阅读说明：本技术 驾驶员辅助设备及其方法 (Driver assistance device and method thereof ) 是由 朴规植 于 2021-04-13 设计创作，主要内容包括：本公开涉及一种驾驶员辅助设备及其方法。该驾驶员辅助设备接收建筑物地图信息,从建筑物地图信息确定是否存在停车位,并基于存在停车位而生成通往停车位的行驶路线,并且控制器被配置为响应于处理图像数据、前方检测数据和侧面检测数据而检测位于车辆前方的前方物体和位于车辆侧面的侧面物体,并基于检测到的结果向车辆的驱动装置、制动装置和转向装置中的至少一个输出信号以沿行驶路线行驶。(The present disclosure relates to a driver assistance apparatus and a method thereof. The driver assistance apparatus receives building map information, determines whether a parking space is present from the building map information, and generates a travel route to the parking space based on the presence of the parking space, and the controller is configured to detect a front object located in front of the vehicle and a side object located on a side of the vehicle in response to processing the image data, the front detection data, and the side detection data, and output a signal to at least one of a driving device, a braking device, and a steering device of the vehicle to travel along the travel route based on a result of the detection.)

1. A driver assistance apparatus, comprising:

a sensor installed in the vehicle and acquiring at least one of front image data, front detection data, and side detection data; and

a controller comprising a processor configured to process the front image data, the front detection data, and the side detection data,

wherein the controller is configured to:

receiving building map information, determining from the building map information whether a parking space exists, and

generating a driving route to the parking space based on the presence or absence of the parking space, and

wherein the controller is configured to:

detecting a front object located in front of the vehicle and a side object located on a side of the vehicle in response to processing the image data, the front detection data, and the side detection data, and

outputting a signal to at least one of a driving device, a braking device, and a steering device of the vehicle to travel along the travel route based on the detected result.

2. The driver assistance apparatus according to claim 1, wherein when the vehicle reaches the parking space, the controller is configured to output a signal to at least one of an engine, a braking device, and a steering device of the vehicle to perform autonomous parking.

3. The driver assistance apparatus according to claim 1, wherein the controller is configured to determine whether the parking space exists, and perform double parking based on a result of the determination.

4. The driver assistance apparatus according to claim 3, wherein when it is determined that the vehicle makes the double stop, the controller is configured to set a gear position of the vehicle to neutral.

5. The driver assistance apparatus according to claim 1, wherein the controller is configured to detect a motion of another vehicle and change the travel route to avoid a collision with the other vehicle.

6. The driver assistance device according to claim 1, wherein the controller is configured to transmit information about the travel route to a user terminal.

7. The driver assistance device according to claim 2, wherein the controller is configured to transmit the result of the autonomous parking to a user terminal.

8. A driver assistance method, comprising:

acquiring at least one of front image data, front detection data, and side detection data;

processing the front image data, the front detection data, and the side detection data;

the building map information is received and the building map information is received,

determining from the building map information whether a parking space exists and generating a driving route to the parking space based on the existence of the parking space; and is

Detecting a front object located in front of the vehicle and a side object located on a side of the vehicle in response to processing the image data, the front detection data, and the side detection data, and outputting a signal to at least one of a driving device, a braking device, or a steering device of the vehicle to travel along the travel route based on a result of the detection.

9. The driver assistance method according to claim 8, further comprising: outputting a signal to at least one of an engine, a brake device, and a steering device of the vehicle to perform autonomous parking when the vehicle reaches the parking space.

10. The driver assistance method according to claim 8, further comprising: determining whether the parking space exists, and performing double parking based on the determined result.

11. The driver assistance method according to claim 10, further comprising: setting a gear of the vehicle to neutral when it is determined that the vehicle makes the double stop.

12. The driver assistance method according to claim 8, further comprising: detecting movement of another vehicle and changing the travel route to avoid collision with the other vehicle.

13. The driver assistance method according to claim 8, further comprising: transmitting information about the travel route to a user terminal.

14. The driver assistance method according to claim 9, further comprising: and transmitting the result of the autonomous parking to a user terminal.

15. A driver assistance system comprising:

a sensor installed in the vehicle and acquiring at least one of front image data, front detection data, and side detection data; and

a controller comprising a processor configured to process the front image data, the front detection data, and the side detection data,

wherein the controller is configured to:

receiving building map information, determining from the building map information whether a parking space exists, and

generating a driving route to the parking space based on the presence or absence of the parking space, and

wherein the controller is configured to:

detecting a front object located in front of the vehicle and a side object located on a side of the vehicle in response to processing the image data, the front detection data, and the side detection data, and

outputting a signal to at least one of a driving device, a braking device, and a steering device of the vehicle to travel along the travel route based on the detected result.

