KR20170018701A - Driver assistance apparatus and control method for the same - Google Patents

Abstract

The present invention relates to a driver assistance apparatus and a control method therefor. According to an embodiment of the present invention, a control method for a driver assistance apparatus comprises the steps of: recognizing at least one candidate parking section using at least one sensor provided in a vehicle; determining one of the candidate parking sections as a target parking section; generating a parking path for the target parking section; controlling the speed and steering of the vehicle along the parking path; and outputting an alarm message to a driver of the vehicle when the vehicle enters in a predetermined distance from the target parking section.

Description

[0001] DRIVER ASSISTANCE APPARATUS AND CONTROL METHOD FOR THE SAME [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a driver assistance apparatus and a control method thereof, and more particularly, to a driver assistance apparatus and a control method thereof that perform parking and departure control considering a driver's getting on and off.

A vehicle is a device that transports people or cargo from one place to another. Recently, a parking assist system has been developed and commercialized as part of technology development to increase the convenience of the driver.

The parking assist system measures the length of a parking space to indicate whether or not parking is possible, and outputs an alarm about a dangerous situation to a driver by using an acoustic signal or an optical signal if necessary. In some cases, it controls the steering and the speed for parking.

In order to implement such a parking assist system, at least one sensor for recognizing a parking space such as a camera or an ultrasonic sensor must be mounted on a vehicle.

On the other hand, the conventional parking assist system merely suggests a technique for parking the vehicle to a specific parking space or leaving the vehicle from a specific parking space where the vehicle is already parked. There is no mention of a technique to prepare for a situation where space is not secured.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a driver assistance apparatus and a control method therefor which perform parking and departure control considering a driver's getting on and off according to embodiments of the present invention.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a method for controlling at least one candidate parking lot, the method comprising: recognizing at least one candidate parking lot using at least one sensor provided in the vehicle; Determining one of the candidate parking sections as a target parking section; Generating a parking path for the target parking segment; Controlling the speed and steering of the vehicle along the parking path; And outputting an alarm message to the driver of the vehicle when the vehicle enters a predetermined distance from the target parking section.

Further, the candidate parking section may be a parking section having a size such that the vehicle can park, among the parking sections existing around the vehicle.

The step of determining any one of the candidate parking sections as the target parking section may include the step of determining any one of the plurality of candidate parking sections as the target parking section according to a predetermined criterion ; ≪ / RTI >

The step of outputting an alarm message to the driver of the vehicle may be performed when the difference between the width of the target parking segment and the width of the vehicle is less than a predetermined value.

The method may further include determining whether the driver is getting off the bus.

The step of determining whether or not the driver gets off may be performed based on at least one of a strength of a signal transmitted from the smart key registered in the vehicle and a sensing signal of a weight sensor provided on the seat of the vehicle .

And controlling the speed and steering of the vehicle along a remaining path of the parking path when it is determined that the driver is getting off the vehicle.

Also, the step of controlling the speed and steering of the vehicle along the remaining path of the parking path may be performed after a predetermined time has elapsed from when the driver is determined to have gotten off.

Generating a departure path from the target parking section; And controlling at least one of a speed and a steering of the vehicle along the departure route.

In addition, the step of controlling at least one of the speed and the steering of the vehicle along the outgoing path may include stopping the vehicle until the obstacle disappears, when an obstacle within a predetermined distance from at least a part of the outgoing path is recognized Can be controlled.

The exit route may be a route from the parking position of the vehicle to a position where the driver gets off.

The step of controlling the speed and steering of the vehicle along the remaining path of the parking path may be performed when a parking command is received from the smart key registered in the vehicle, The step of controlling the speed and steering of the vehicle may be performed when an outgoing command is received from the smart key.

Effects of the driver assistance device and the control method thereof according to the present invention will be described as follows.

According to at least one of the embodiments of the present invention, it is possible to provide a driver assistance device that performs parking and departure control in consideration of driver's getting on and off and a control method thereof. Accordingly, it is possible to improve the convenience of getting off the driver at the time of parking and to improve the convenience of riding the driver at the time of departure.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 shows a block diagram of a driver assistance device according to an embodiment of the present invention.
2 is a flowchart illustrating a method of controlling a driver assistance device according to an exemplary embodiment of the present invention.
FIGS. 3A through 3D are views for explaining a driver assistance apparatus according to an embodiment of the present invention.
FIG. 4 shows an operation of the driver assistance device according to an embodiment of the present invention to control the vehicle departure.
5A to 5C are views for explaining the concept of generating an obstacle map by the driver assistance device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

1 shows a block diagram of a driver assistance device 100 according to an embodiment of the present invention.

