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WO2001025048A1 - Auto parking system - Google Patents

Auto parking system Download PDF

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Publication number
WO2001025048A1
WO2001025048A1 PCT/KR2000/001101 KR0001101W WO0125048A1 WO 2001025048 A1 WO2001025048 A1 WO 2001025048A1 KR 0001101 W KR0001101 W KR 0001101W WO 0125048 A1 WO0125048 A1 WO 0125048A1
Authority
WO
WIPO (PCT)
Prior art keywords
car
parking
steering angle
transmission gear
optimal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2000/001101
Other languages
French (fr)
Inventor
Jeung-Pill Jang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to AU10583/01A priority Critical patent/AU1058301A/en
Publication of WO2001025048A1 publication Critical patent/WO2001025048A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/16—Ratio selector position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
    • F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
    • F16H2061/0227—Shift map selection, i.e. methods for controlling selection between different shift maps, e.g. to initiate switch to a map for up-hill driving
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
    • F16H59/58—Inputs being a function of the status of the machine, e.g. position of doors or safety belts dependent on signals from the steering
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
    • F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals

Definitions

  • This invention relates to an automatic car parking system and a method for controlling it to enable a driver to park a car with ease and convenience.
  • This invention relates to the automatic car parking system and the method for controlling it to enable the car to be parked automatically, particularly the automatic car parking system and the method for controlling it to enable the car to be parked automatically and conveniently by having the system recognize topographical objects and the car's own position in a place where to park the car automatically, and thereby indicate an optimal parking path, an optimal steering angle and an optimal transmission gear selective pattern so that the driver may park the car with ease according thereto, or by having the system change the steering angle and the transmission gear selective pattern automatically, actuate the accelerator and the brake and thereby, move the car to the parking position.
  • a navigation system using GPS provided the driver with the geographical information about an area where he intends to move the car by indicating the current car position on the map data.
  • such navigation system provides the driver with only the geographical information about the area from the current position to the destination on an outlined road map, not indicating any parking position and path on a detailed map including any topographical objects. It is, therefore, not helpful in the driver's parking at all.
  • This invention is, therefore, to provide a solution to the above problem, particularly to provide the automatic car parking system and the method for controlling it to enable the car to be parked automatically and conveniently by having the system recognize topographical objects and the car's own position in a place where to park the car automatically, and thereby, indicate an optimal parking path, an optimal steering angle and an optimal transmission gear selective pattern so that the driver may park the car with ease according thereto, or by having the system move the car to the parking position automatically.
  • the said objective of this invention is to be achieved by having the system comprising a topographical object sensing unit to enable the system to recognize any topographical objects, a steering angle sensing unit to sense a car's steering angle, a transmission gear position sensing unit to sense any selective pattern of an automatic transmission gear, a car movement sensing unit to sense whether the car is in motion, a selective unit to output signals for selecting a parking position, a parking direction and each system mode according to the driver's manipulation, a display unit to indicate external topographical objects, a car position, a parking path and an optimal steering angle, a track indicating unit to indicate an optimal parking path outside the car, a voice information unit to output voice signals corresponding to any collision risk or any turing direction and amount of the steering wheel to be turned, and a control unit to process arithmetic-logically topographical object positions, a car's own position, a steering angle, a transmission gear selective pattern and whether the car is in motion by using the signals inputted by actuating the said topo
  • Another objective of this invention is to be achieved by having the system set up a direction for moving the car to the parking position automatically by installing a steering angle turning unit and a transmission gear position controlling unit and further connecting them with the said control unit so that they will be actuated according to the optimal parking path, the optimal steering angle and the optimal transmission gear selective pattern.
  • Another different objective of this invention is to be achieved by installing an accelerator driving unit and a brake driving unit and further enabling the car to be moved to the parking position automatically through the control operation by the said control unit.
