is finally parked, and when the vehicle is advanced in the direction parallel to the optimum tangent B (path 3), the parking area 801 The vehicle can reach.

FIG. 8E illustrates a path for inducing parking of the vehicle when the current position of the vehicle and the parking area are greater than 90 degrees, and the circular path generated by the maximum steering angle among steering angles of the steering of the vehicle meets the optimum tangent at two points.

In this case, the circular path 843 is in contact with the circular path 841 and the circular path 841 in contact with the optimal tangent B while encountering the circular path 841 generated by the maximum steering angle at the current position 840 of the vehicle. Create a circular path 842 that meets.

In the two circular paths 842 and 843 calculated as described above, 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) guides the steering and driving of the vehicle, and then guides the steering and driving of the vehicle to the path (path 2) generated by the circular path 843.

In this case, the vehicle reaches a position parallel to the position 801 where the vehicle is finally parked, and when the vehicle is advanced in the direction parallel to the optimum tangent B (path 3), the parking area 801 The vehicle can reach.

9 is a block diagram showing a detailed configuration of a parking assisting device according to another embodiment of the present invention. 9, the parking assisting device 900 according to an embodiment of the present invention includes an image display unit 910, a parking line recognition unit 920, a target display unit 930, a target control unit 940, and a path display unit 950. It includes.

The image display unit 910 displays image information photographing a situation around the vehicle. In addition, the image display unit 910 collects the image information of the situation around the vehicle through the camera mounted on the vehicle, and displays the image information correcting the image distortion of the camera.

The parking line recognition unit 920 recognizes the parking line or the parking area generated by the parking line shown in the image information. In addition, the parking line recognition unit 920 recognizes the parking line indicated in the image information through the line recognition, and recognizes the empty parking area according to the connection relationship of the recognized parking line and whether the vehicle is parked or not.

The target display unit 930 displays the target area generated according to the size and shape determined based on the specifications of the vehicle.

The target controller 940 moves the target area through an external input, and determines the parking area as the target area when the moved target area overlaps the parking area with a predetermined area or more.

In addition, the target display unit 930 displays the target area to be moved when the target control unit 940 moves the target area through an external input, and when the target control unit 940 determines the parking area as the target area, The target area is overlapped.

The target controller 940 arranges an external input key for external input, and moves or rotates the target area up, down, left, and right through the arranged external input key.

In addition, the target controller 940 directly drags the displayed target area through the touch panel to move up, down, left, or right.

In addition, the target controller 940 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 route display unit 950 calculates a parking route for parking the vehicle from the current position of the vehicle to the determined target area, and displays the calculated parking route.

10 is a block diagram illustrating a connection relationship between a detailed configuration of a parking assisting device and a detailed configuration provided in a vehicle according to another exemplary embodiment of the present invention.

FIG. 10 is a view illustrating a connection relationship between the detailed configuration of the parking assisting device of FIG. 9 connected to various sensors 1002, 1003, 1004, 1005, and 1006 and the display device 1100 provided in a vehicle.

The image display unit 910 receives image information from the camera 1001 photographing a situation around the vehicle and outputs the image information to the screen through the monitor 1101.

The parking line recognition unit 920 receives the image information output from the image display unit 910 and recognizes the parking line or the parking area generated by the parking line shown in the image information. It recognizes a parking line shown in the image information by recognizing a white light line displayed in the image information, and recognizes an empty parking area according to the connection relationship of the recognized parking line and whether the vehicle is parked or not.

The route display unit 950 displays the current position of the vehicle identified through the navigation function, the parking area recognized by the parking line recognition unit 920, and various sensors 1002, 1003, 1004, 1005, and 1006 provided in the vehicle. The path (induction path) for parking the vehicle from the current position of the vehicle to the parking area is calculated using the information detected.

The calculated guidance path is converted into image information that can be displayed on the monitor by the path display unit 950, and is superimposed on the monitor together with the image information output from the image display unit 960.

The target display unit 930 determines the size and shape of the vehicle based on the specifications of the vehicle and displays the target area generated according to the determined size and shape.

The target controller 940 receives movement information from a driver through a device capable of receiving an external input such as an external input button, a touch panel 1103, etc., and moves the target area from the current position to a desired position, and moves the target. If the area overlaps with the empty parking area recognized by the parking line recognition unit 920 or more than a predetermined area, the parking area is determined as the target area.

Here, when overlapping more than a predetermined area, when the vertices of the target area and the specific location of the parking area are moved to coincide with each other, for example, if each area is assumed to have a rectangular shape, one of four vertices We can estimate the cases where the vertices of are coincident with each other.