Referring to FIG. 1, a driver assistance device 100 according to an embodiment of the present invention includes a sensor unit 110, an information storage unit 120, a parking space searching unit 130, an interface unit 140, (150), a communication unit (160), and a control unit (170).

The sensor unit 110 senses various objects existing in the vicinity of the vehicle and outputs a corresponding sensing signal. At this time, the sensing signal may be a signal that the sensor unit 110 outputs as a result of sensing the sensing area.

The sensor unit 110 includes at least one sensor. For example, the sensor unit 110 may include at least one of a camera 112a-112d and an ultrasonic sensor 114. [ However, the type of the sensor is not limited thereto, and it is not particularly limited as long as it is a sensor capable of detecting an object such as a radar or a lidar.

The cameras 112a to 112d photograph the periphery of the vehicle and generate a surrounding image.

For example, one of the cameras 112a-112d may be mounted on the front side of the vehicle to generate a forward image of the vehicle.

For example, the cameras 112a-112d may be sequentially mounted on the front, back, left, and right sides of the vehicle so as to generate a forward image, a rear image, a left image, and a right image, Can be synthesized by the controller 170 to be described later. By such a synthesizing process, it is possible to generate the same surround view image as when the vehicle is turned from top to bottom.

Although it is shown in FIG. 1 that there are four cameras, it should be understood that smaller or more cameras may be included in the sensor unit 110.

The ultrasonic sensor 114 senses an obstacle around the vehicle and outputs a sensing signal corresponding to the sensed obstacle. For example, it is possible to output a sensing signal corresponding to a second point of time at which the ultrasonic signal emitted at the first point of time is reflected by the obstacle, and the waveform or intensity of the reflected signal.

The information storage unit 120 stores various information related to the parking lot and the vehicle. Specifically, the information storage unit 120 may store information on valid parking lots and information on specifications of the vehicle in which the driver assistance device 100 is installed. The valid parking section is a parking section in which a space in which the vehicle can be parked is secured. The effective parking section may be a section having a space larger than the size of the vehicle (e.g., full width, total length, and height). The control unit 170 compares the information on the valid parking space previously stored in the information storage unit 120 with the information on the parking space sensed by the sensor unit 110 and detects it by the sensor unit 110 It is possible to judge whether or not the parking section to be covered corresponds to the valid parking section.

In addition, the information storage unit 120 may store information on the first free space necessary for the driver to get on and off. For example, in order for a driver to get on the vehicle or to get off the vehicle, it is necessary to secure a space in which the door of the vehicle can be opened to some extent, so that information on the free space can be stored in the information storage unit 120 in advance. The information on the free space stored in the information storage unit 120 may be changed according to user input.

The information storage unit 120 may store the sensing signal output by the sensor unit 110 either permanently or temporarily.

In addition, the information storage unit 120 may store the unloaded position when the driver gets off the vehicle while controlling at least one of the speed and steering of the vehicle according to the parking route.

In addition, the information storage unit 120 may store various programs for operating the control unit 170, and input / output data.

In addition, the information storage unit 120 may provide at least some of the previously stored various information to the control unit 170 in response to a request from the control unit 170, which will be described later.

In addition, the information storage unit 120 may store an alarm message according to circumstances to be output by the interface unit 140, which will be described later.

In addition, the information storage unit 120 may store internal parameters and external parameters for the cameras 112a-112d.

In addition, the information storage unit 120 may store the view conversion information. Here, the view conversion information includes information for converting a surrounding image generated by the cameras 112a to 112d into an ambient view image, information for mutual conversion between a three-dimensional space and a two-dimensional plane, Or information for converting or projecting information into information for another view.

The information storage unit 120 may be a random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read- A flash memory type, a hard disk type, a card type information storage unit 120, a magnetic disk, an optical disk, and the like And media.

The parking section searching unit 130 may generate an obstacle map for the surroundings of the vehicle based on the sensing signal provided from the sensor unit 110 and recognize at least one parking segment from the generated obstacle map. Further, the parking section searching section 130 may set a parking section having the characteristics of the previously stored valid parking section among the recognized parking sections as the candidate parking section, and determine one of the candidate parking sections as the target parking section. The target parking division means an area or space in which the vehicle actually parks.

The parking section search unit 130 may include a comparison module 132 and an information calculation module 134. [

The comparison module 132 compares the information on the parking zone corresponding to the sensing signal provided from the sensor unit 110 with the information on the valid parking space previously stored in the information information storage unit 120, It is possible to judge whether a possible candidate parking section exists.