16. The driver assistance system according to claim 15, wherein when the vehicle reaches the parking space, the controller is configured to output a signal to at least one of an engine, a braking device, and a steering device of the vehicle to perform autonomous parking.

17. The driver assistance system according to claim 15, wherein the controller is configured to determine whether the parking space exists, and perform double parking based on a result of the determination.

18. The driver assistance system according to claim 17, wherein when it is determined that the vehicle makes the double stop, the controller is configured to set a gear position of the vehicle to neutral.

19. The driver assistance system according to claim 15, wherein the controller is configured to detect a movement of another vehicle and change the travel route to avoid a collision with the other vehicle.

20. The driver assistance system of claim 15, wherein the controller is configured to transmit at least one of the travel route or the autonomous parking result to a user terminal.

Technical Field

The present disclosure relates to a driver assistance apparatus, a driver assistance method, and a driver assistance system.

In more detail, the present disclosure relates to setting a driving route so that a vehicle can autonomously drive to a parking space, and controlling a plurality of devices provided in the vehicle to enable autonomous parking when the vehicle reaches the parking space.

Background

In the conventional autonomous parking method, a user directly drives a vehicle to a parking space, and autonomous parking is performed when the user arrives at the parking space.

However, the conventional autonomous parking method has a problem in that a user must directly find a parking space due to lack of building information, and a problem in that autonomous parking is not possible even when there is no parking space.

Disclosure of Invention

In order to solve the above-described problems, it is an object of the present disclosure to provide a driver assistance apparatus, a driver assistance method, and a driver assistance system that are capable of searching for a parking space and generating a travel route to the parking space.

Another object of the present disclosure is to provide a driver assistance apparatus, a driver assistance method, and a driver assistance system capable of autonomously driving a vehicle to a parking space and performing autonomous parking when the vehicle reaches the parking space.

An aspect of the present disclosure is to provide a driver assistance apparatus including: a sensor installed in the vehicle and acquiring at least one of front image data, front detection data, and side detection data; and a controller including a processor configured to process the front image data, the front detection data, and the side detection data, wherein the controller is configured to receive the building map information, determine whether a parking space exists from the building map information, and generate a travel route to the parking space based on the presence or absence of the parking space, and wherein the controller is configured to detect a front object located in front of the vehicle and a side object located in a side of the vehicle in response to processing the image data, the front detection data, and the side detection data, and output a signal to at least one of a driving device, a braking device, and a steering device of the vehicle to travel along the travel route based on a result of the detection.

When the vehicle reaches the parking space, the controller may output a signal to at least one of an engine, a brake device, and a steering device of the vehicle to perform autonomous parking.

The controller may determine whether a parking space exists, and perform double parking based on the determined result.

When it is determined that the vehicle makes a double stop, the controller may set the gear position of the vehicle to neutral.

The controller may detect the movement of the other vehicle and change the travel route to avoid collision with the other vehicle.

The controller may transmit information about the travel route to the user terminal.

The controller may transmit a result of the autonomous parking to the user terminal.

An aspect of the present disclosure is to provide a driver assistance method including: acquiring at least one of front image data, front detection data, and side detection data; processing the front image data, the front detection data and the side detection data; receiving building map information, determining whether a parking space exists from the building map information, and generating a driving route to the parking space based on the existence of the parking space; and detecting a front object located in front of the vehicle and a side object located at a side of the vehicle in response to processing the image data, the front detection data, and the side detection data, and outputting a signal to at least one of a driving device, a braking device, and a steering device of the vehicle to travel along the travel route based on the detected results.

The driver assistance method may further include: when the vehicle reaches the parking space, a signal is output to at least one of an engine, a braking device, and a steering device of the vehicle to perform autonomous parking.

The driver assistance method may further include: it is determined whether a parking space exists, and double parking is performed based on the determined result.

The driver assistance method may further include: when it is determined that the vehicle makes a double stop, the gear position of the vehicle is set to neutral.

The driver assistance method may further include: the movement of other vehicles is detected and the travel route is changed to avoid collision with other vehicles.

The driver assistance method may further include: information on the travel route is transmitted to the user terminal.

The driver assistance method may further include: and transmitting the result of the autonomous parking to the user terminal.

An aspect of the present disclosure is to provide a driver assistance system including: a sensor installed in the vehicle and acquiring at least one of front image data, front detection data, and side detection data; and a controller including a processor configured to process the front image data, the front detection data, and the side detection data, wherein the controller is configured to receive the building map information, determine whether a parking space exists from the building map information, and generate a travel route to the parking space based on the presence or absence of the parking space, and wherein the controller is configured to detect a front object located in front of the vehicle and a side object located in a side of the vehicle in response to processing the image data, the front detection data, and the side detection data, and output a signal to at least one of a driving device, a braking device, and a steering device of the vehicle to travel along the travel route based on a result of the detection.