  • another different objective of this invention is to be achieved by having the system go through a step that when the automatic car parking system is actuated, the topographical object sensing unit, the steering angle sensing unit and the transmission gear position sensing unit are actuated and then the respective sensed signals are inputted; a step that topographical object positions, the car position, the steering angle and the transmission gear selective pattern are arithmetic-logically processed by using the signals inputted in the previous step and further displayed; a step that possible parking positions and directions are arithmetic-logically processed by using the said operation values; a step that as a result that it was determined in the previous step whether the possible parking positions as arithmetic-logically processed were available, if not available, the message of "Parking Unavailable" is displayed, and it is sensed whether the car is in motion or not and then, the system returns to the said initial sensing step, or if available, the possible parking positions and directions are displayed together with the topographical object positions as displayed in the above step; a step that the
  • the automatic car parking system when the driver attempts to park the car, the automatic car parking system recognizes any external topographical objects and the car's steering angle automatically and thereby, sets up the optimal parking position and path, and further indicates an external track along which the car is to be moved so that the car may be moved according to the said parking path, or informs the driver of the steering angle and the transmission gear selective pattern so that he may park the car with ease and safeii. Furthermore, in case the manual operating information mode is activated, the automatic car parking system informs the driver of the optimal steering angle, the optimal transmission gear selective pattern and the optimal turning direction and amount of the steering wheel through the corresponding screen display and voice signals so that he may park the car with more ease. Meanwhile, in case the automatic parking mode is activated, the system has the car move to the parking position automatically. Thereby, the said objectives of this invention are to be achieved.
  • Fig. 1 is a block diagram showing the automatic parking system schematically according to this invention
  • Fig. 2 is a block diagram showing a preferred embodiment of the automatic parking system according to this invention
  • Fig. 3 is a block diagram showing another preferred embodiment of the automatic parking system according to this invention
  • Fig. 4 is a block diagram showing another different preferred embodiment of the automatic parking system according to this invention
  • Fig. 5 is a block diagram showing a preferred embodiment of the selective unit of the automatic parking system according to this invention.
  • Fig. 6a is a flow chart indicating the first half section of the controlling operational sequence of the automatic parking system according to this invention.
  • Fig. 6b is a flow chart indicating the second half of the controlling operational sequence of the automatic parking system according to this invention.
  • Fig. 7 is a flow chart indicating the operational sequence of the manual operating information mode of the automatic parking system according to this invention.
  • Fig. 8 is a flow chart indicating the operational sequence of the automatic parking mode of the automatic parking system according to this invention.
  • Fig. 9 is a flowchart indicating the operating sequence of the starting mode of the automatic parking system according to this invention.
  • Control Unit 100' Microcomputer
  • Topographical Object Sensing Unit 200' Topographical Object Sensor
  • 500 Car Movement Sensing Unit 500': Drive- Wheel Sensor
  • Laser Beam Transmitting Device 1000 Steering Angle Turning Unit
  • Fig. 1 is a block diagram showing the automatic parking system schematically according to this invention
  • Fig. 2 is a block diagram showing a preferred embodiment of the automatic parking system according to this invention
  • Fig. 3 is a block diagram showing another preferred embodiment of the automatic parking system according to this invention
  • Fig. 4 is a block diagram showing another different preferred embodiment of the automatic parking system according to this invention.
  • this invention comprises the topographical object sensing unit (200) to sense any external topographical objects and their respective distances; the steering angle sensing unit (300) to sense any car's steering angle; the transmission gear position sensing unit (400) to sense any selective pattern of the automatic transmission gear; the car movement sensing unit (500) to sense whether the car is in motion; the selective unit (600) to output signals for selecting a parking position, a parking direction and each system mode according to the driver's manipulation; the control unit (100) to process arithmetic-logically the topographical object positions, the car position, the steering angle and the transmission gear selective pattern according to the signals inputted from the said topographical object sensing unit (200), the steering angle sensing unit (300), the transmission gear position sensing unit (400), the car movement sensing unit (500) and the selective unit (600), output the signals corresponding to the respective operation values, obtain the possible parking positions and directions, the optimal parking path, the optimal steering angle, the optimal turning direction and amount of the steering wheel and the
  • the control unit for controlling the respective sensing units, the display unit and the voice information unit of the automatic vehicle parking system comprising as above described comprises a microcomputer (100') with a processing capacity corresponding thereto, which arithmetic-logically processes the topographical object positions, the car position, the steering angle and the transmission gear selective pattern, outputs the signals corresponding the respective operation values, obtains the possible parking positions and directions, the optimal parking path, the optimal steering angle, the optimal turning direction and amount of the steering wheel and the optimal transmission gear selective pattern by the said operation values and further outputs the signals corresponding thereto.