For example, the comparison module 132 detects a plurality of parking lines from the peripheral images generated by the cameras 112a - 112d, recognizes the direction of the detected plurality of parking lines and the intersection of the detected parking lines, Based on the line direction and the intersection points, the candidate parking section can be recognized.

Further, the comparison module 132 generates three-dimensional space information around the vehicle based on the sensing signal output by the ultrasonic sensor 114, and determines whether or not the size of the previously stored valid parking compartment (I.e., an area where there is no obstacle such as another vehicle).

The comparison module 132 also matches the candidate parking segments recognized based on the candidate parking segment recognized based on the peripheral image generated by the cameras 112a through 112d and the sensing signal output by the ultrasonic sensor 114 can do. Thus, the recognition accuracy for the candidate parking section can be improved.

The information calculation module 134 may calculate information on the recognized candidate parking lot if the candidate parking lot is recognized from the vicinity of the vehicle by the comparison module 132. [ For example, the information calculation module 134 may calculate information about the position, lateral spacing, longitudinal spacing, height, etc. of the candidate parking section.

In addition, the information calculation module 134 may calculate the difference between the size of the candidate parking section and the size of the vehicle. For example, the information calculation module 134 compares the width, length, and height of the candidate parking section with the full width, the total length, and the height of the vehicle, respectively, and calculates the difference between them.

The interface unit 140 outputs various types of information related to the vehicle or the parking space in the form of a signal recognizable by the user or receives various commands from the driver.

The interface unit 140 may output an alarm message to encourage the driver to get off the vehicle before the completion of the parking in at least one manner.

The interface unit 140 may output an alarm message indicating the risk of collision with an obstacle (e.g., a curb, a wall, a pedestrian, and the like) when the vehicle is parked or departed in at least one manner.

Also, the interface unit 140 can receive a parking command, an exit command, a steering command, an acceleration command, a deceleration command, and the like from the driver.

To this end, the interface unit 140 may include a sound module 142 and a display module 144.

The sound module 142 outputs a variety of messages as auditory signals using a speaker or the like provided thereto, converts the received voice command of the driver into a corresponding electric signal by using a microphone or the like, .

In addition, the display module 144 can output various messages as a visual signal using a head up display (HUD) or the like.

In addition, the interface unit 140 may receive various commands such as a touch of a driver by using a touch sensor or a button provided therein, convert the received command into an electric signal corresponding thereto, and provide the electric signal to the controller 170.

The driving unit 150 can control the driving of the vehicle. The driving unit 150 may include a speed adjusting module 152 and a steering adjusting module 154.

The speed adjusting module 152 can increase or decrease the speed of the vehicle or keep it within a predetermined range under the control of the controller 170, which will be described later. For example, the speed adjustment module 152 may adjust the speed of the vehicle by driving the braking device provided in the vehicle to decelerate the vehicle, or adjust the amount of fuel supplied to the engine.

In addition, the steering control module 154 can maintain the traveling direction of the vehicle (e.g., the heading angle) within a predetermined range under the control of the controller 170, which will be described later. For example, the steering control module 154 may control a motor of an MDPS (Motor Driven Power Steering) provided in the vehicle so that the vehicle can be controlled so as not to deviate from the boundary of the target parking section without the intervention of the driver.

The communication unit 160 communicates data with the external device via the wired or wireless network.

In detail, the communication unit 160 may include at least one GPS module that receives GPS signals from a plurality of GPS satellites.

In addition, the communication unit 160 may include at least one or more wireless communication modules. The wireless communication module may be connected to an access point or an infrastructure device (e.g., a CCTV, a base station) installed adjacent to the road, and perform data transmission / reception.

In addition, the communication unit 160 may include at least one near-field communication module. The short-range communication module can be connected to, for example, a driver's portable terminal or a vehicle's smart key to perform data transmission and reception. To this end, the information storage unit 120 may store information (e.g., smart key ID) of a smart key registered in a vehicle provided with the driver assistance device 100 according to the embodiments of the present invention. Accordingly, the controller 170 checks whether the smart key transmitting various commands from outside the vehicle is a smart key previously registered with the vehicle, and only when it is a pre-registered smart key, A control signal for controlling the state or operation of the vehicle can be generated.

The controller 170 controls the overall operation of the driver assistance device 100. The control unit 170 controls signals input to and output from the sensor unit 110, the information storage unit 120, the parking space searching unit 130, the interface unit 140, and the driving unit 150, Can be processed. In addition, the control unit 170 can provide appropriate information or functions to the user by driving an application program stored in the information storage unit 120. [

Meanwhile, the driver assistance device 100 described above with reference to FIG. 1 may be mounted on a vehicle.