When the vehicle reaches the parking space, the controller may output a signal to at least one of an engine, a brake device, and a steering device of the vehicle to perform autonomous parking.

The controller may determine whether a parking space exists, and perform double parking based on the determination result.

When it is determined that the vehicle makes a double stop, the controller may set the gear position of the vehicle to neutral.

The controller may detect the movement of the other vehicle and change the travel route to avoid collision with the other vehicle.

The controller may transmit at least one of a driving route or an autonomous parking result to the user terminal.

The driver assistance apparatus, the driver assistance method, and the driver assistance system including the above-described configuration extend the existing autonomous parking system, thereby increasing the parking convenience of the user.

In addition, the disclosed embodiments have the following effects: by using the building information to acquire information on the parking space in advance, unnecessary fuel consumption for driving to find the parking space is prevented.

Drawings

These and/or other aspects of the disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows a configuration of a vehicle according to an embodiment.

Fig. 2 is a diagram showing the configuration of the driver assistance system according to the embodiment.

Fig. 3 is a diagram illustrating a camera and a radar included in the driver assistance system according to the embodiment.

Fig. 4 is a conceptual diagram of a driver assistance apparatus receiving building information according to an embodiment.

Fig. 5 is a control block diagram of a driver assistance apparatus according to an embodiment.

Fig. 6 is a flowchart illustrating a process in which the controller controls the vehicle so that the vehicle can autonomously drive to a parking space according to the embodiment.

Fig. 7 is a flowchart illustrating a process in which the controller controls the vehicle such that the vehicle performs double parking according to the embodiment.

Fig. 8A illustrates displaying building information on a user terminal according to an embodiment.

Fig. 8B is a diagram illustrating indicating whether double parking is agreed on the user terminal according to the embodiment.

Fig. 8C illustrates displaying the parking result on the user terminal according to the embodiment.

Description of reference numerals:

1: the vehicle 2: user terminal

3: the building 100: driver assistance system

200: the sensor 140: controller

143: the communication module 22: drive system

32: the braking system 42: steering system

Detailed Description

Like numbers refer to like elements throughout. Not all elements of the embodiments of the present invention will be described, and descriptions of contents known in the art or overlapping each other in the embodiments will be omitted.

Terms such as "component," "module," "member," "block," and the like, used throughout the specification may be implemented in software or hardware, and a plurality of "component," "module," "member" or "block" may be implemented in a single element, or a single "component," "module," "member" or "block" may include a plurality of elements.

It will be further understood that the term "connected," or derivatives thereof, refers to both direct and indirect connections, and that indirect connections include connections through a wireless communication network.

It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof, unless the context clearly dictates otherwise.

In the specification, it will be understood that when an element is referred to as being "on/under" another element, it can be directly on/under the other element or one or more intervening elements may also be present.

Terms including ordinal numbers like "first" and "second" may be used to explain various components, but these components are not limited by the terms. These terms are only used to distinguish one element from another.

As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Reference numerals for method steps are used merely for convenience of explanation and do not limit the order of the steps. Thus, the order may be practiced in other ways unless the context clearly dictates otherwise.

Hereinafter, the operational principle and embodiments of the present invention will be described with reference to the accompanying drawings.

Fig. 1 shows a configuration of a vehicle according to an embodiment.

As shown in fig. 1, a vehicle 1 includes an engine 10, a transmission 20, a brake device 30, and a steering device 40. The engine 10 may include a cylinder and a piston, and generates power for running the vehicle 1. The transmission 20 may include a plurality of gears, and transmits power generated by the engine 10 to wheels. The braking device 30 may decelerate the vehicle 1 or stop the vehicle 1 by friction with the wheels. The steering device 40 can change the traveling direction of the vehicle 1.

The vehicle 1 may include a plurality of electronic components. For example, the vehicle 1 further includes an Engine Management System (EMS)11, a Transmission Control Unit (TCU)21, and an Electronic Brake Control Module (EBCM)31, an Electric Power Steering (EPS)41, a vehicle Body Control Module (BCM), and a Driver Assist System (DAS).

The EMS 11 may control the engine 10 in response to an acceleration intention of the driver through an accelerator pedal or a request of the driver assistance apparatus 100. For example, the EMS 11 may control the torque of the engine 10.

