Method for controlling steering wheel and system therefor

• US 9,650,072 B2
• Filed: 04/18/2014
• Issued: 05/16/2017
• 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
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US14/256,439
• Publication Number:
  US 20150073660A1
• Time in Patent Office: 1,124 Days
• 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 therefore; 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, from a first image composed from images input from a plurality of cameras equipped in a vehicle, a parking line and at least two intersecting points intersecting the parking line;

detecting, based on the first image and a second image obtained after the first image, a rotating amount of the vehicle and a moving amount of the vehicle;

compensating, based on the detected rotating amount and the detected moving amount, for a rotating angle error of the vehicle and a moving error of the vehicle, wherein the rotating angle error and the moving error are due to information obtained from at least one of an odometer or a wheel sensor;

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

controlling the steering wheel based on the constructed obstacle map,

wherein, in the detecting of the rotating amount and the moving amount, the parking line from the first image and a parking line from the second image are detected and a rotating amount of the vehicle is detected from an angle difference between the parking line from the first image and the parking line from the second image.

2. The method of claim 1, further comprising:

correcting for the rotating angle error of the vehicle by comparing the detected rotating amount with a rotating amount estimated based on the information obtained from at least one of the odometer or the wheel sensor.

3. 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 the at least two intersecting points intersecting the parking line detected from the first image and another at least two intersecting points intersecting the parking line detected from the second image and then moving amounts of the at least two intersecting points and the other intersecting points are detected.

4. The method of claim 3, wherein each intersecting point intersects the parking line in an L-letter shape or a T-letter shape, and has a brightness pattern characteristic corresponding to the L-letter shape or the T-letter shape.

5. The method of claim 3, further comprising:

correcting for the moving error of the vehicle by comparing the detected moving amount with a moving amount estimated based on the information obtained from at least one of the odometer or the wheel sensor.

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

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

an obstacle map constructing system configured to;

detect, from a first image obtained by composing images input from the plurality of cameras, a parking line and at least two intersecting points intersecting the parking line,

detect, from the first image and a second image obtained after the first image, a rotating amount of the vehicle and a moving amount of the vehicle,

compensate, based on the detected rotating amount and the detected moving amount, for a rotating angle error of the vehicle and a moving error of the vehicle, wherein the rotating angle error and the moving error are due to information obtained from at least one of an odometer or a wheel sensor, and

reflect the compensated rotating angle error and the compensated moving error; and

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

wherein the obstacle man constructing system is configured to detect the parking line from the first image and a parking line from the second image and detect a rotating amount of the vehicle from an angle difference between the parking line from the first image and the parking line from the second image.

7. The apparatus of claim 6, wherein the obstacle map constructing system is configured to correct for the rotating angle error of the vehicle by comparing the detected rotating amount with a rotating amount estimated based on the information obtained from at least one of the odometer or the wheel sensor.

8. The apparatus of claim 6, wherein the obstacle map constructing system is configured to remove a rotating component by rotating and transforming any one of the at least two intersecting points intersecting the parking line detected from the first image and another at least two intersecting points intersecting the parking line detected from the second image and detect moving amounts of the first intersecting points and the second intersecting points.

9. The apparatus of claim 8, wherein each intersecting point intersects the parking line in an L-letter shape or a T-letter shape, and has a brightness pattern characteristic corresponding to the L-letter shape or the T-letter shape.

10. The apparatus of claim 8, wherein the moving error of the vehicle is corrected by comparing the detected moving amount with a moving amount estimated based on the information obtained from at least one of the odometer or the wheel sensor.

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

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

detecting, based on the first image and a second image obtained after the first image, a rotating amount of the vehicle and a moving amount of the vehicle;

compensating, based on the detected rotating amount and the detected moving amount, for a rotating angle error of the vehicle and a moving error of the vehicle, wherein the rotating angle error and the moving error are due to information obtained from at least one of an odometer or a wheel sensor; and

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

wherein, in the detecting of the rotating amount and the moving amount, the parking line from the first image and a parking line from the second image are detected and a rotating amount of the vehicle is detected from an angle difference between the parking line from the first image and the parking line from the second image.

12. The method of claim 11, wherein in the detecting of the rotating amount and the moving amount, a rotating component is removed by rotating and transforming any one of the at least two intersecting points intersecting the parking lines detected from the first image and another at least two intersecting points intersecting the parking lines detected from the second image and then moving amounts of the at least two intersecting points and the other intersecting points are detected.