  • a microcomputer 100'
  • a processing capacity corresponding thereto which arithmetic-logically processes the topographical object positions, the car position, the steering angle and the transmission gear selective pattern, outputs the signals corresponding the respective operation values, obtains the possible parking positions and directions, the optimal parking path, the optimal steering angle, the optimal turning direction and amount of the steering wheel and the optimal transmission gear selective pattern by the said operation values and further outputs the signals corresponding thereto
  • the said control unit (100) has the system set up the car moving direction and enable the car to be moved according thereto by controlling the steering angle turning unit (1000), the transmission gear position controlling unit (1100), the accelerator driving unit (1200) and the brake driving unit (1300) so that the car may be moved along the optimal parking path.
  • the said topographical object sensing unit is to transmit optical signals and output the inputted signals to the control unit (100) when the transmitted signals, which reflect from the external topographical objects, are received by the said unit, comprising a plural number of topographical object sensors (100') to perform the said function, which are installed in the respective given positions outside the car.
  • the said topographical object sensor (100') may be a sensor of a surface configuration measuring device, which comprises a plural number of modules installed in the external side of the car.
  • Each module consists of a slit beam generator and a CCD (Charge Coupled Device) camera, shooting the slit beam on the topographical objects respectively, and a deformed video image by the slit beam is acquired through the respective CCD cameras.
  • the said sensor uses the slit beam to extract the surface configuration of each topographical object around the car from the geometrical composition in consideration of the slit beam, the installation position of each CCD camera and each topographical object position.
  • the said topographical object sensor (100') may comprise a sensor of an optical 2 dimensional measuring device to acquire the dimensions of the obstacle to be measured in a non -contact manner by shooting the optical beam emitted from a light source on the road surface and the area around the car, as a means to measure the size of the obstacle on the road and the size of the obstacle around the car, and a sensor of an optical 3 dimensional configuration measuring device to extract the configuration of the obstacle to be measured by shooting the standardized optical beam emitted from a light source on the road surface and the area around the car, as a means to measure the configuration of the obstacle on the road surface and the configuration of the obstacle around the car, and further comparing the deformed optical beam according to the obstacle configuration with the standardized optical beam.
  • the PSI Phase Shifting Interferometery
  • the PSI Phase Shifting Interferometery measuring method
  • the WSI White-Light Scanning Interferometry
  • the said topographical object sensor (100') may have a sensor of an ultra sonic wave distance measuring device for measuring the distance between the car's own position and each topographical object around the car by shooting the ultra sonic wave, detecting the ultra sonic wave reflecting from each topographical object around the car and thereby converting the time duration between the time when the ultra sonic wave was transmitted and the time when the ultra sonic wave was detected into the measured distance, added thereto.
  • the said topographical object sensor (100' ) may have a sensor of a laser beam distance measuring device for measuring the distance between the car's own position and each topographical object around the car by shooting the laser beam, detecting the laser beam reflecting from the topographical object around the car and thereby converting the time duration between the time when the laser beam was transmitted and the time when the laser beam was detected into the measured distance, added thereto.
  • the said topographical object sensor (100') may have a sensor of a distance sensing device using a video camera for measuring the distance between the car's own position and each topographical object around the car by analyzing the video image data of each topographical object around the car as photographed by the video camera with the sensed area being extended gradually.
  • the said steering angle sensing unit (300) is to sense the turning direction and amount of the steering wheel and output the sensed signals to the control unit (100), which may comprise the steering wheel turning sensor (300') for transmitting the signals according to the turning amount of the steering wheel as installed in the main shaft of the steering wheel.
  • the said steering wheel turning sensor (300') is to have a reference switch to determine a reference point according to the manipulation condition of the steering wheel installed therein, sense the turning motion of the steering wheel according to the shift of the reference switch and thereby have up/down motions counted so that the turning direction and amount of the steering wheel may be sensed according to the count value.
  • the said steering wheel turning sensor (300') may have through holes provided in the circumference of the central axis of the steering wheel at intervals of a given angle and further a circular disk, which is interlocked with the steering wheel, installed so that the turning direction and amount of the steering wheel may be sensed and the sensed signals may be transmitted by detecting whether any through hole exists or not and the number of its passes over through holes.
  • the said transmission gear position sensing unit (400) is to sense the selective pattern, such as 'P', 'N', 'D' and 'R' of the automatic transmission gear and output the sensed signals, which enables the control unit (100) to determine the selective pattern of the car transmission gear according to the inputted signals by having the shift lever position sensor (400') installed in the shift lever of the automatic transmission gear.