2 is a flowchart showing a control method of the driver assistance device 100 according to an embodiment of the present invention.

Referring to FIG. 2, the control unit 170 recognizes at least one candidate parking zone (S200). For example, the control unit 170 generates an obstacle map for the surroundings of the vehicle based on the sensing signal provided from the sensor unit 110, recognizes at least one parking zone from the generated obstacle map, It is possible to determine the parking section corresponding to the feature of the valid parking section previously stored in the section as the candidate parking section.

Next, the control unit 170 can determine any one of the candidate parking lots recognized through step S200 as the target parking space (S210). Here, the target parking section is a parking section in which the vehicle is actually parked. In the case where there are a plurality of candidate parking sections recognized through step S200, one of the plurality of candidate parking sections is selected according to a predetermined condition, It can be determined as a compartment.

For example, a candidate parking section having the closest distance from the vehicle among the plurality of candidate parking sections may be determined as the target parking section. As another example, a candidate parking section having the largest size among a plurality of candidate parking sections may be determined as a target parking section.

Next, the controller 170 may generate a parking path for the target parking space determined in step S210 (S220). Specifically, based on the position and size of the target parking section, the control section 170 can generate a parking path from when the vehicle is located in the target parking section to the current position. It is apparent to those skilled in the art that the parking path can be updated in real time or periodically according to the movement of the vehicle.

Next, the controller 170 controls at least one of the speed and the steering of the vehicle along the parking path generated in step S220 (S230). Specifically, the control unit 170 provides the calculated parking path to the driving unit 150 so that the driving unit 150 can control at least one of the speed and steering of the vehicle along the parking path. For example, the control unit 170 can control the driving unit 150 to reduce the maximum speed of the vehicle as the vehicle gets closer to the boundary of the target parking zone. As another example, the control unit 170 can control the driving unit 150 such that the difference between the traveling path of the vehicle and the parking path becomes larger, and the difference between the two directions becomes smaller.

On the other hand, in step S230, the control unit 170 controls only the steering of the vehicle, and the driver can adjust the speed of the vehicle. For example, the controller 170 adjusts the angle of the steering wheel of the vehicle so as to correspond to the parking path by using the driving unit 150, and the driver confirms the side mirror, You can control the speed of the car you are parking.

Subsequently, the control unit 170 can determine whether the vehicle has entered a predetermined distance from the target parking zone (S240). For example, it is possible to determine whether the distance between the rear end of the vehicle and the target parking section is within a preset reference distance when the vehicle is parked backward. As another example, when a part of the target parking section is covered by the vehicle body of the vehicle (which can be judged by using the peripheral image generated by the cameras 112a - 112d), the vehicle has entered a predetermined distance from the target parking section It can be judged.

If it is determined in step S240 that the vehicle has entered a predetermined distance from the target parking section, the controller 170 may output an alarm message to guide the driver to get off the vehicle (S250).

On the other hand, the step S250 can always be performed without considering the difference between the size of the target parking section and the size of the vehicle.

Alternatively, the step S250 can be performed only when the difference between the size of the target parking section and the size of the vehicle is less than a predetermined value (for example, a value pre-stored as required for the driver's getting on and off).

Then, the controller 170 may determine whether the driver has got off the vehicle according to the alarm message output in step S250 (S260).

Specifically, the control unit 170 can determine whether or not the driver is getting off the vehicle based on the sensing signal of the weight sensor provided on the driver's seat. For example, when the sensing signal of the weight sensor outputs a sensing signal corresponding to a weight less than a predetermined weight, the controller 170 may determine that the driver has left the vehicle.

Alternatively, the control unit 170 can determine whether or not the driver is getting off the vehicle based on the signal of the smart key received by the communication unit 160. For example, when the intensity of the signal transmitted from the smart key registered in the vehicle is equal to or less than a predetermined value, it is possible to determine that the driver is off the vehicle because the smart key is located outside the vehicle.

Alternatively, the control unit 170 determines whether the door of the vehicle is opened and closed at least once after the alarm message is output, based on a sensing signal of a door opening / closing sensor (not shown) included in the sensor unit 110 Based on this, it is possible to determine whether or not the driver gets off the vehicle.

If the controller 170 determines in step S260 that the driver has gotten off, the controller 170 may control at least one of the speed and steering of the vehicle along the remaining path of the parking path in step S270. At this time, the control unit 170 may store the start position of the remaining route of the parking route (i.e., the position where the driver gets off) in the information storage unit 120 before starting the vehicle control along the remaining parking route. The position at which the driver gets off can be utilized to leave the vehicle from the target parking compartment in the future.

