METHOD FOR CONTROLLING STEERING WHEEL AND SYSTEM THEREFOR

• US 20150073660A1
• Filed: 04/18/2014
• Published: 03/12/2015
• Est. Priority Date: 09/06/2013
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Lee, Seong Soo
• Granted Patent: US 9,650,072 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G06V 20/586 of parking space

Abstract

Provided are a method for controlling a steering wheel and an apparatus therefor: for example, a method using an AVM composite image and a distance sensing sensor based parking support system. For example, a method for controlling a steering wheel, includes: detecting a parking line and at least two intersecting points intersecting the parking line from a first image obtained by composing images input from a plurality of cameras equipped in a vehicle; detecting a rotating amount and a moving amount of the vehicle from the first image and a second image continued to the first image; compensating for a rotating angle error and a moving error of the vehicle from the detected rotating amount and moving amount; constructing an obstacle map by reflecting the compensated rotating angle error and moving error; and controlling the steering wheel based on the constructed obstacle map.

Claims

1. A method for controlling a steering wheel, comprising:

detecting a parking line and at least two intersecting points intersecting the parking line from a first image obtained by composing images input from a plurality of cameras equipped in a vehicle;

detecting a rotating amount and a moving amount of the vehicle from the first image and a second image continued to the first image;

compensating for a rotating angle error and a moving error of the vehicle from the detected rotating amount and moving amount;

constructing an obstacle map by reflecting the compensated rotating angle error and moving error; and

controlling the steering wheel based on the constructed obstacle map.

2. The method of claim 1, wherein in the detecting of the rotating amount and the moving amount, the parking lines from the first image and the second image are detected and a rotating amount of the vehicle is detected from an angle difference between the parking lines.

3. The method of claim 2, further comprising:

correcting an angle error of the vehicle by comparing the detected rotating amount with the rotating amount estimated by the differential odometry.

4. The method of claim 1, wherein in the detecting of the rotating amount and the moving amount, a rotating component is removed by rotating and transforming any one of at least two first intersecting points intersecting the parking lines detected from the first image and at least two second intersecting points intersecting the parking lines detected from the second image and then the moving amounts of the first intersecting points and the second intersecting points are detected.

5. The method of claim 4, wherein the intersecting point intersects the parking line having an L-letter shape or a T-letter shape and has brightness pattern characteristics having the L-letter shape or the T-letter shape.

6. The method of claim 4, further comprising:

correcting a moving error of the vehicle by comparing the detected moving amount with the moving amount estimated by the differential odometry.

7. An apparatus for controlling a steering wheel, comprising:

an around view monitor (AVM) system configured to include a plurality of cameras equipped in a vehicle and compose and display images input from the cameras;

an obstacle map constructing system configured to detect a parking line and at least two intersecting points intersecting the parking line from a first image obtained by composing images input from the plurality of cameras, detect a rotating amount and a moving amount of the vehicle from the first image and a second image continued to the first image, compensate for a rotating angle error and a moving error of the vehicle from the detected rotating amount and moving amount, and reflect the compensated rotating angle error and moving error; and

a steering wheel system configured to control the steering wheel based on the constructed obstacle map.

8. The apparatus of claim 7, wherein the obstacle map constructing system detects the parking lines from the first image and the second image and detects a rotating amount of the vehicle from an angle difference between the parking lines.

9. The apparatus of claim 8, wherein the obstacle map constructing system corrects an angle error of the vehicle by comparing the detected rotating amount with the rotating amount estimated by the differential odometry.

10. The apparatus of claim 7, wherein the obstacle map constructing system removes a rotating component by rotating and transforming any one of at least two first intersecting points intersecting the parking lines detected from the first image and at least two second intersecting points intersecting the parking lines detected from the second image and then detects the moving amounts of the first intersecting points and the second intersecting points.

11. The apparatus of claim 10, wherein the intersecting point intersects the parking line in an L-letter shape or a T-letter shape and has brightness pattern characteristics having the L-letter shape or the T-letter shape.

12. The apparatus of claim 10, wherein the moving error of the vehicle is corrected by comparing the detected moving amount with the moving amount estimated by the differential odometry.

13. A method for constructing an obstacle map for supporting a parking, comprising:

detecting a parking line and at least two intersecting points intersecting the parking line from a first image obtained by composing images input from a plurality of cameras equipped in a vehicle;

detecting a rotating amount and a moving amount of the vehicle from the first image and a second image continued to the first image;

compensating for a rotating angle error and a moving error of the vehicle from the detected rotating amount and moving amount; and

constructing the obstacle map by reflecting the compensated rotating angle error and moving error.

14. The method of claim 13, wherein in the detecting of the rotating amount and the moving amount, the parking lines from the first image and the second image are detected and a rotating amount of the vehicle is detected from an angle difference between the parking lines.

15. The method of claim 13, wherein in the detecting of the rotating amount and the moving amount, a rotating component is removed by rotating and transforming any one of at least two first intersecting points intersecting the parking lines detected from the first image and at least two second intersecting points intersecting the parking lines detected from the second image and then the moving amounts of the first intersecting points and the second intersecting points are detected.