  • the said car movement sensing unit (500) is to sense whether the car is in motion, which may have the turning sensor (500' ) installed in the drive-wheel so that whether the car is in motion or not and the car moving distance can be sensed according to the rotation of the drive-wheel, and further have a given number of turning sensors installed at a given position of the speed meter (not shown in the figures), that is to say, at a given length over the zero (0) position of the speed meter needle so that if the speed meter needle is moved according to the car movement, such needle's movement can be sensed and the sensed signals may be outputted, and according to the sensed signals, the control unit (100) can determine whether the car is in motion or not.
  • a mileage counter sensor for sensing a mileage count of the mileage counter (not shown in the figures) and outputting the sensed signals installed therein so that according to the outputted signals, whether the car is in motion or not and the car movement distance may be determined.
  • Fig. 5 shows a preferred embodiment of the selective unit (600) of the automatic car parking system, and as illustrated in the figure, the said selective unit (600) comprises the car direction selective section (610) to output the car direction conversion signals according to the turning amount as it is installed so that it may be turned right and left; the car position selective section (620) to output any signal corresponding to any pushed button, which comprises the buttons by which upper, lower, left and right directions can be selected; and the enter key (630) to output the enter signal according to operation thereof. So, the driver can select the car parking position and direction with ease, various system modes and menu by using the enter key (630).
  • the said display unit (700) which displays the external topographical object positions, the car position, the steering angle, the transmission gear selective pattern, the possible parking positions and directions, the optimal parking path, the optimal steering angle, the optimal turning direction and amount of the steering wheel, the optimal transmission gear selective pattern, etc. according to the outputted signals, may have the monitor of the navigation system used as the monitor of the navigation system while the car is running, and further as the parking information outputted on the said monitor while the automatic car parking system is actuated without installing any separate monitor.
  • the said voice information unit (800) may comprise the speaker (800') which outputs the collision alarm signal and the turning direction and amount of the steering wheel in the respective saved voice signals, and the speaker (800') of the audio system, which is connected with the said control unit (100), outputs the parking information signals while the automatic car parking system is actuated without installing any separate speaker. Then, the driver can park the car with ease according to the parking information outputted from the said speaker.
  • the track indicating unit (900) which is installed in the external side of the car and further connected with the said control unit, indicates the optimal parking path outside the car so that the driver may park the car with more ease by moving the car along the indicated track outside the car.
  • the said track indicating unit (900) may comprise a laser beam transmitting device (900') which determines the laser beam shooting direction, angle and distance respectively according to the signals outputted from the control unit (100) and then shoots the laser beam outside the car.
  • the steering angle turning unit (1000), the automatic transmission gear position controlling unit (1100), the accelerator driving unit (1200) and the brake driving unit may be included in the automatic car parking system so that the car may be moved to the parking position automatically by using the automatic car parking system according to this invention. They are respectively described below in details;
  • the steering angle turning unit (1000) may comprise the steering wheel turning device (1000') which turns the main shaft of the steering wheel according to the signals outputted from the control unit (100) by having it installed in the main shaft of the steering wheel, and the transmission gear position controlling unit (1100) may comprise the shift lever position controlling unit (1100' ), which is installed in the shift lever so that the shift lever's position can be changed, and thereby it may change the selective pattern of the transmission gear according to the controlling operation by the control unit (100).
  • the accelerator driving unit (1200) may comprise the accelerator pedal driving unit which is installed in the accelerator pedal and moves the car by actuating the accelerator pedal upward and downward
  • the brake driving unit (1300) may comprise the brake pedal driving unit (1300') which is installed in the brake pedal so that the brake pedal may be actuated upward and downward.
  • the car steering angle and the transmission gear selective pattern can be controlled automatically by controlling the said steering angle turning unit (1000) and the transmission gear position controlling unit (1100), and the car can be moved automatically to the parking position by actuating the accelerator driving unit (1200) and the brake driving unit (1300).
  • a given number of collision sensors which sense any obstacle approaching toward the car and further output the sensed signals, may be installed in the external side of the car and further connected with the control unit (100). Therefore, in case any collision risk exists due to the poor driving skill while the car is being parked, the car can be prevented from being damaged by alarming it in advance through the alarming sound transmitted from the voice information unit (800).