At this time, the controller 170 may perform step S270 after a predetermined time has elapsed from the time when it is determined that the driver has got off through step S260. Specifically, when step S270 is performed immediately after the driver gets off the vehicle, there is a risk of collision between the vehicle and the driver. By performing step S270 after a predetermined time has elapsed from when the driver is determined to have gotten off, Can be moved from the vehicle to a safe position.

According to an embodiment of the present invention, after completing the parking of the vehicle from the target parking zone through step S270, the control unit 170 may receive the departure order for the vehicle through the communication unit 160 (S280) . For example, the communication unit 160 may receive a short-range signal from the smart key, which commands the departure of the vehicle. In this case, the control unit 170 may activate the driving unit 150.

Next, the control unit 170 can control at least one of the vehicle speed and the steering along the outgoing route when receiving the departure command in step S280 (S290).

Specifically, the exit route means a route for leaving the vehicle from the target parking section to a predetermined position. Here, the predetermined position may be the driver's getting off position in step S260. That is, the departure route may be a route connecting the past driver departure position from the vehicle position in the target parking section. Since the vehicle automatically comes out to a predetermined position even when the driver does not ride the vehicle along the outgoing route, the driver's convenience can be increased.

At this time, the controller 170 may set the reverse route to the parking route in step S270 as an outgoing route. That is, since the vehicle has already been parked along the parking path described above, it is possible to carry out safe departure along the path opposite to the past parking path. In addition, since the amount of calculation required to newly generate the departure route is reduced, rapid vehicle departure can be performed.

On the other hand, the control unit 170 performs obstacle detection for a predetermined range from the outgoing route on the basis of the sensing signal output by the sensor unit 110 during the outbound control operation of the vehicle, The vehicle control can be stopped. Of course, when the obstacle disappears from the predetermined range, the vehicle control for the remaining outgoing route can be subsequently performed.

3A to 3D are views referred to explain the driver assistance apparatus 100 according to an embodiment of the present invention.

First, FIG. 3A is a diagram referred to explain the operation in which the driver assistance apparatus 100 recognizes the candidate parking section.

More specifically, FIG. 3A illustrates a case where there is no obstacle around the vehicle 300, and FIG. 3A illustrates an obstacle around the vehicle 300. FIG.

3A, the control unit 170 uses the parking section searching unit 130 to search at least one first directional parking line 310 and at least one second directional parking line 310 from the peripheral images generated by the cameras 112a to 112d, It is possible to detect at least one second directional parking line 321-323. For example, the first direction may be a direction forming an angle of a predetermined range (e.g., 85 degrees to 95 degrees) with the second direction.

The control unit 170 can also detect the intersection points 331-333 where the first directional parking line 310 and the second directional parking line 321-323 meet using the parking space searching unit 130 . The controller 170 calculates the distance between the intersections 331-333 using the parking section searching unit 130 and calculates the distance between the calculated intersections 331-333 based on the information The candidate parking section can be searched. If the distance between the intersections 331-333 adjacent to each other is equal to or greater than the width of the previously stored valid parking section, all of the three parking sections 381-383 shown in FIG. 3A are recognized as the candidate parking section . When there are a plurality of candidate parking sections 381-383, the control section 170 can select one of the plurality of candidate parking sections 381-383 as a target parking section according to a predetermined criterion.

3A, the control unit 170 may use at least one of the peripheral image generated by the cameras 112a to 112d and the sensing signal output from the ultrasonic sensor 114, using the parking space searching unit 130, Based on either one, the obstacles 371 and 372 can be detected and the candidate parking segment can be recognized. For example, the detected obstacles 371 and 372 may be other vehicles.

In addition, the controller 170 can search for a candidate parking section, which is an area that matches the information of the pre-stored valid parking section among the obstacle maps in which the detected obstacles 371 and 372 appear.

For example, the control unit 170 calculates the distance between the other vehicles 371 and 372 shown in FIG. 3A by using the parking section searching unit 130 and calculates the distance between the calculated other vehicles 371 and 372 If the interval is greater than the full width of the vehicle 300, the candidate parking segment 384 can be recognized from the area between the two other vehicles 371, 372.

In addition, the controller 170 may select the candidate parking section 384 as the target parking section.

The control unit 170 also generates a parking path 385 for the target parking segment 384 and can adjust at least one of the speed and steering of the vehicle along the parking path 385 using the driving unit.

That is, even when no parking line is drawn on the road surface as in the case of FIG. 3A, the controller 170 controls the operation of the sensor unit 110 An obstacle map can be generated based on the sensing signal, and a target parking segment can finally be determined from the generated obstacle map.

Fig. 3B is a diagram referred to explain the operation of comparing the width of the target parking section 384 shown in Fig. 3A (b) with the full width of the vehicle.