The TCU 21 may control the transmission 20 in response to a shift command by a driver through a shift lever and/or a running speed of the vehicle 1. For example, the TCU 21 may adjust the gear ratio of the engine 10 to the wheels.

The EBCM 31 may control the brake device 30 in response to the driver's intention to brake via the brake pedal and/or the slip of the wheels. For example, the EBCM 31 may temporarily release braking of the wheels (anti-lock brake system, ABS) in response to wheel slip sensed while the vehicle 1 is braking.

The EBCM 31 may selectively release braking of the wheels in response to oversteer and/or understeer sensed while the vehicle 1 is turning (electronic stability control, ESC). In addition, the EBCM 31 may temporarily brake the wheels in response to wheel slip sensed while the vehicle 1 is running (traction control system, TCS).

The EPS 41 can assist the operation of the steering device 40 in response to the driver's steering intention with the steering wheel, so that the driver easily manipulates the steering wheel. For example, the EPS 41 may assist the operation of the steering device 40 such that the steering force is reduced during low-speed running or parking, and increased during high-speed running.

The BCM 51 may control the operation of electronic components that provide convenience to the driver or ensure the safety of the driver. For example, the BCM 51 may control headlamps, wipers, an instrument panel, a multifunction switch, turn signals, and the like.

The driver assistance device 100 or DAS can assist the driver in steering (driving, braking, steering) the vehicle 1. For example, the DAS 100 may detect the surroundings (e.g., other vehicles, pedestrians, cyclists, lanes, road signs, etc.) around the vehicle 1 and control driving and/or braking and/or steering of the vehicle 1 in response to the sensed surroundings.

The driver assistance apparatus 100 or DAS may provide various functions to the driver. For example, DAS 60 may provide Lane Departure Warning (LDW), Lane Keeping Assist (LKA), High Beam Assist (HBA), Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), Blind Spot Detection (BSD), and the like.

The driver assistance apparatus 100 or DAS may include a camera module 101 for acquiring image data around the vehicle 1 and a radar module 102 for acquiring object data around the vehicle 1. The camera module 101 may include a camera 101a and an Electronic Control Unit (ECU)101b, and may photograph the front of the vehicle 1 and recognize other vehicles, pedestrians, cyclists, lanes, road signs, and the like. The radar module 102 may include a radar 102a and an Electronic Control Unit (ECU)102b, and may acquire relative positions and relative speeds of objects (e.g., other vehicles, pedestrians, cyclists, etc.) around the vehicle 1.

The driver assistance apparatus 100 or DAS is not limited to that shown in fig. 1, and may further include a laser radar for scanning the surroundings of the vehicle 1 and detecting an object.

The above electronic components may communicate with each other through a vehicle communication Network (NT). For example, the electronic components may exchange data between them via ethernet, Media Oriented System Transport (MOST), Flexray, Controller Area Network (CAN), Local Interconnect Network (LIN), and the like. For example, the driver assistance apparatus 100 may transmit a driving control signal, a braking signal, and a steering signal to the EMS 11, the EBCM 31, and the EPS 41 through NT, respectively.

Fig. 2 is a diagram illustrating a configuration of a DAS according to an embodiment. Fig. 3 is a diagram illustrating a camera and a radar included in the DAS according to the embodiment.

As shown in fig. 2, the vehicle 1 may include a braking system 32, a steering system 42, and a driver assistance device 100 or DAS.

The braking system 32 according to the embodiment may include the EBCM (31 in fig. 1) and the braking device (30 in fig. 1) described in conjunction with fig. 1, and the steering system 42 may include the EPS (41 in fig. 1) and the steering device (40 in fig. 1).

The driver assistance device 100 or DAS may comprise a camera 110, a front radar 120 and a plurality of corner radars 130.

The camera 110 may have a field of view 110a directed forward of the vehicle 1 as shown in fig. 3. The camera 110 may be mounted on a front windshield of the vehicle 1, for example.

The camera 110 may image the front of the vehicle 1 and acquire image data about the front of the vehicle 1. The image data relating to the front of the vehicle 1 may include the position of other vehicles or pedestrians or cyclists or lanes located in front of the vehicle 1.

The camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes for converting light into electrical signals, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

The camera 110 may be electrically connected to the controller 140. For example, the camera 110 may be connected to the controller 140 through the vehicle communication network NT, through a hard wire, or through a Printed Circuit Board (PCB).

The camera 110 may transmit image data in front of the vehicle 1 to the controller 140.

The front radar 120 may have a sensing field 120a directed to the front of the vehicle 1 as shown in fig. 3. The front radar 120 may be mounted on a grille or a bumper of the vehicle 1, for example.

