Apparatus for controlling automatic parking of vehicle, system having the same, and method thereof

• US 10,493,980 B2
• Filed: 04/24/2017
• Issued: 12/03/2019
• Est. Priority Date: 12/14/2016
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Seo, Gil Won, Jung, Chan Hee, Yang, Joo Woong
• Primary Examiner(s): Lonsberry, Hunter B
• Assistant Examiner(s): Martinez Borrero, Luis A
• Application Number:
  US15/495,617
• Publication Number:
  US 20180162385A1
• Time in Patent Office: 953 Days
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2422/00 Indexing codes relating to the special location or mounting of sensors
• CPC Class Codes: B60W 2520/06 Direction of travel
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/406 Traffic density
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

An apparatus for controlling automatic parking of a vehicle, a system having the same, and a method thereof are provided, wherein the system for controlling the automatic parking of the vehicle may include a sensor device which scans for a parking space and acquires detected road width information, when entrance to a parking mode is made, and a vehicle automatic parking control device which receives road width information and congestion information relating to the parking space from a navigation device and determines a vehicle speed of a subject vehicle for parking assist by using the road width information, the congestion information, and the detected road width information.

Claims

1. A system for controlling automatic parking of a vehicle, the system comprising:

a navigation device configured to store road width information and congestion information relating to a parking space, wherein the congestion information includes a congestion degree;

a sensor device configured to scan for the parking space and to acquire detected road width information, when entrance to a parking mode is made; and

a vehicle automatic parking control device coupled to the navigation device and the sensor device and configured to receive the road width information and the congestion information relating to the parking space from the navigation device and to determine a vehicle speed of a subject vehicle for parking assist by using the road width information and the congestion information received from the navigation device, and the detected road width information received from the sensor device,

wherein the vehicle automatic parking control device is configured for;

activating a first group including a minimum number of sensors selected among the plurality of sensors of the sensor device, when the road width information and the detected road width information are equal to or greater than a reference value, and when the congestion degree is lower than a predetermined value;

activating a second group including sensors, which are larger than the sensors of the first group in number and are selected among the sensors for the parking assist, when at least one of the road width information and the detected road width information is lower than the reference value, and when the congestion degree is lower than the predetermined value;

activating a third group including an entire portion of the sensors for the parking assist, when the congestion degree is higher than the predetermined value; and

determining the vehicle speed using driving distance per sample and detecting sampling time by the activated group.

2. The system of claim 1, wherein the sensor device includes:

at least a plurality of ultrasonic sensors, a plurality of cameras, or a plurality of scanners.

3. The system of claim 1, wherein the sensor device includes:

a plurality of sensors disposed at a front portion, a rear portion, and opposite side portions of the vehicle.

4. The system of claim 3, wherein the vehicle automatic parking control device includes:

an information collection device configured to collect the detected road width information, the road width information, and the congestion information; and

a parking space determination device configured to determine, by using the detected road width information and the road width information, whether a turning radius for the parking is sufficient and to determine congestion degree relating to the parking space by using the congestion information; and

a vehicle speed determination device configured to determine a vehicle speed for the parking based on the turning radius for the parking and the congestion degree relating to the parking space.

5. The system of claim 4, further comprising:

a parking assist device configured to perform the parking assist based on the vehicle speed determined by the vehicle speed determination device.

6. The system of claim 4, wherein the vehicle speed determination unit determines a first vehicle speed by activating the first group including a minimum number of sensors selected among the plurality of sensors, when the road width information and the detected road width information are equal to or greater than a reference value, and when the congestion degree is lower than the predetermined value.

7. The system of claim 6, wherein the vehicle speed determination device determines the vehicle speed as the first vehicle speed which is a maximum vehicle speed.

8. The system of claim 6, wherein the vehicle speed determination device determines a second vehicle speed by activating the second group including sensors, which are larger than the sensors of the first group in number and are selected among the sensors for the parking assist, when at least one of the road width information and the detected road width information is lower than the reference value, and when the congestion degree is lower than the predetermined value.

9. The system of claim 8, wherein the vehicle speed determination device determines a third vehicle speed by activating the third group including an entire portion of the sensors for the parking assist, when the congestion degree is higher than the predetermined value.