3B, the controller 170 calculates the width W2 of the target parking section 384 using the parking section searching section 130 and stores the width W2 of the target parking section 384 in the information storing section 120, (= W1-W2) can be calculated by comparing with the difference W1.

Further, the control unit 170 can determine whether the difference (= W1-W2) between the width of the target parking segment 384 and the full width of the vehicle is smaller than a predetermined value preliminarily stored as the minimum width required for the driver to get on and off.

3C shows an example of outputting an alarm message to the driver. The difference (= W1-W2) between the width W1 of the target parking section 384 and the full width W2 of the vehicle shown in Fig. 3B is smaller than the predetermined width Value.

When the difference (= W1-W2) between the width of the target parking section 384 and the full width of the vehicle 300 is less than a predetermined value preliminarily stored in the minimum width required for the driver to get on and off, When parking the vehicle 300 along the parking path 385, when the vehicle 300 enters the target parking section 384, an alarm message can be output.

According to one embodiment, the controller 170 may determine whether the vehicle 300 has entered the target parking segment 384 based on the ambient image generated by the cameras 112a-112d. For example, as shown in the figure, when rear parking is performed with respect to the target parking section 384, one of the plurality of cameras 112a-112d photographs the rear of the vehicle 300 to generate a rear image The control unit 170 determines that the vehicle 300 is positioned in the target parking segment 384 in the case where a part of the vehicle body of the vehicle 300 overlaps with the portion 384a of the target parking segment 384 It can be judged that it has entered.

3C, when the controller 300 determines that the vehicle 300 has entered the target parking section 384, the control module 170 displays the visual alarm message 386 using the display module 144 . The driver can get off the vehicle 300 before parking is completed by recognizing that it is difficult to get off when the parking is completed through the alarm message 386 displayed on the display module 144. [

The control unit 170 controls the drive unit 150 to drive the vehicle 300 such that the driver 300 can get off the vehicle 300 when the controller 300 determines that the vehicle 300 has entered the target parking zone 384. [ You can make a temporary stop.

When the driver gets off the vehicle 300, the control unit 170 can store the position where the driver gets off the information storage unit 120. [

FIG. 3D illustrates a situation where the driver gets off the vehicle according to the alarm message 386 shown in FIG. 3C.

The control unit 170 determines whether the driver 395 is in the parking path remaining from the getting off position of the driver 395 in accordance with the parking command transmitted from the smart key 390 held by the driver 395 It is possible to control the driving unit to perform automatic parking for the vehicle.

For example, as shown in the figure, the smart key 390 may be provided with buttons corresponding to various commands, and when the automatic parking button 391 is pressed by the operator 395, The controller 300 can transmit a signal corresponding to the automatic parking command.

The control unit 170 can receive the automatic parking command transmitted from the smart key 390 outside the vehicle 300 by using the communication unit 160 and can receive the automatic parking command on the remaining parking path You can finish your parking.

On the other hand, if the automatic parking command is once received from the smart key 390, the control unit 170 can perform automatic parking for the entire remaining parking path. For example, when the driver 395 presses the automatic parking button 391 once, the control unit 170 can perform automatic parking for the entire remaining parking path.

Alternatively, the control unit 170 may perform automatic parking for the remaining parking paths only when the automatic parking command is continuously transmitted from the smart key 390. [ For example, when the driver 395 presses the automatic parking button 391, automatic parking is performed. When the driver 395 releases the pressing of the automatic parking button 391, the vehicle can be stopped at the point in time when the driver 395 releases the automatic parking button 391 .

4 shows an operation in which the driver assistance apparatus 100 according to the embodiment of the present invention controls the departure of the vehicle 400. FIG.

4A, the other vehicles 401 and 402 may be parked together on the left and right sides of the vehicle 400, and the driver 425 of the parked vehicle 400 may be a vehicle The smart key 420 can be operated in the vicinity of the vehicle 400 to command the departure of the vehicle 400. [

Specifically, the smart key 420 may include a plurality of buttons. When the automatic exit button 421 is pressed by the driver 425, the smart key 420 may transmit a signal corresponding to the automatic departure command to the vehicle 400 have.

The control unit 170 receives the automatic departure order transmitted from the smart key 420 by using the communication unit 160 and transmits the automatic exit instruction to the vehicle 400 as shown in FIG. It is possible to exit from the parking position. At this time, the control unit 170 may control the driving unit 150 to adjust the speed and steering of the vehicle along the outgoing route 410. Such an outflow route 410 may be a reverse route of the parking route 385 shown in FIG.