The front radar 120 may include a transmitting antenna (or a transmitting antenna array) that radiates a transmitting radio wave to the front of the vehicle 1 and a receiving antenna (or a receiving antenna array) that receives a reflected radio wave reflected from an object. The front radar 120 may acquire front radar data from a transmission radio wave transmitted by a transmission antenna and a reflection radio wave received by a reception antenna. The front radar data may include position information and speed information about objects (e.g., other vehicles, pedestrians, or cyclists) present in front of the vehicle 1.

The front radar 120 may calculate a relative distance to the object based on a phase difference (or a time difference) between the transmission radio wave and the reflection radio wave, and calculate a relative velocity of the object based on a frequency difference between the transmission radio wave and the reflection radio wave.

Front radar 120 may be connected to controller 140 via a vehicle communication network NT, hard wire, or printed circuit board. The front radar 120 may transmit front radar data to the controller 140.

The plurality of corner radars 130 includes: a first corner radar 131 mounted on the front right side of the vehicle 1; a second corner radar 132 mounted on the left front side of the vehicle 1; a third corner radar 133 mounted on the right rear side of the vehicle 1; and a fourth corner radar 134 mounted on the left rear side of the vehicle 1.

The first corner radar 131 may have a sensing field 131a directed to the right front side of the vehicle 1 as shown in fig. 3. The first corner radar 131 may be mounted, for example, on the right side of a front bumper of the vehicle 1. Second corner radar 132 may have a sensing field 132a directed toward the front left side of vehicle 1, and may be mounted, for example, on the left side of the front bumper of vehicle 1. The third corner radar 133 may have a sensing field 133a directed to the rear right side of the vehicle 1, and may be mounted, for example, on the right side of a rear bumper of the vehicle 1. Fourth corner radar 134 may have a sensing field 134a directed to the left rear side of vehicle 1, and may be mounted, for example, on the left side of the rear bumper of vehicle 1.

Each of the first corner radar 131, the second corner radar 132, the third corner radar 133, and the fourth corner radar 134 may include a transmit antenna and a receive antenna. First, second, third, and fourth corner radars 131, 132, 133, and 134 acquire first, second, third, and fourth corner radar data, respectively. The first corner radar data may include distance information and speed information about other vehicles, pedestrians, or cyclists (hereinafter referred to as "objects") present on the right front side of the vehicle 1. The second corner radar data may include distance information and speed information about an object existing on the left front side of the vehicle 1. The third corner radar data and the fourth corner radar data may include distance and speed information on an object existing on the right rear side of the vehicle 1 and distance and speed information on an object located on the left rear side of the vehicle 1, respectively.

Each of the first corner radar 131, the second corner radar 132, the third corner radar 133 and the fourth corner radar 134 may be connected to the controller 140, for example, through a vehicle communication network NT, hard wiring or a printed circuit board. First corner radar 131, second corner radar 132, third corner radar 133, and fourth corner radar 134 may transmit first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively, to controller 140.

The controller 140 may include the ECU (101 b in fig. 1) of the camera module (101 in fig. 1) and/or the ECU (102 b in fig. 1) of the radar module (102 in fig. 1) and/or an integrated ECU.

The controller 140 includes a processor 141 and a memory 142.

Processor 141 may process front image data of camera 110, front radar data of front radar 120, and corner radar data of the plurality of corner radars 130, and generate braking and steering signals for controlling braking system 32 and steering system 42. For example, the processor 141 may include an image signal processor for processing front image data of the camera 110 and/or a digital signal processor for processing radar data of the radars 120 and 130 and/or a Micro Control Unit (MCU) for generating a braking signal and/or a steering signal.

Processor 141 may detect objects (e.g., other vehicles, pedestrians, bicyclists, etc.) in front of vehicle 1 based on front image data of camera 110 and front radar data of radar 120.

In detail, the processor 141 may acquire position information (distance and direction) and speed information (relative speed) of an object in front of the vehicle 1 based on front radar data of the front radar 120. The processor 141 can acquire position information (direction) and type information of an object existing in front of the vehicle 1 (for example, whether the object is another vehicle, a pedestrian, or a cyclist) based on front image data of the camera 110. In addition, the processor 141 may match an object detected by the front image data with an object detected by the front radar data, and acquire type information, position information, and speed information of the object in front of the vehicle 1 based on the result of the matching.

Processor 141 may generate braking and steering signals based on the type information, position information, and speed information of the preceding object.