In addition, in the psychological and consciousness of human beings, it can be inferred that matching a whole area is a predictable cognitive process for human beings when more than a predetermined area overlaps, and a predetermined area can be calculated and applied according to such inference. . For example, if more than 50% of two areas overlap each other, matching the whole area is a human predictable cognitive process. If more than a certain area overlaps, the target area and the parking area overlap more than 50%. Will be set.

When the target control unit 940 moves the target area or determines the parking area as the target area through this process, the display information about the target area is transmitted to the target display unit 930, and the target display unit 930 receives the received information. A target area reflecting the display information on the target area is generated to be displayed on the monitor 1101 together with the image information output from the image display unit 910.

Parking assistance apparatus 900 according to an embodiment of the present invention basically performs the parking guidance to the driver through the screen displayed on the monitor 1101, or even through the speaker 1002 equipped with a vehicle, etc. It can also be provided in the form of.

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 Unit
200 cameras
210 Parking Assist

Claims (20)

An image display unit for displaying image information of a situation around the vehicle;
A target display unit for displaying a target area generated according to a predetermined size and shape based on specifications of the vehicle; And
And a target controller configured to move the target area through an external input and determine the target area as a parking area when the moved target area overlaps the parking line shown in the image information. The method of claim 1,
And a path display unit for displaying a parking path for parking the vehicle from the current location of the vehicle to the determined parking area. The method of claim 2,
When the vehicle is parked along the parking path, a distance display unit for displaying the moving distance and the moving distance according to the parking path by using the information received from the controller area network (CAN) communication; . The display apparatus of claim 1, wherein the image display unit
A parking assist device for collecting image information of the situation around the vehicle through the camera mounted on the vehicle, and displays the image information correcting the image distortion of the camera. The method of claim 1, wherein the target display unit
If the target control unit moves the target area through an external input, the target area to be moved is displayed.
And the parking line and the target area to overlap each other when the target area is determined as the parking area by the target controller. The method of claim 1, wherein the target control unit
Parking assistance device for moving or rotating the target area up, down, left and right through an external input key arranged to receive an external input. The method of claim 1, wherein the target control unit
Parking assist device for directly dragging the target area displayed through the touch panel to move up, down, left, and right. The method of claim 2, wherein the path display unit
And a moving path for parking the vehicle in parallel or at a right angle to the parking area determined at the current location, superimposed on the displayed image information. The method of claim 2, wherein the path display unit
A moving path DB for deriving and retaining a moving path for parking the vehicle in consideration of the location of the vehicle and the parking area; And
And a path acquisition unit for acquiring a moving path corresponding to the current location of the vehicle and the determined parking area through the moving path DB. The method of claim 3, wherein the distance display unit
Using the four wheel speed information of the vehicle received from the CAN communication and the running time of the vehicle to calculate the moving distance of the vehicle,
A parking assist device for displaying a guide line for the moving distance according to the parking path using the calculated moving distance of the vehicle. Displaying image information photographing a situation around the vehicle;
Displaying a target area generated according to a predetermined size and shape based on specifications of the vehicle; And
And moving the target area through an external input, and determining the target area as a parking area when the moved target area overlaps with the parking line shown in the image information. The method of claim 11,
And displaying a parking path for parking the vehicle from the current position of the vehicle to the determined parking area. The method of claim 11,
If the vehicle is parked along the parking path, displaying the moving distance according to the parking path and the moving distance of the vehicle using wheel speed information received from a controller area network (CAN) communication; Way. The method of claim 11, wherein displaying the image information comprises:
Collecting image information of a situation around the vehicle through a camera mounted on the vehicle; And
And displaying image information correcting image distortion of the camera. The method of claim 11, wherein displaying the target area comprises:
Displaying a target area to be moved when the target area is moved through the external input; And
And when the target area is determined as a parking area, displaying the parking line and the target area so as to overlap each other. The method of claim 12, wherein displaying the parking path
And a moving path for parking the vehicle in a parallel or right angle to the parking area determined at the current location, superimposed on the displayed image information. The method of claim 13, wherein the displaying of the moving path comprises:
Calculating a moving distance of the vehicle using the four wheel speed information and the traveling time of the vehicle received in the CAN communication; And
And displaying a guide line for the moving distance according to the parking path using the calculated moving distance of the vehicle. An image display unit for displaying image information of a situation around the vehicle;
Parking line recognition unit for recognizing the parking line or the parking area generated by the parking line shown in the image information;
A target display unit for displaying a target area generated according to a predetermined size and shape based on specifications of the vehicle; And
And a target controller configured to move the target area through an external input, and to determine the parking area as the target area when the moved target area overlaps with the parking area by more than a predetermined area. The method of claim 18, wherein the parking line recognition unit
Parking assistance device for recognizing the parking line shown in the image information through the line recognition, and the empty parking area according to the connection relationship of the recognized parking line and whether or not the vehicle parking. The method of claim 18, wherein the target control unit
And a parking assisting device configured to determine 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.

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