At this time, the controller 170 may perform automatic parking for the entire remaining parking path only once the automatic departure command is received from the smart key 420. For example, when the driver 425 presses the automatic exit button 421 once, the controller 170 performs the departure from the current parking position of the vehicle 400 to a predetermined position using the driving unit 150 .

Alternatively, the control unit 170 can perform the automatic outgoing operation only when the automatic outgoing command is continuously transmitted from the smart key 420. For example, when the driver 425 presses the automatic exit button 421, the automatic exit is performed. When the driver 425 releases the depression of the automatic exit button 421, the vehicle 400 is stopped .

The control unit 170 may stop the vehicle 400 when the distance between the vehicle 400 and the driver 425 reaches a preset distance during the departure of the vehicle 400. [ For example, the intensity of the signal transmitted by the smart key 420 may increase as the distance approaches, so that the controller 170 may automatically transmit the signal received from the smart key 420 through the communication unit 160, The distance between the vehicle 400 and the driver can be determined based on the signal strength of the departure command.

Meanwhile, the controller 170 may stop the automatic outbound control when an obstacle exists in the vicinity of the vehicle 400 while performing the automatic outbound control on the vehicle 400. [ 4 (b), when the pedestrian 430 exists in front of the vehicle 400, the sensor unit 110 outputs a sensing signal for the pedestrian 430, The control unit 170 calculates the distance to the pedestrian 430 based on the sensing signal for the pedestrian 430. When the distance from the pedestrian 430 to the pedestrian 430 is less than a predetermined value, The vehicle can be stopped by stopping the automatic departure control until it is no longer possible.

FIGS. 5A through 5C are diagrams for explaining the concept that the driver assistance device 100 generates an obstacle map according to an embodiment of the present invention.

5A shows an example of a right-side image 500 captured by a right-side camera 112d mounted on a right-side room of a vehicle among a plurality of cameras 112a-112d. It is assumed that the ground surface taken by the camera 112d is in a flat state without inclination.

The control unit 170 can detect the other vehicle 510 from the right side image 500 by using the parking space searching unit 130. [

For example, the parking section searching unit 130 may detect an area matching the previously stored vehicle image in the entire area of the right-side image 500 with another vehicle 510. P1 (U1, V1) and P2 (U2, P2), which are the coordinates of the image 500, at the points P1 and P2 where the detected other vehicle 510 and the ground meet, V2). Herein, U1 and U2 are the horizontal coordinate values of the image 500 in the two points P1 and P2, respectively, and V1 and V2 are the vertical coordinate values of the image 500 in the two points P1 and P2, respectively .

Fig. 5B illustrates the positional relationship between the two points P1 and P2 shown in Fig. 5A and the mounting angle [theta] of the camera 112d.

Specifically, the information storage unit 120 may store the compensation angle information for each vertical direction of the image 500, and the parking lot searching unit 130 may store the compensation angle corresponding to the two points P1 and P2, (120). ≪ / RTI >

For example, as shown in the figure, the information storage unit 120 may store a compensation angle for each of a plurality of horizontal lines 521 to 524 spaced apart from each other by a height difference. At this time, the control unit 170 stores the pre-stored compensation angle? Corresponding to the horizontal line 524 in which the two points P1 and P2 are located among the plurality of horizontal lines 521 to 524, 120).

5B shows that both of the points P1 and P2 are located on one horizontal line 524 but this is an example and the two points P1 and P2 are located on different horizontal lines In this case, the compensation angle corresponding to one point may have a value different from the compensation angle corresponding to the other point.

In the information storage unit 120, the conversion ratio between the image 500 and the actual space may be stored in advance. The parking space searching unit 130 may determine the distance between the two images P1 and P2, The actual distance between the two points P1 and P2 can be calculated.

5A to 5C, the right-side image 500 captured by the right-side camera 112d has been described as a reference. However, the present invention is not limited to this, and other cameras installed in the vehicle may be applied in the same manner It is obvious to those skilled in the art.

Fig. 5C illustrates the operation of calculating the actual position of two points P1 and P2 shown in the image, using the compensation angle [alpha] described above with reference to Fig. 5B. To facilitate understanding, the left side point P1 of the two points P1 and P2 will be described.

5C, a mounting height H and a mounting angle? Of the camera 112d are stored in the information storage unit 120, and a compensation angle? Corresponding to the left point P1 is calculated The parking section searching unit 130 can calculate the actual distance z1 between the actual position P1 'of the point P1 in the image 500 and the camera 112d using the triangular formula.

When the actual distance z is calculated, the parking section searching unit 130 can calculate the coordinates of the actual position P1 'using the following equation (1).