For example, the processor 141 calculates a Time To Collision (TTC) between the vehicle 1 and the preceding object based on the position information (relative distance) and the velocity information (relative velocity) of the preceding object, and warns the driver of the collision, transmits a brake signal to the brake system 32 or transmits a steering signal to the steering system 42 based on the result of comparing the TTC with a predetermined reference time. In response to the TTC being less than the predetermined first reference time, processor 141 may allow an alert to be output via audio and/or display. In response to the TTC being less than the predetermined second reference time, processor 141 may transmit a preliminary braking signal to braking system 32. In response to the TTC being less than the predetermined third reference time, processor 141 may transmit an emergency braking signal to braking system 32. In this case, the second reference time is shorter than the first reference time, and the third reference time is shorter than the second reference time.

As another example, processor 141 may calculate a collision Distance (DTC) based on speed information (e.g., relative speed) of the preceding object, and alert the driver of the collision or transmit a braking signal to braking system 32 based on the result of comparing the DTC to the distance to the preceding object.

Processor 141 may acquire the position (distance and direction) and relative speed of an object on the side (front right, front left, rear right, rear left) of vehicle 1 based on the corner radar data of the plurality of corner radars 130.

Processor 141 may transmit steering signals to steering system 42 based on the position (distance and direction) and relative speed of the side objects of vehicle 1.

For example, when it is determined that a collision with a front object will occur based on the TTC or DTC, the processor 141 may transmit a steering signal to the steering system 42 to avoid the collision with the front object.

The processor 141 may determine whether to avoid a collision with a preceding object by changing the driving direction of the vehicle 1 based on the position (distance and direction) and the relative speed of the side object of the vehicle 1. For example, when the side of the vehicle 1 is free of objects, the processor 141 may transmit a steering signal to the steering system 42 to avoid collision with a preceding object. When it is predicted that the vehicle 1 will not collide with the side object after steering based on the position (distance and direction) and the relative speed of the side object, the processor 141 may transmit a steering signal to the steering system 42 to avoid a collision with a preceding object. When it is predicted that the vehicle 1 will collide with the side object after steering based on the position (distance and direction) and the relative speed of the side object, the processor 141 may not transmit the steering signal to the steering system 42.

Memory 142 may store programs and/or data for processing image data by processor 141, programs and/or data for processing radar data by processor 141, and programs and/or data for generating braking and/or steering signals by processor 141.

The memory 142 may temporarily store image data received from the camera 110 and/or radar data received from the radars 120 and 130, and may temporarily store a result of the processor 141 processing the image data and/or the radar data.

The memory 142 may include not only volatile memory such as S-RAM, D-RAM, etc., but also non-volatile memory such as flash memory, Read Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), etc.

The driver assistance apparatus 100 or DAS is not limited to the apparatus shown in fig. 2, and may further include a laser radar for scanning the surroundings of the vehicle 1 and detecting an object.

Accordingly, the controller 140 may transmit a braking signal to the braking system 32 based on whether a collision with a forward object is predicted.

When no side objects are present or no collision with side objects is predicted, the controller 140 may transmit a steering signal to the steering system 42 to avoid collision with a front object.

When a collision with a side object after steering is predicted, the controller 140 may not transmit a steering signal to the steering system 42.

Fig. 4 is a conceptual diagram of the driver assistance apparatus 100 receiving the building information according to the embodiment.

Referring to fig. 4, the driver assistance apparatus 100 provided in the vehicle 1 may communicate with the building 3 or a server provided in the building 3 and obtain information about a parking space. In addition, the driver assistance apparatus 100, the building 3, or a server provided in the building 3 may communicate information about a parking space in the building with the user terminal 2.

Here, the information on the parking spaces in the building may include the number of parks that can be parked, whether there is a parking space dedicated to the handicapped, whether there is an electric vehicle charging station or a hybrid vehicle charging station, whether there is an underground parking space, whether there is a ground parking space, a parking fee, or whether double parking can be performed, but is not limited thereto.

In addition, the user terminal 2 may be a smartphone, a display (not shown) provided in the vehicle 1, a navigation system, or Audio Video Navigation (AVN), but is not limited thereto.

Fig. 5 is a control block diagram of the driver assistance apparatus 100 according to the embodiment.

Referring to fig. 5, the driver assistance apparatus 100 may include a controller 140 having a sensor 200 and a communication module 143, and the controller 140 may control the driving system 22, the braking system 32, or the steering system 42 provided in the vehicle 1. Further, the communication module 143 provided in the controller 140 may communicate with the building 3 or a server provided in the building.

Specifically, the sensor 200 may include the camera 110 for imaging the surroundings of the vehicle 1, and may include a laser radar sensor or a radar sensor, and may acquire at least one of front image data, front detection data, and side detection data.

In addition, the controller 140 may include a processor for processing front image data, front detection data, or side detection data, receiving building map information, determining whether a parking space exists from the building map information, and generating a driving route to the parking space based on the existence of the parking space.

