Automatic parking controlling apparatus and method of vehicle

Patent metadata

Field	Value
Publication number	US-2016159397-A1
Application number	US-201514597790-A
Country	US
Kind code	A1
Filing date	Jan 15, 2015
Priority date	Dec 3, 2014
Publication date	Jun 9, 2016
Grant date	—

Abstract

Provided are an automatic parking controlling apparatus and method of a vehicle for effectively, safely parking a vehicle in a parking space. The automatic parking controlling apparatus of a vehicle includes a parking space recognizing unit configured to sense an obstacle on the side of a vehicle to recognize a parking space, a gradient angle calculating unit configured to calculate a gradient angle of a road surface by using a gradient of the vehicle and a degree to which the vehicle has slipped backwards according to a comparison between forward movement acceleration of the vehicle and a speed of the vehicle, a parking path calculating unit configured to calculate sequential turning paths for reverse perpendicular parking based on the calculated gradient angle of the road surface and the recognized parking space, and a control unit configured to control steering for reverse perpendicular parking according to the calculated sequential turning paths.

First claim

What is claimed is:

1 . An automatic parking controlling apparatus of a vehicle, the apparatus comprising:
a parking space recognizing unit configured to sense an obstacle on the side of a vehicle to recognize a parking space; a gradient angle calculating unit configured to calculate a gradient angle of a road surface by using a gradient of the vehicle and a degree to which the vehicle has slipped backwards according to a comparison between forward movement acceleration of the vehicle and a speed of the vehicle; a parking path calculating unit configured to calculate sequential turning paths for reverse perpendicular parking based on the calculated gradient angle of the road surface and the recognized parking space; and a control unit configured to control steering for reverse perpendicular parking according to the calculated sequential turning paths.

2 . The automatic parking controlling apparatus of claim 1 , wherein the parking space recognizing unit senses the obstacle positioned on one side of the vehicle, measures a width and a length of the parking space, and measures positions of a first corner and a second corner with respect to the obstacle to recognize the parking space.

3 . The automatic parking controlling apparatus of claim 1 , wherein
the parking path calculating unit calculates a first turning angle, a parking start position, and a first stop position satisfying a collision avoidance condition with respect to the first corner and the second corner when the vehicle is steered to the maximum level according to the gradient angle of the road surface calculated by the gradient angle calculating unit, to thereby calculate a first turning path, calculates a second turning angle and a second stop position satisfying a condition in which one end of a central line of rear wheels of the vehicle and a y axis of the second corner meet according to the gradient angle of the road surface calculated by the gradient angle calculating unit, to thereby calculate a second turning path, and calculates a third turning angle, a third stop position, and a parking end position satisfying a condition in which the vehicle is aligned along a central line of the parking space according to the gradient angle of the road surface calculated by the gradient angle calculating unit, to thereby calculate a third turning path.

4 . The automatic parking controlling apparatus of claim 1 , wherein
the parking path calculating unit calculates a first turning angle, a parking start position, and a first stop position satisfying a collision avoidance condition with respect to the first corner and the second corner when the vehicle is steered to the maximum level, to thereby calculate a first turning path, calculates a second turning angle and a second stop position satisfying a condition in which one end of a central line of rear wheels of the vehicle and a y axis of the second corner meet, to thereby calculate a second turning path, and calculates a third turning angle, a third stop position, and a parking end position satisfying a condition in which the vehicle is aligned along a central line of the parking space, to thereby calculate a third turning path, and thereafter, the parking path calculating unit corrects the calculated first, second, and third turning paths according to the gradient angle of the road surface calculated by the gradient angle calculating unit, to thereby calculate final first, second, and third turning paths.

5 . The automatic parking controlling apparatus of claim 1 , wherein when the reverse perpendicular parking is performed, the control unit controls an output device to output reverse parking state information according to a gradient of the road surface through at least one among video, audio, and text.

6 . An automatic parking controlling method of a vehicle, the method comprising:
sensing an obstacle on the side of a vehicle to recognize a parking space; calculating a gradient angle of a road surface by using a gradient of the vehicle and a degree to which the vehicle has slipped backwards according to a comparison between forward movement acceleration of the vehicle and a speed of the vehicle; calculating sequential turning paths for reverse perpendicular parking based on the calculated gradient angle of the road surface and the recognized parking space; and controlling steering for reverse perpendicular parking according to the calculated sequential turning paths.

7 . The automatic parking controlling method of claim 6 , wherein the recognizing of a parking space comprises:
sensing the obstacle and measuring a width and a length of the parking space; and measuring positions of a first corner and a second corner with respect to the obstacle.

8 . The automatic parking controlling method of claim 6 , wherein the calculating of sequential turning paths comprises:
calculating a first turning angle, a parking start position, and a first stop position satisfying a collision avoidance condition with respect to the first corner and the second corner when the vehicle is steered to the maximum level according to the calculated gradient angle of the road surface, to thereby calculate a first turning path; calculating a second turning angle and a second stop position satisfying a condition in which one end of a central line of rear wheels of the vehicle and a y axis of the second corner meet according to the calculated gradient angle of the road surface, to thereby calculate a second turning path; and calculating a third turning angle, a third stop position, and a parking end position satisfying a condition in which the vehicle is aligned along a central line of the parking space according to the calculated gradient angle of the road surface, to thereby calculate a third turning path.

9 . The automatic parking controlling method of claim 8 , wherein the controlling of steering comprises:
turning the vehicle to reverse from the parking start position to the first stop position at the first turning angle according to the first turning path; turning to move forwards from the first stop position to the second stop position at the second turning angle according to the second turning path; and turning to reverse from the second stop position to the third stop position at the third turning angle according to the third turning path, and reversing from the third stop position to the parking end position.

10 . The automatic parking controlling method of claim 8 , wherein the sum of the first turning angle, the second turning angle, and the third tuning angle is 90 degrees.

11 . The automatic parking controlling method of claim 6 , further comprising: when the reverse perpendicular parking is performed, outputting reverse parking state information according to the gradient of the road surface to an output device through at least one among video, audio, and text.

12 . An automatic parking controlling method of a vehicle, the method comprising:
sensing an obstacle on the side of a vehicle to recognize a parking space; calculating a gradient angle of a road surface by using a gradient of the vehicle and a degree to which the vehicle has slipped backwards according to a comparison between forward movement acceleration of the vehicle and a speed of the vehicle; calculating sequential turning paths for reverse perpendicular parking based on the recognized parking space and subsequently correcting the calculated turning paths according to the calculated gradient angle of the road surface to thus calculate final turning paths for reverse parking on a slope; and controlling steering for reverse perpendicular parking according to the calculated sequentia

Assignees

• Hyundai Mobis Co Ltd

Inventors

• Baek Hyun Wook

Classifications

• B60W30/06

  Automatic manoeuvring for parking · CPC title

• B62D15/0285 Primary

  Parking performed automatically · CPC title