  • FIG. 6a and Fig. 6b are the flow charts showing the operating sequence of the method for controlling the automatic car parking system according to this invention, and as illustrated in the figures, the method for controlling it according to this invention is described as follows;
  • the system when the automatic car parking system is actuated, the system performs the step (S100) that the topographical object sensing unit, the steering angle sensing unit and the transmission gear position sensing unit are turned on and then the respective sensed signals are inputted; the step (S200) that the topographical object positions, the car position, the steering angle and the transmission gear selective pattern are arithmetic-logically processed by using the signals inputted in the previous step and further displayed, the step (S300) that it is determined whether possible parking positions exist or not by processing possible parking positions and directions arithmetic-logically by using the said operation values!
  • step (310) that if any possible parking position does not exist, the message of "Parking Unavailable" is displayed, and it is sensed whether the car is in motion or not and as a result, if it is determined that the car is in motion, the system returns to the said sensing step of S100; the step (S320) that if possible parking positions exist, possible parking positions and directions are displayed together with the topographical object positions as displayed in the previous step and further the message for selecting the parking position and direction is outputted; and the step (S400) that if any parking position and direction among the possible parking positions and directions are selected by the driver, the optimal parking path to the selected parking position, the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed together with the screen contents displayed in the said S200 step.
  • the system performs the step (S500) that following performance of the previous step (S400), it is determined whether the manual operating information mode has been selected; the step (S600) that if the manual operating information mode has not been selected, it is determined whether the automatic parking mode has been selected; the step (S800) that in case the automatic parking mode was not selected in the previous step, it is determined whether the car has been in motion according the signals sensed by actuating the car movement sensing unit; the step (S900) that if the car has been in motion, the topographical object positions and the car position are arithmetic-logically processed according to the signals sensed by actuating topographical object sensing unit and further displayed; the step (S1000) that it is determined whether the car is located at the parking position as selected in the said S400 step; the step (SHOO) that in case it is determined that the car is not located at the selected parking position, the steering angle sensing unit and the transmission gear position sensing unit are actuated, and according to the sensed signals, the sensed steering angle
  • an optimal possible parking position may be arithmetic-logically processed along with them and further be displayed with it being flickered or in a different color so that the driver can select it with ease, and in case the system goes on without the driver's selection of any possible parking position, the optimal possible parking position may be selected automatically.
  • Another preferred embodiment of the method for controlling the automatic car parking system according to this invention is to perform the manual operating information mode following performance of the step that the optimal parking path and the optimal steering angle were displayed, and the operation sequence of the manual operating information mode is described hereunder;
  • Fig. 7 is a flowchart indicating the manual operating information mode according to this invention.
  • the system performs the step (S510) that if it is determined in the said S500 step that the manual operating information mode is selected, the difference between the optimal steering angle and the sensed steering angle and the difference between the optimal transmission gear selective pattern and the transmission gear selective pattern are arithmetic-logically processed, and according to the respective operation values, the optimal turning direction and amount of the steering wheel and the optimal controlling direction of the shift lever are arithmetic-logically processed and displayed, and then the corresponding instructional signals are outputted in the voice signals; the step (S520) that the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed according to the signals sensed by actuating the steering angle sensing unit and the transmission gear position sensing unit following performance of the previous step and further displayed, and then it is determined whether the sensed steering angle and the sensed transmission gear selective pattern are in conformance with the optimal steering angle and the
  • the system performs in regular sequence the step (S522) that if it is determined that they are in conformance therewith in the said S520 step, the instructional signals tor moving the car are displayed and further outputted in a voice; the step (S530) that it is determined whether the car is in motion according to the signals inputted by actuating the car movement sensing unit following performance of the previous step; the step (S540) that in case the car is in motion, the topographical object positions and the current car position are arithmetic-logically processed according to the signals sensed by actuating the topographical object sensing unit and further displayed; the step (S550) that it is determined whether the current car position as arithmetic-logically processed in the previous step is in conformance with the selected parking position!
  • step (S560) that in case it is determined that the car is not located at the parking position selected in the said S550 step, the current sensed steering angle and the current sensed transmission selective pattern are arithmetic-logically processed according to the sensed signals inputted by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed and then the optimal parking path and the optimal transmission gear selective pattern are arithmetic-logically processed and further displayed, and then the system returns to the said step (S510); and the step (S570) that in case it is determined that the car is located at the parking position selected in the said S550 step, the message of "Parking Completed" is displayed and then the system operation is ended.
