Method for detecting parking area by using range sensor

• US 7,936,283 B2
• Filed: 04/24/2008
• Issued: 05/03/2011
• Est. Priority Date: 04/27/2007
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Mando Corporation (Halla Holdings Corporation)
• Inventors: Kim, Dong-suk
• Primary Examiner(s): Bugg; George A.
• Assistant Examiner(s): Yacob; Sisay
• Application Number:
  US12/150,214
• Publication Number:
  US 20080266139A1
• Time in Patent Office: 1,104 Days
• Field of Search: 340/932.2, 340/903, 340435-437, 340/425.5, 701/1, 701/23, 701/36, 701/41, 701/65, 701/96, 701300-302, 342/70, 342/76, 342/85, 342/90, 342/95, 342/105, 342/107, 342/109, 180167-169, 180/199, 180/204, 318/580, 318/587, 348/61, 348/113, 348/118, 348/148
• US Class Current: 340/932.2
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means

Abstract

A parking space is detected by using a range sensor. Distance data in a predetermined period is collected by using the range sensor according to a user'"'"'s selection and mapping the collected distance data on a coordinates system based on a parking space searching vehicle. The collected distance data are classified into short distance data and long distance data. Parking-available distance data, is calculated. Whether the parking space exists based on the calculated parking-available distance data is checked. The parking space searching vehicle is stopped by controlling an active braking apparatus or recommending a driver to stop the parking space searching vehicle by means of a voice and alarm sounds when it has been checked that the parking space exists.

Claims

1. A method for detecting a parking space by using a range sensor, comprising the steps of:

(a) collecting, by a parking environment recognition control unit, distance data in a predetermined period by using the range sensor according to a user'"'"'s selection and mapping the collected distance data on a coordinates system based on a parking space searching vehicle;

(b) classifying the collected distance data into short distance data and long distance data;

(c) calculating parking-available distance data which is a horizontal movement distance corresponding to an interval where the long distance data is collected from a time point when the long distance data starts to be collected;

(d) checking if the parking space exists based on the calculated parking-available distance data;

(e) stopping the parking space searching vehicle by controlling an active braking apparatus or recommending a driver to stop the parking space searching vehicle by means of a voice and alarm sounds when it has been checked in steps (d) that the parking space exists; and

(f) generating the distance data, which has been mapped based on the parking space searching vehicle in step (a) and has been classified into the short distance data and the long distance data in step (b), as a parking environment map,

wherein, in step (c), when the long distance data is collected, a time period between a time-point where the long distance data starts to be collected and a time point just before the short distance data starts to be collected and movement velocity of the parking space searching vehicle are stored, respectively, and then parking-available distance data is calculated based on the time period and the movement velocity.

2. The method for detecting parking space by using a range sensor as claimed in claim 1, wherein, in step (b), a width of the parking space searching vehicle is set as a critical value, the distance data is classified as long distance data in a case where a difference value between current collected distance data and just previously collected distance data is a positive number and the positive number exceeds the critical value, the distance data is classified as short distance data in a case where a difference value between current collected distance data and the just previously collected distance data is a negative number and an absolute value of the negative number exceeds the critical value, the distance data is classified as the short distance data in a case where a difference value between the current collected distance data and the just previously collected distance data does not exceed the critical value although the difference value is a positive number, and the distance data is classified as the long distance data in a case where the absolute value of a difference value between the current collected distance data and the just previously collected distance data does not exceed the critical value although the difference value is a negative number.

3. The method for detecting parking space by using a range sensor as claimed in claim 1, wherein, in step (d), a value obtained by adding a predetermined length to a length of the parking space searching vehicle is set as a critical value of the parking-available distance data so as to check if the parking space exists.