10. The system of claim 9, wherein the second vehicle speed is lower than the first vehicle speed, and the third vehicle speed is lower than the second vehicle speed.

11. An apparatus for controlling automatic parking of a vehicle, the apparatus comprising:

an information collection device coupled to a sensor device and a navigation device and configured to collect detected road width information relating to a parking space from the sensor device and to collect road width information and congestion information relating to the parking space from the navigation device;

a parking space determination device configured to determine, by using the detected road width information and the road width information received from the information collection device, whether a turning radius for the parking is sufficient and to determine a congestion degree relating to the parking space by using the congestion information received from the information collection device;

a vehicle speed determination device configured to determine a vehicle speed for the parking based on the turning radius for the parking and the congestion degree relating to the parking space wherein the congestion degree is received from the parking space determination device; and

a parking assist device configured to perform parking assist based on the vehicle speed determined by the vehicle speed determination device,

wherein the vehicle speed determination unit is configured for;

activating a first group including a minimum number of sensors selected among the plurality of sensors of the sensor device, when the road width information and the detected road width information are equal to or greater than a reference value, and when the congestion degree is lower than a predetermined value;

activating a second group including sensors, which are larger than the sensors of the first group in number and are selected among the sensors for the parking assist, when at least one of the road width information and the detected road width information is lower than the reference value, and when the congestion degree is lower than the predetermined value;

activating a third group including an entire portion of the sensors for the parking assist, when the congestion degree is higher than the predetermined value; and

determining the vehicle speed using driving distance per sample and detecting sampling time by the activated group.

12. A method of controlling automatic parking, the method comprising:

scanning for a parking space and acquiring detected road width information, when entrance to a parking mode is made;

acquiring road width information and congestion information relating to the parking space from a navigation device; and

determining, by a controller, a vehicle speed of a subject vehicle for parking assist by using the road width information and the congestion information, and the detected road width information,

wherein the step of determining a vehicle speed of a subject vehicle includes;

activating a first group including a minimum number of sensors selected among the plurality of sensors of a sensor device, when the road width information and the detected road width information are equal to or greater than a reference value, and when the congestion degree is lower than the predetermined value;

activating a second group including sensors, which are larger than the sensors of the first group in number and are selected among the sensors for the parking assist, when at least one of the road width information and the detected road width information is lower than the reference value, and when the congestion degree is lower than the predetermined value;

activating a third group including an entire portion of the sensors for the parking assist, when the congestion degree is higher than the predetermined value; and

determining the vehicle speed using driving distance per sample and detecting sampling time by the activated group.

13. The method of claim 12, wherein the determining of the vehicle speed of the subject vehicle includes:

determining whether a turning space for the parking is ensured by using the road width information, and the detected road width information; and

determining the congestion degree relating to the parking space using the congestion information.

14. The method of claim 13, wherein the determining of the vehicle speed of the subject vehicle includes:

determining a first vehicle speed by activating the first group including a minimum number of sensors selected among a plurality of sensors for the parking assist, when the road width information and the detected road width information are equal to or greater than a reference value, and when the congestion degree is lower than the predetermined value.

15. The method of claim 14, wherein the determining of the vehicle speed of the subject vehicle further includes:

determining the vehicle speed as the first vehicle speed which is a maximum vehicle speed.

16. The method of claim 14, wherein the determining of the vehicle speed of the subject vehicle further includes:

determining a second vehicle speed by activating the second group including sensors, which are larger than the sensors of the first group in number and are selected among the sensors for the parking assist, when at least one of the road width information and the detected road width information is lower than the reference value, and when the congestion degree is lower than the predetermined value.

17. The method of claim 16, wherein the determining of the vehicle speed of the subject vehicle further includes:

determining a third vehicle speed by activating the third group including an entire portion of the sensors for the parking assist, when the congestion degree is higher than the predetermined value.

18. The method of claim 17, wherein the second vehicle speed is lower than the first vehicle speed, and the third vehicle speed is lower than the second vehicle speed.

19. The method of claim 12, further comprising:

assisting the parking based on the determined vehicle speed.

20. The method of claim 12, wherein the acquiring of the road width information and the congestion information relating to the parking space includes:

receiving the road width information and the congestion information from the navigation device.