Parking control apparatus and parking control method

Patent metadata

Field	Value
Publication number	US-9274527-B2
Application number	US-201414308498-A
Country	US
Kind code	B2
Filing date	Jun 18, 2014
Priority date	Jul 26, 2013
Publication date	Mar 1, 2016
Grant date	Mar 1, 2016

Abstract

The present invention relates to a parking control apparatus and a parking control method. In particular, the present invention relates to a parking control apparatus and a parking control method in which an initial parking space searched while a vehicle is moved is corrected into a final parking space in a space recognition correction section based on a situation at the time of searching by the vehicle and information for an obstacle which is acquired while the vehicle moves along a first parking route, the position of the vehicle is changed, and then a final parking route is calculated.

First claim

What is claimed is:

1. A parking control apparatus comprising:
a first unit including a first sensor, the first unit configured to set an initial parking space by receiving an input of information for at least one obstacle positioned around a moving vehicle from the first sensor to search a parking space, configured to calculate a first parking route using information for the initial parking space, and configured to control the vehicle to move along the first parking route; and
a second unit including a second sensor, the second unit configured to determine whether to correct the initial parking space based on a parking space searching speed of the vehicle, configured to correct the initial parking space based on the information for the at least one obstacle recognized in a space recognition correction section to set a final parking space when it is determined that the vehicle exists in the space recognition correction section and the parking space searching speed exceeds a reference speed, and configured to control the vehicle to change a position thereof and to calculate a final parking route on information for the final parking space and information for the changed position of the vehicle, a route correction control section being set to extend by a predetermined distance from an end point of the space recognition correction section when it is determined that the vehicle enters the route correction control section,
wherein the space recognition correction section is a section where, among obstacles positioned on opposite sides of the initial parking space, an obstacle positioned closer to the vehicle is recognized through the second sensor while the vehicle moves along the first parking route.

2. The parking control apparatus of claim 1 , wherein the second unit determines whether to correct the initial parking space based on at least one of a parking space searching angle formed by the obstacle and the vehicle and a parking space searching distance between the obstacle and the vehicle at the time of searching the parking space.

3. The parking control apparatus of claim 2 , wherein the second unit corrects the initial parking space when at least one of a situation where the parking space searching angle exceeds a reference angle and a situation where the parking space searching distance is deviated from a reference range.

4. The parking control apparatus of claim 1 , wherein the second unit compares information for the obstacle and the first parking route in the space recognition correction section, and when collision between the vehicle and the obstacle is forecasted, the second unit corrects the first parking route to correct the first parking route such that the vehicle can recognize the obstacle without causing the vehicle to collide with the obstacle.

5. The parking control apparatus of claim 1 , wherein, when it is determined that the vehicle enters the route correction control section, the second unit controls the vehicle to change the position thereof based on the information for the obstacle recognized in the space recognition correction section.

6. The parking control apparatus of claim 5 , wherein the second unit controls the vehicle to change the position thereof such that the vehicle is positioned within a distance range set from the obstacle and the obstacle and that the vehicle are parallel to each other.

7. A parking control method comprising:
setting an initial parking space by receiving an input of information for at least one obstacle positioned around a moving vehicle from a first sensor to search a parking space;
calculating a first parking route using information for the initial parking space, and controlling the vehicle to move along the first parking route;
correcting the initial parking space based on the obstacle recognized in a space recognition correction section and based on a parking space searching speed of the vehicle to set a final parking space when it is determined that the vehicle exists in the space recognition correction section and the parking space searching speed exceeds a reference speed, the space recognition correction section being a section where, among obstacles positioned on opposite sides of the initial parking space, an obstacle positioned closer to the vehicle is recognized through a second sensor while the vehicle moves along the first parking route; and
controlling the vehicle to change a position thereof and calculating a final parking route based on information for the final parking space and information for a changed position of the vehicle when it is determined the vehicle enters a route correction control section, the route correction control section being set to extend by a predetermined distance from an end point of the space recognition correction section.

Assignees

• Mando Corp

Inventors

• Kim Sung Ju

Classifications

• B62D15/0285

  Parking performed automatically · CPC title

• B62D15/027 Primary

  Parking aids, e.g. instruction means · CPC title

• G05D1/0238

  using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93) · CPC title

• G05D1/0214

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title

• G05D1/0276 Primary

  using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058) · CPC title