In addition, the controller 140 may generate a signal to a drive device included in the drive system 22, a steering device included in the steering system 32, or a brake device included in the brake system 42 so that the vehicle 1 autonomously drives along the created route to the parking space.

Here, the driving device may include the engine 10 or the transmission 20, but is not limited thereto.

In addition, when the vehicle 1 arrives at the parking space, the controller 140 may control the driving device included in the driving system 22, the steering device included in the steering system 32, or the braking device included in the braking system 42 to perform autonomous parking.

Here, the autonomous parking may include a double parking.

Specifically, when it is determined that there is no parking space, the controller 140 may secondarily search for a place where double parking is possible and perform double parking. The double parking means that the vehicle 1 is not parked at a designated parking lot but is parked in parallel in front of another vehicle already parked.

In addition, the controller 140 may transmit a message informing the user whether double parking is allowed to the user terminal, and may receive an input signal of the user from the user terminal.

In addition, when the double parking is performed, the controller 140 may set the gear position of the vehicle 1 to neutral (N).

In addition, the controller 140 may detect the movement of other vehicles or surrounding objects based on the detection result of the sensor 200, change the travel route to avoid collision with other vehicles or surrounding objects, and transmit information about the existing travel route or the modified travel route to the user terminal.

In addition, when the autonomous parking is completed, the controller 140 may transmit the autonomous parking result to the user terminal.

Displaying the parking process and the parking result on the user terminal will be described in detail with reference to fig. 8.

In addition, the controller 140 may include a communication module 143, and may communicate with the building 3 or a server provided in the building 3.

Here, the communication module 143 may include one or more components enabling communication with an external device, and may include at least one of a short-range communication module, a wired communication module, and a wireless communication module, for example.

The short-range communication module may include various short-range communication modules, such as a bluetooth module, an infrared communication module, a Radio Frequency Identification (RFID) communication module, a Wireless Local Area Network (WLAN) communication module, an NFC communication module, and a Zigbee communication module, which transmit and receive signals using a short-range wireless communication network.

The wired communication module may include not only various wired communication modules such as a Controller Area Network (CAN) communication module, a Local Area Network (LAN) module, a Wide Area Network (WAN) module, or a Value Added Network (VAN) module, but also various cable communication modules such as a Universal Serial Bus (USB), a High Definition Multimedia Interface (HDMI), a Digital Video Interface (DVI), a recommendation standard 232(RS-232), a power line communication, or a Plain Old Telephone Service (POTS).

The wireless communication module may include a wireless communication module supporting various wireless communication methods, such as global system for mobile communications (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Universal Mobile Telecommunications System (UMTS), Time Division Multiple Access (TDMA), Long Term Evolution (LTE), in addition to the Wifi module and the wireless broadband module.

The wireless communication module may include a wireless communication interface including an antenna and a transmitter for transmitting signals. In addition, the wireless communication module may further include a signal conversion module for modulating the digital control signal output from the controller into an analog type wireless signal through the wireless communication interface according to the control of the controller.

The wireless communication module may include a wireless communication interface including an antenna and a receiver for receiving signals. In addition, the wireless communication module may further include a signal conversion module for demodulating an analog wireless signal received through the wireless communication interface into a digital control signal.

At least one component may be added or deleted according to the performance of the components of the driver assistance apparatus 100 shown in fig. 5. In addition, one skilled in the art will readily appreciate that the mutual positions of the components may be changed in response to the performance or structure of the system.

Meanwhile, each component shown in fig. 5 refers to software and/or hardware components such as a Field Programmable Gate Array (FPGA) and an Application Specific Integrated Circuit (ASIC).

Fig. 6 is a flowchart illustrating a process in which the controller 140 controls the vehicle 1 so that the vehicle 1 can autonomously drive to a parking space according to the embodiment.

The communication module 143 provided in the controller 140 receives a building map from the building 3 or a server provided in the building 3 (1101).

Here, the building map may be a high-definition map, but is not limited thereto.

In addition, the travel route may be, but is not limited to, the safest route, the shortest route, or the shortest time route according to the user definition.

The building map contains information about parking spaces.

As described above, the information on the parking spaces may include the number of parks that can be parked, whether there is a handicapped person-dedicated parking lot, whether there is an electric vehicle charging station or a hybrid vehicle charging station, whether there is an underground parking lot, whether there is a ground parking lot, a parking fee, or whether double parking can be performed, but is not limited thereto.

When the building map is received, the controller 140 identifies and determines a parking space (1102).

Specifically, the controller 140 may set a priority of the parking space according to the user definition, and may determine the parking space based on the set priority.

