SMART PARKING ASSIST APPARATUS AND METHOD

• US 20160110619A1
• Filed: 07/26/2015
• Published: 04/21/2016
• Est. Priority Date: 10/17/2014
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Park, Jin Ho, Kim, Young Bin, Yang, Joo Woong
• Granted Patent: US 9,754,173 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 1/28 with an adjustable field of view
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2011/004 outside the vehicle
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/143 inside the vehicles

Abstract

A smart parking assist apparatus and method are provided. The smart parking assist apparatus operates a smart parking assist function after a vehicle stops and searches a parking slot using a plurality of imaging devices. In addition, the searched parking slot is set to a target parking slot and parking slot information regarding the target parking slot is output. The apparatus recognizes a parking line of the target parking slot and an object adjacent to the target parking slot and sets a parking reference line based on the recognized information, after the parking slot information is output. The vehicle is then operated to be parked in the target parking slot based on the parking reference line.

Claims

1. A smart parking assist method, comprising:

operating, by a controller, a smart parking assist function after a vehicle stops;

searching, by the controller, a parking slot using imaging devices when the smart parking assist function is operated;

setting, by the controller, the searched parking slot to a target parking slot and outputting parking slot information regarding the target parking slot;

detecting, by the controller, a parking line of the target parking slot and an object adjacent to the target parking slot and setting a parking reference line based on the recognized information, after the parking slot information is output; and

executing, by the controller, parking of the vehicle based on the parking reference line.

2. The smart parking assist method according to claim 1, wherein in the searching of the parking slot, parking slot information based on a position, a type, and a direction of the searched parking slot is generated.

3. The smart parking assist method according to claim 2, wherein the parking slot information includes at least one selected from the group consisting of:

a parking slot position, a parking mode, and a parking direction.

4. The smart parking assist method according to claim 1, wherein the setting of the parking reference line includes:

detecting, by the controller, parking line recognition points and object recognition points by detecting a parking line of the target parking slot and an object adjacent to the target parking slot using the imaging devices and ultrasonic sensors when a parking start command is received;

detecting, by the controller, parking reference points among the parking line recognition points and the object recognition points; and

calculating, by the controller, the parking reference line using the parking reference points.

5. The smart parking assist method according to claim 4, wherein in the detecting of the parking line recognition points and the object recognition points, the parking line of the target parking slot is extracted from image information obtained using the imaging devices, and both end points of a width of an entrance of the target parking slot are selected as the parking line recognition points using the extracted parking line.

6. The smart parking assist method according to claim 4, wherein in the detecting of the parking line recognition points and the object recognition points, the object positioned in a parking slot adjacent to the target parking slot is recognized using the ultrasonic sensors, and both end points of a width of the recognized object are selected as the object recognition points.

7. The smart parking assist method according to claim 4, wherein in the detecting of the parking reference points, a notification is output, by the controller, indicating that parking is impossible when the parking line recognition points and the object recognition points are not detected or one parking line recognition point is detected.

8. The smart parking assist method according to claim 4, wherein in the detecting of the parking reference points, the possibility that the target parking slot is not a parking slot is output as a notification, and recognition points in an opposite direction that are not recognized are estimated, when one object recognition point is detected or parking line recognition point and one object recognition point in the same direction are detected.

9. The smart parking assist method according to claim 4, wherein in the detecting of the parking reference points, two object recognition points are detected as the parking reference points when the two object recognition points are detected.

10. The smart parking assist method according to claim 4, wherein in the detecting of the parking reference points, two parking line recognition points are detected as the parking reference points when the two parking line recognition points are detected.

11. The smart parking assist method according to claim 4, wherein in the detecting of the parking reference points, X coordinates of recognition points positioned within the target parking slot among the parking line recognition points and the object recognition points are determined to be X coordinates of the parking reference points, and Y coordinates of recognition points positioned closest to the vehicle are determined to be Y coordinates of the parking reference points.

12. The smart parking assist method according to claim 4, wherein in the calculating of the parking reference line, a straight line perpendicular to a straight line passing through a middle point of first and second parking reference points, which are the parking reference points, and connecting the first and second parking reference points to each other is calculated.

13. A smart parking assist apparatus, comprising:

a user input configured to receiving an input for a start and a release of a smart parking assist;

a plurality of imaging devices configured to obtain image information around a vehicle;

a plurality of ultrasonic sensors configured to obtain position information regarding an object within a parking slot; and

a controller configured to execute a smart parking assist function, recognize a parking line and an object using the imaging devices and the ultrasonic sensors to set a parking reference line, and execute parking based on the parking reference line, when a manipulation of the user input is sensed after the vehicle stops.

14. The smart parking assist apparatus according to claim 13, wherein the imaging devices are four-channel cameras installed at a front, a rear, a left side, and a right side, respectively, and are configured to synthesize images photographed by the four-channel cameras to output a top view image.

15. The smart parking assist apparatus according to claim 13, wherein the ultrasonic sensors are twelve-channel ultrasonic sensors configured of twelve ultrasonic sensors.

16. The smart parking assist apparatus according to claim 13, further comprising:

a display configured to display a result based on an operation of the smart parking assist apparatus.

17. The smart parking assist apparatus according to claim 13, wherein the controller is configured to detect parking reference points based on the number and positions of parking line recognizing points and object recognition points each recognized from the parking line and the object and calculate the parking reference line using the detected parking reference points.

18. The smart parking assist apparatus according to claim 17, wherein the controller is configured to calculate a straight line perpendicular to a straight line passing through a middle point of first and second parking reference points configuring the parking reference points and connecting the first and second parking reference points to each other as the parking reference line.

19. A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:

program instructions that operate a smart parking assist function after a vehicle stops;

program instructions that search a parking slot using imaging devices when the smart parking assist function is operated;

program instructions that set the searched parking slot to a target parking slot and outputting parking slot information regarding the target parking slot;

program instructions that detect a parking line of the target parking slot and an object adjacent to the target parking slot and setting a parking reference line based on the recognized information, after the parking slot information is output; and

program instructions that execute parking of the vehicle based on the parking reference line.

20. The non-transitory computer readable medium of claim 19, wherein the setting of the parking reference line includes:

program instructions that detect parking line recognition points and object recognition points by detecting a parking line of the target parking slot and an object adjacent to the target parking slot using the imaging devices and ultrasonic sensors when a parking start command is received;

program instructions that detect parking reference points among the parking line recognition points and the object recognition points; and

program instructions that calculate the parking reference line using the parking reference points.