Parking assistance apparatus and vehicle having the same

• US 10,131,347 B2
• Filed: 02/08/2017
• Issued: 11/20/2018
• Est. Priority Date: 10/04/2016
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Kim, Ilho, Yoo, Wooseok
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US15/427,376
• Publication Number:
  US 20180093662A1
• Time in Patent Office: 650 Days
• CPC Class Codes: B60K 2360/1438 Touch screens
• CPC Class Codes: B60K 2360/171 Vehicle or relevant part thereof displayed
• CPC Class Codes: B60K 2360/176 Camera images
• CPC Class Codes: B60K 2360/179 Distances to obstacles or vehicles
• CPC Class Codes: B60K 2360/21 using cameras
• CPC Class Codes: B60K 2360/27 using semi-transparent optical elements
• CPC Class Codes: B60K 2360/31 Virtual images
• CPC Class Codes: B60K 2360/334 Projection means
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/22 Display screens
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 1/31 providing stereoscopic vision
• CPC Class Codes: B60R 2300/107 using stereoscopic cameras
• CPC Class Codes: B60R 2300/205 using a head-up display
• CPC Class Codes: B60R 2300/207 using multi-purpose displays, e.g. camera image and navigation or video on same display
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/184 : with wheel brakes
• CPC Class Codes: B60W 10/20 : including control of steering systems
• CPC Class Codes: B60W 2050/146 : Display means
• CPC Class Codes: B60W 2420/403 : Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2530/16 : Driving resistance
• CPC Class Codes: B60W 2552/15 : Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2720/24 : Direction of travel
• CPC Class Codes: B60W 30/06 : Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/18063 : Creeping
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0285 : Parking performed automatically
• CPC Class Codes: G05D 1/0219 : ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0231 : using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G06V 20/56 : exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/168 : Driving aids for parking, e.g. acoustic or visual feedback on parking space
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

A parking assistance apparatus for a vehicle, and including a camera configured to photograph surroundings of the vehicle; an interface configured to receive sensor information from the vehicle; a display configured to display a graphic image about an automatic parking function of the vehicle; and a processor configured to initiate the automatic parking function by controlling the vehicle to travel to a target parking position, detect a traveling resistance of the vehicle from the sensor information while the vehicle is traveling to the target parking position, determine a factor causing the traveling resistance, continue controlling the vehicle to travel to the target parking position when the detected traveling resistance is less than a predetermined resistance, and change the controlling of the vehicle to travel to the target parking position to offset the factor causing the traveling resistance, when the detected traveling resistance is equal to or greater than the predetermined resistance.

Claims

1. A parking assistance apparatus for a vehicle, comprising:

a camera configured to photograph surroundings of the vehicle;

an interface configured to receive sensor information from the vehicle;

a display configured to display a graphic image about an automatic parking function of the vehicle; and

a processor configured to;

initiate the automatic parking function by controlling the vehicle to travel to a target parking position,

detect a traveling resistance of the vehicle from the sensor information while the vehicle is traveling to the target parking position,

determine a factor causing the traveling resistance,

continue controlling the vehicle to travel to the target parking position when the detected traveling resistance is less than a predetermined resistance, and

change the controlling of the vehicle to travel to the target parking position to offset the factor causing the traveling resistance, when the detected traveling resistance is equal to or greater than the predetermined resistance.

2. The parking assistance apparatus of claim 1, wherein the processor is configured to:

calculate a value of the traveling resistance based on a movement distance of the vehicle per an output of the vehicle, and

when the value of the traveling resistance is equal to or greater than a predetermined value, determine that the traveling resistance occurs.

3. The parking assistance apparatus of claim 1, wherein the processor is configured to:

control the vehicle to stop, when the traveling resistance is detected, and

display the graphic image on the display inquiring of a user how to cope with the traveling resistance.

4. The parking assistance apparatus of claim 3, wherein the display is configured to display an image of the vehicle surroundings obtained by photographing the factor causing the traveling resistance before the traveling resistance occurs.