  • the turning direction and amount of the steering wheel and the direction of the gear shift lever to be manipulated are indicated on the monitor (500'), and furthermore they are made to be recognized by the driver in a voice signal. Therefore, the driver can park the car with more ease by controlling the steering wheel and the gear shift lever according to the provided information.
  • the method for controlling the automatic car parking system includes the automatic parking mode enabling the car to be moved to the parking position automatically, and the operation sequence of the automatic parking mode is described as follows;
  • Fig. 8 is a flowchart indicating the operation sequence of the automatic parking mode according to this invention.
  • the system performs the step (S610) that if it is determined in the said S600 step that the automatic parking mode is selected, the parking path is divided by stages according to changes in the optimal steering angle and the optimal transmission gear selective pattern and further displayed; the step (S611) that the moving distance is arithmetic-logically processed by stages of the path as divided at the said S610 step and further displayed; the step (S620) that the stage (x) to be performed is set up as the first stage among all divided stages; the step (S630) that the steering angle turning unit and the transmission gear position controlling unit are actuated according to the optimal steering angle and the optimal transmission gear selective pattern at the stage to be performed; the step (S640) that the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed according to the signals sensed by actuating the steering angle sensing unit and the transmission gear position sensing unit and
  • the system performs the step (S650) that if it is determined that they are in conformance therewith in the said S640 step, the car is moved as far as the moving distance applicable to the corresponding stage of the path; the step (S660) that the topographical object positions and the current car position are arithmetic-logically processed according to the signals sensed by actuating the topographical object sensing unit after the car is moved as far as the set distance and further displayed; the step (S670) that it is determined whether the current car position as arithmetic-logically processed is in conformance with the selected parking position ' , the step (S671) that if it is determined that it is not in conformance therewith at the S670 step, it is determined whether the current car position is the starting position at the subsequent stage ( ⁇ +1) of the path; and the step (S672) that if it is determined that it is the starting position at the said S671 step, the subsequent stage of the path is set up as the stage to be performed ( ⁇ +1 +1
  • the system performs in regular sequence the step (S680) that if it is determined that it is not the starting position at the said S671 step, the current steering angle and the current transmission gear selective pattern are arithmetic-logically processed according to the signals sensed by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed, and the optimal parking path is arithmetic-logically processed according to the topographical object positions and the current car position as arithmetic-logically processed and displayed at the S660 step, and further the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed according thereto and further displayed, and then the system returns to the S610 step; and the step (S690) that if it is determined that the current car position is in conformance with the selected parking position, the message of "Parking Completed" is displayed and then the system operation is ended.
  • the car may be moved by controlling the accelerator driving unit (1200) and the brake driving unit (1300) automatically according to the moving distance at the stage of the path to be performed, or by having the driver manipulate the accelerator pedal and the brake pedal directly. If the automatic parking mode is performed as above described, the car gets to be moved to the parking position by controlling the steering angle and the transmission gear selective pattern automatically according to the optimal parking path, and any safety accident due to the driver's poor operation is, therefore, prevented from taking place.
  • the method for controlling the automatic car parking system includes the starting mode which can be used when the car is started from the parking position, and the operation sequence of the starting mode is described as follows!
  • Fig. 9 is a flowchart indicating the operation sequence of the starting mode using the automatic parking system according to this invention. As shown in the figure, in the starting mode, the system performs the step (S910, S920) that when the car is started, it is determined whether the car is parked by using the automatic parking mode!
  • step (S930) that if it is determined that the car is parked by using the automatic parking mode, the topographical objects, the parking position, the steering angle and the transmission gear selective pattern, which are lastly saved, are displayed; the step (S931) that the topographical object positions sensed according to the signals sensed by actuating the topographical object sensing unit is compared with the last topographical object positions displayed at the said S930 step; and the step (S932) that as a result of comparing so at the said S931 step, it is determined whether the sensed topographical objects are in conformance with the last topographical objects within a given tolerance.
  • the system performs the step (S940) that if it is determined that it is in conformance therewith at the said S932 step, the possible starting positions and car directions are arithmetic-logically processed and displayed; the step (S941) that the message for selecting the wanted starting position and the wanted car direction is outputted; and the step (S950) that if the wanted starting position and the wanted car direction are selected, the optimal starting path, the optimal steering angle and the optimal transmission gear pattern are arithmetic-logically processed according thereto and further displayed.