4. The method for detecting parking space by using a range sensor as claimed in claim 1, wherein, in step (f), average values of an X coordinate and a Y coordinate of each short distance data, which is collected before and after the long distance data is collected, are calculated so that lines connecting between the average values of the X coordinate and the Y coordinate of each short distance data are set as a front parking side boundary line and a rear parking side boundary line, while considering a recognition error and a control margin at each boundary point of the short distance data and the long distance data, lines perpendicular to the front parking side boundary line and the rear parking side boundary line, respectively, are defined as a parking front boundary line and a parking rear boundary line, respectively, and the average values of the X coordinate and the Y coordinate of the long distance data are calculated so that a line connecting between the average values of the X coordinate and the Y coordinate of the long distance data is marked on a parking environment map.

5. The method for detecting parking space by using a range sensor as claimed in claim 1, further comprising the step of displaying the generated parking environment map on a monitor included in the parking space searching vehicle in such a manner that the parking environment map is reflected on an image inputted through a rear camera included in the parking space searching vehicle.

6. A method for detecting a parking space by using a range sensor, comprising the steps of:

(a) collecting, by a parking environment recognition control unit, distance data in a predetermined period by using the range sensor according to a user'"'"'s selection and mapping the collected distance data on a coordinates system based on a parking space searching vehicle;

(b) classifying the collected distance data into short distance data and long distance data;

(c) calculating parking-available distance data which is a horizontal movement distance corresponding to an interval where the long distance data is collected from a time-point when the long distance data starts to be collected;

(d) checking if the parking space exists based on the calculated parking-available distance data;

(e) stopping the parking space searching vehicle by controlling an active braking apparatus or recommending a driver to stop the parking space searching vehicle by means of a voice and alarm sounds when it has been checked in steps (d) that the parking space exists; and

(f) generating the distance data, which has been mapped based on the parking space searching vehicle in step (a) and has been classified into the short distance data and the long distance data in step (b), as a parking environment map,

wherein, in step (b), a width of the parking space searching vehicle is set as a critical value, the distance data is classified as long distance data in a case where a difference value between current collected distance data and just previously collected distance data is a positive number and the positive number exceeds the critical value, the distance data is classified as short distance data in a case where a difference value between current collected distance data and the just previously collected distance data is a negative number and an absolute value of the negative number exceeds the critical value, the distance data is classified as the short distance data in a case where a difference value between the current collected distance data and the just previously collected distance data does not exceed the critical value although the difference value is a positive number, and the distance data is classified as the long distance data in a case where the absolute value of a difference value between the current collected distance data and the just previously collected distance data does not exceed the critical value although the difference value is a negative number.

7. A method for detecting a parking space by using a range sensor, comprising the steps of:

(a) collecting, by a parking environment recognition control unit, distance data in a predetermined period by using the range sensor according to a user'"'"'s selection and mapping the collected distance data on a coordinates system based on a parking space searching vehicle;

(b) classifying the collected distance data into short distance data and long distance data;

(c) calculating parking-available distance data which is a horizontal movement distance corresponding to an interval where the long distance data is collected from a time-point when the long distance data starts to be collected;

(d) checking if the parking space exists based on the calculated parking-available distance data;

(e) stopping the parking space searching vehicle by controlling an active braking apparatus or recommending a driver to stop the parking space searching vehicle by means of a voice and alarm sounds when it has been checked in steps (d) that the parking space exists; and

(f) generating the distance data, which has been mapped based on the parking space searching vehicle in step (a) and has been classified into the short distance data and the long distance data in step (b), as a parking environment map,

wherein, in step (f), average values of an X coordinate and a Y coordinate of each short distance data, which is collected before and after the long distance data is collected, are calculated so that lines connecting between the average values of the X coordinate and the Y coordinate of each short distance data are set as a front parking side boundary line and a rear parking side boundary line, while considering a recognition error and a control margin at each boundary point of the short distance data and the long distance data, lines perpendicular to the front parking side boundary line and the rear parking side boundary line, respectively, are defined as a parking front boundary line and a parking rear boundary line, respectively, and the average values of the X coordinate and the Y coordinate of the long distance data are calculated so that a line connecting between the average values of the X coordinate and the Y coordinate of the long distance data is marked on a parking environment map.