5. The parking assistance apparatus of claim 3, wherein the processor is configured to redesign a parking path avoiding the factor causing the traveling resistance, in response to a user input indicating the factor causing the traveling resistance should be avoided.

6. The parking assistance apparatus of claim 3, wherein the processor is configured to scan characteristics of the factor causing the traveling resistance, in response to a user input requesting the vehicle travel over the factor causing the traveling resistance.

7. The parking assistance apparatus of claim 6, wherein the processor is configured to:

calculate a correction output value for allowing the vehicle to pass over the factor causing the traveling resistance based on the characteristics of the factor of the traveling resistance, and

control a power unit of the vehicle according to the correction output value such that the vehicle passes over the factor causing the traveling resistance.

8. The parking assistance apparatus of claim 7, wherein the processor is configured to control the vehicle to travel in a creeping mode in which a basic torque is consistently provided to the vehicle.

9. The parking assistance apparatus of claim 8, wherein the processor is configured to control the vehicle to pass over the factor of the traveling resistance, by changing the basic torque of the creeping mode and outputting the correction output value in the creeping mode.

10. The parking assistance apparatus of claim 9, wherein, when the traveling resistance is detected from a front wheel of the vehicle, and after the front wheel has passed over the factor causing the traveling resistance, the processor is configured to change a torque of the vehicle back to the basic torque.

11. The parking assistance apparatus of claim 10, wherein the processor is configured to:

change the basic torque of the creeping mode before a back wheel of the vehicle passes over the factor causing the traveling resistance, and

output the correction output value in the creeping mode such that the vehicle passes over the factor causing the traveling resistance.

12. The parking assistance apparatus of claim 7, wherein the processor is configured to control the power unit of the vehicle such that the correction output value is output by controlling an output of the vehicle through an accelerator pedal of the vehicle.

13. The parking assistance apparatus of claim 1, wherein the processor is configured to control an output of the vehicle such that the vehicle travels at a speed within a preset speed range when the traveling resistance is detected while the vehicle travels on a slope.

14. The parking assistance apparatus of claim 13, wherein the processor is configured to acquire a gradient of the slope and calculate a correction output value based on the gradient, the correction output value being used to control the vehicle to travel on the slope at the speed within the preset speed range.

15. The parking assistance apparatus of claim 14, wherein the processor is configured to:

control the vehicle to travel in a creeping mode in which a basic torque is consistently provided to the vehicle, and

control the vehicle to pass over the factor causing the traveling resistance, by changing the basic torque of the creeping mode and outputting the correction output value in the creeping mode.

16. The parking assistance apparatus of claim 15, wherein the processor is configured to:

change the basic torque of the vehicle according to the gradient at a current position of the vehicle, and

re-correct the changed torque of the vehicle as the gradient varies due to traveling of the vehicle.

17. The parking assistance apparatus of claim 15, wherein the processor is configured to:

design a parking path for allowing the vehicle to travel to the target parking position,

acquire a gradient of the parking path, and

determine an output torque of the vehicle with respect to each section constituting the parking path.

18. The parking assistance apparatus of claim 13, wherein the processor is configured to control the speed of the vehicle within the preset speed range when the vehicle travels up or down the slope.

19. The parking assistance apparatus of claim 13, wherein the display is configured to display a parking path of the vehicle, a gradient of each section constituting the parking path, and the speed of the vehicle.

20. A vehicle comprising:

one or more wheels;

a power source configured to drive the one or more wheels; and

a parking assistance apparatus comprising;

a camera configured to photograph surroundings of the vehicle;

an interface configured to receive sensor information from the vehicle;

a display configured to display a graphic image about an automatic parking function of the vehicle; and

a processor configured to;

initiate the automatic parking function by controlling the vehicle to travel to a target parking position,

detect a traveling resistance of the vehicle from the sensor information while the vehicle is traveling to the target parking position,

determine a factor causing the traveling resistance,

continue controlling the vehicle to travel to the target parking position when the detected traveling resistance is less than a predetermined resistance, and

change the controlling of the vehicle to travel to the target parking position to offset the factor causing the traveling resistance, when the detected traveling resistance is equal to or greater than the predetermined resistance.