  • the system performs the step (S921) that if it is determined that the car is not parked by using the automatic car parking system at the said S920 step or that the sensed topographical object is not in conformance with the last topographical object at the said S932 step, the signals sensed by actuating the topographical object sensing unit, the steering sensing unit and the transmission gear position sensing unit are inputted, and then the topographical object positions, the current car position, the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed and further displayed, and then the system performs the step (S922) that the system returns to the S940 step.
  • the system performs in regular sequence the step (S960) that it is determined whether the car is moved as far as the given distance by actuating the car movement sensing unit following performance of the said S950 step; the step (S970) that if it is determined that the car is moved as far as the given distance, the topographical object positions and the current car position are arithmetic-logically processed according to the signals sensed by actuating the topographical object sensing unit and further displayed; the step (S980) that it is determined whether the current car position as arithmetic-logically processed and displayed at the said S970 step is in conformance with the selected starting position; the step (S981) that if it is determined that it is not in conformance therewith at the said S980 step, the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed according the signals inputted by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed, and then the system returns to the S950 step; and the step (
  • the car can be started from the parking position with ease. Meanwhile, when the car has any risk to collide with any external obstacle, such risk can be informed in advance so that the collision may be prevented by having the system perform a step that the collision sensor (not shown in the figures), which is installed in the external side of the car and further connected with the control unit (100) of the automatic car parking system according to this invention, is actuated while the said car is being moved, a step that the distance between the car and the object approaching toward the car is arithmetic-logically processed according to the sensed signals and a step that in case the distance between the car and the object approaching toward the car is within a given distance, the alarming sound is transmitted.
  • the collision sensor not shown in the figures
  • the system performs the step (S700) that the track corresponding to the optimal parking path is indicated outside the car by actuating the track indicating unit (900) following performance of the said S600 step and returns to the step (S700) that the track indicating unit is actuated following performance of the said SHOO step (as shown in a dotted line in the figure)
  • the track corresponding to the optimal parking path is indicated outside the car by the laser beam, etc.. Therefore, the driver can park the car with ease along the indicated track.
  • the microcomputer (100') which constitutes the control unit (100), arithmetic-logically processes the signals inputted by actuating the topographical object sensor (200'), the steering wheel turning sensor (300') and the shift lever position sensor (400'), and thereby determines the external topographical objects, the current car position, the current steering angle and the current transmission gear selective pattern, and further displays them on the monitor (700').
  • the microcomputer arithmetic-logically processes the signals inputted from the said topographical object sensor (200') and the said steering wheel turning sensor (300') and thereby arithmetic-logically processes the possible parking positions and directions at the external topographical objects by using the saved data, and as a result, if any possible parking positions exist, they are displayed together with the said contents on the monitor (700').
  • a plural number of possible parking positions and directions are displayed on the monitor (700').
  • the optimal possible parking position and direction are flickered or displayed in a different color. Therefore, if the driver watches the monitor where they are displayed as above described and selects the wanted parking position by using the car position selective section (620) of the selective buttons (600') and the wanted car parking direction by manipulating the car direction selective section (610) or clicks the enter key (630) of the selective buttons (600'), the optimal possible parking position and direction are selected as the wanted parking position and direction, and the microcomputer (100') displays them and further processes the optimal parking path arithmetic-logically and then outputs the corresponding signals so that the optimal parking path may be displayed together with them.
  • the microcomputer processes arithmetic-logically the optimal steering angle to enable the car to be moved along the said optimal parking path and further displays it together with the current car steering angle on the monitor (700' ). Further, it processes arithmetic-logically the optimal transmission gear selective pattern and further displays it together with the current car transmission gear selective pattern on the monitor (700'). Then, the driver can watch them and determine the turning direction of the steering wheel and the controlling direction of the shift lever.
  • the system performs it. If the driver does not select so and moves the car, the drive-wheel rotation sensor (500' ) senses such car movement and thereby the topographical object sensor (200'), the steering wheel turning sensor (300') and the shift lever position sensor (400') are actuated until it is determined that the car is moved to the selected parking position. Thereby, the current topographical object positions, the current car position, the current steering angle, the current transmission gear selective pattern, the optimal parking path, the optimal steering angle and the optimal transmission gear selective pattern are displayed on the monitor (700'). Then, the driver can watch them and move the car to the parking position.