For example, the priority of the parking space set by the user is the safest parking space, the shortest route parking space, the shortest time route parking space, the shortest distance parking space from the destination or the entrance of the building, or the shortest distance parking space from the elevator, but is not limited thereto.

When the parking space is identified and determined, the controller 140 generates a driving route to the parking space (1103). In particular, the travel route may be, but is not limited to, the safest route, the shortest route, or the shortest time route, according to user definition.

When the travel route is generated, the controller 140 controls at least one of the driving device, the steering device, and the braking device such that the vehicle 1 travels to the determined parking space along the travel route (1104).

Here, the drive system 22 includes a driving device, and the driving device may include the engine 10 or the transmission 20, but is not limited thereto.

In addition, the brake system 32 may include a brake device, and as described above, may include the EBCM 31 (see fig. 1) and the brake device 30 (see fig. 1), but is not limited thereto.

In addition, the steering system 42 may include an electronic steering device 41 (see fig. 1) and a steering device 40 (see fig. 1), but is not limited thereto.

In addition, when the vehicle 1 is traveling, the controller 140 detects a front object located in front of the vehicle 1 and a side object located on a side of the vehicle 1 in response to processing the image data, the front detection data, or the side detection data acquired by the sensor 200, and generates a signal to at least one of the driving device, the braking device, and the steering device 40 to safely travel along the travel route based on the detected result.

When the vehicle 1 travels on the generated travel route, the controller 140 determines whether the vehicle 1 has reached the parking space (1105).

Specifically, when it is determined that the vehicle 1 has reached the parking space, the controller 140 generates a signal to at least one of the driving device, the braking device, and the steering device 40 to perform autonomous parking (1106).

However, when it is determined that the vehicle 1 has not reached the parking space, the controller 140 generates a signal to at least one of the driving device, the braking device, and the steering device 40 so that the vehicle 1 continues to travel along the generated travel route.

Fig. 7 is a flowchart illustrating a process in which the controller 140 controls the vehicle such that the vehicle performs double parking according to the embodiment.

The controller 140 searches for a parking space existing in the building 3 based on the received map information (1201).

When searching for a parking space, the controller 140 determines whether a parking space exists in the building (1202).

Specifically, when it is determined that there is no parking space in the building, the controller 140 transmits a signal indicating whether the user allows double parking (1203) to the user terminal. However, when it is determined that a parking space exists in the building 3, the controller 140 determines the parking space without transmitting a signal indicating whether the user allows double parking to the user terminal.

When the user inputs a signal for agreeing to double parking to the user terminal 2, the controller 140 controls the vehicle 1 to perform double parking of the vehicle 1 (1204).

Specifically, when the user inputs a signal agreeing to double parking in the user terminal 2, the user terminal 2 transmits the signal input by the user to the controller 140, and the controller 140 generates a signal to at least one of the driving device, the braking device, or the steering device 40 so that the vehicle 1 performs double parking.

When the double parking is completed, the controller 140 controls the gear position of the vehicle 1 so as to set the gear position of the vehicle 1 to neutral (N) (1205).

In addition, when the double parking is completed, the controller 140 transmits a parking result related to the double parking to the user terminal 2.

Fig. 8A illustrates displaying building information on a user terminal according to an embodiment.

Specifically, the controller 140 may receive building information from the building 3 or a server provided in the building 3 and transmit the received information to the user terminal 2.

In addition, the user terminal 2 may display the received information.

Referring to fig. 8A, the building information may include the number of floors of the building, information about underground parking lots, information about ground parking lots, curvature of parking lots (curvature of parking lot), or parking fee, but is not limited thereto.

Fig. 8B is a diagram illustrating whether double parking is agreed or not on the user terminal 2 according to the embodiment.

As described above, when it is determined that there is no parking space, the controller 140 may transmit a signal to the user terminal 2 so that the user terminal 2 displays whether or not double parking is agreed. When the user inputs a signal agreeing to double parking in the user terminal 2, the user terminal 2 transmits the user's input signal to the controller 140 and controls the driving system 22, the braking system 32, or the steering system 42 such that the vehicle 1 performs double parking.

Fig. 8C illustrates displaying the parking result on the user terminal according to the embodiment.

Referring to fig. 8C, the displayed parking result may include a parking position of the vehicle 1, a parking time, a parking fee, or whether double parking is performed, but is not limited thereto.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes various recording media storing instructions that can be decoded by a computer, such as Read Only Memory (ROM), Random Access Memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, and the like.

Although exemplary embodiments of the present disclosure have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the disclosure. Accordingly, the exemplary embodiments of the disclosure are described without limitation.