5A), and V is the horizontal coordinate value of the same point in the image 500 (for example, P1 in FIG. 5A) coordinate values and, U ₀ is the lateral coordinate of the liquor (principal point) of the camera (112d), V ₀ is the longitudinal coordinate value of the liquor (principal point) of the camera (112d), f is a camera (112d) X is the lateral coordinate value of the actual position corresponding to the same point in the image 500 and y is the longitudinal coordinate value of the actual position corresponding to the same point in the image 500 have.

That is, the real world coordinate value P1 '(x1, y1) for the point P1 represented by the coordinates (U1, V1) in the image 500 can be obtained through the equation (1).

Of course, those skilled in the art will appreciate that the real world coordinate values (x2, y2) for another point P2 in the image 500 can also be obtained using Equation (1).

When the actual coordinate values P1 '(x1, y1) and P2' (x2, y2) for the two points P1 and P2 in the image 500 are obtained by Equation 1, Can calculate the distance between two points (P1 ', P2') using a triangular formula.

Through the above-described method, the control unit 170 acquires the position and size of an object such as another vehicle existing around the vehicle, constructs an obstacle map by using the obtained information, searches for a candidate parking segment from the obstacle map , And finally, the target parking section can be determined.

5, it is to be understood that it is possible to detect more points and to recognize a candidate parking section, which is an area where the vehicle can be parked.

In addition, although a right-side image is illustrated in FIG. 5, this is merely an example, and a peripheral image generated by a camera provided in the vehicle, such as a forward image, a left-side image, or a rear image, is irrelevant.

The embodiments of the present invention described above are not only implemented by the apparatus and method but may be implemented through a program for realizing the function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded, The embodiments can be easily implemented by those skilled in the art from the description of the embodiments described above.

The present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it is to be understood that the present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics thereof. It is to be understood that the invention is not limited to the accompanying drawings, and all or some of the embodiments may be selectively combined so that various modifications may be made.

100: Driver assistance device
110:
120: Information storage unit
130: Parking section search section
140:
150:
160:
170:

Claims (12)

Recognizing at least one or more candidate parking lots using at least one sensor provided in the vehicle;
Determining one of the candidate parking sections as a target parking section;
Generating a parking path for the target parking segment;
Controlling the speed and steering of the vehicle along the parking path; And
Outputting an alarm message to the driver of the vehicle when the vehicle enters within a predetermined distance from the target parking section;
And a control unit for controlling the driver. The method according to claim 1,
Wherein the candidate parking section comprises:
Wherein the parking assisting device is a parking section having a size such that the vehicle can park among the parking spaces existing in the vicinity of the vehicle. The method according to claim 1,
Wherein the step of determining any one of the candidate parking sections as a target parking section comprises:
Determining one of the plurality of candidate parking lots as the target parking space according to a predetermined criterion when the number of the candidate parking lots is plural;
And a control unit for controlling the driver. The method according to claim 1,
The step of outputting an alarm message to the driver of the vehicle includes:
And when the difference between the width of the target parking section and the width of the vehicle is less than a predetermined value. The method according to claim 1,
Determining whether the driver is getting off the bus;
Further comprising the steps of: 6. The method of claim 5,
The step of determining whether or not the driver gets off-
And a sensing signal of a weight sensor provided on a seat of the vehicle, the strength of a signal transmitted from the smart key registered in the vehicle, and the sensing signal of the weight sensor provided on the seat of the vehicle. 6. The method of claim 5,
Controlling the speed and steering of the vehicle along a remaining path of the parking path when it is determined that the driver is getting off;
Further comprising the steps of: 8. The method of claim 7,
Wherein controlling the speed and steering of the vehicle along a remaining path of the parking path comprises:
Wherein the control is performed after a lapse of a predetermined time from when the driver is determined to be getting off. 8. The method of claim 7,
Generating an exit route from the target parking section; And
Controlling at least one of a speed and a steering of the vehicle along the outgoing route;
Further comprising the steps of: 10. The method of claim 9,
Wherein the step of controlling at least one of the speed and the steering of the vehicle along the out-
And to stop the vehicle until the obstacle disappears when an obstacle within a predetermined distance from at least a part of the outgoing route is recognized. 10. The method of claim 9,
The outgoing route includes:
Wherein the driver is a route from a parking position of the vehicle to a position where the driver gets off. 10. The method of claim 9,
Wherein controlling the speed and steering of the vehicle along a remaining path of the parking path is performed when a parking command is received from a smart key registered in the vehicle,
Wherein the step of controlling the speed and steering of the vehicle along an outgoing route from the target parking section is performed when an outgoing command is received from the smart key.

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