  • the difference between the optimal steering angle and the sensed car steering angle and the difference between the optimal transmission gear selective pattern and the sensed transmission gear selective pattern are arithmetic-logically processed.
  • the turning direction and amount of the steering wheel and the controlling direction of the shift lever are arithmetic-logically processed.
  • the instructional signals are outputted to the monitor (700') and the speaker (800'). Thereby, the driver can move the car to the parking position with ease by manipulating the steering wheel and the shift lever according to the voice information or the displayed information corresponding to the outputted signals.
  • the parking path is divided by stages according to changes in the optimal steering angle and the transmission gear selective pattern, and each divided path is displayed together with each moving distance by respective stages as divided. Then, the shift lever position controlling device (1100') and the steering wheel turning device (1000') are automatically actuated according to the optimal steering angle and the transmission gear selective pattern by respective stages. Thereby, the shift lever and the steering wheel is changed to a proper position.
  • the driver may move the car directly by manipulating the accelerator and the brake. Otherwise, the accelerator pedal driving device (1200') and the brake pedal driving device (1300' ) are actuated according to the controlling signals, and thereby the car is moved automatically as far as the moving distance by stages.
  • the said transmission gear and steering angle controlling step and the car moving step are repeatedly performed along the optimal parking path by respective stages as divided, and thereby the car is moved to the parking position. Then, the automatic parking mode is ended.
  • the collision sensor is actuated to sense any obstacle approaching toward the car.
  • the alarming sound is outputted to the speaker (800') and the alarming message is displayed on the monitor (700').
  • the laser beam transmitting device (600') by actuating the track indicating unit (600)
  • the laser beam is shot at the outside of the car.
  • the driver can move the car to the parking position with ease by manipulating the steering wheel along the laser beam shot as above described.
  • the driver can start the car from the parking position with ease by using the staring mode of the automatic car parking system.
  • the operation status of the starting mode is described as follows;
  • the system senses it and thereby, the topographical objects, the parking position, the steering angle and the transmission gear selective pattern, which are lastly saved in the temporary memory of the microcomputer (100'), are automatically displayed on the monitor (700'), and if it is determined that the respective topographical object positions in front of, in rear of, on the right of and on the left of the car are within the given tolerance of the lastly saved topographical object positions, the car position and direction at the time when the driver started to park the car by using the automatic car parking system are displayed together with a plural number of possible starting positions and directions on the monitor (700'). Subsequently, when the driver watches the monitor where they are displayed as above described and selects the starting position and direction, the optimal starting path, the steering angle and the transmission gear selective pattern are arithmetic-logically processed according thereto and displayed.
  • the driver can watch the monitor (700' ) where they are displayed as above described, manipulate the shift lever and the steering wheel with ease and then start the car by moving the car.
  • the topographical object sensor (200'), the steering wheel turning sensor (300') and the shift lever position sensor (400' ) are actuated, and thereby, the topographical object positions, the car position, the steering angle, the transmission gear selective pattern, the optimal path, the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed. If the car is moved according thereto, the driver can move the car out of the parking position with ease.
  • the system can instruct the driver to manipulate the steering wheel and the shift lever through the corresponding voice information together with the corresponding information as displayed on the monitor, and further, like the method for controlling the automatic parking mode, process arithmetic-logically the steering angle and the transmission gear selective pattern automatically. Accordingly, the car can be started by changing the respective positions of the steering wheel and the shift lever.
  • this invention recognizes any external topographical objects and the car steering angle automatically, and thereby, sets up the optimal parking position and the optimal parking path. Further, it indicates the external track along which the car is to be moved or informs the driver of the turning direction and amount of the steering wheel so that the driver may park the car with ease and safety or move the car to the parking position automatically.
  • This invention is, therefore, a very useful invention to enhance the convenience for the driver more greatly.

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Abstract

Disclosed is an auto-parking system for a vehicle, comprising sensing means of topography and objectives, sensing means of a steering angle, sensing means of position of a transmission, sensing means of movement of the vehicle, selection means of direction and position for parking, display means of informations obtained by the above-said means and a recommended parking route, controlling means of the above-said means, and optionally one or more means selected from means of indicating wheel track and audio means leading to parking, and by using the system, a driver may park his vehicle with ease.

Description

AUTO PARKING SYSTEM
[Field of the Invention]
This invention relates to an automatic car parking system and a method for controlling it to enable a driver to park a car with ease and convenience.
[Background of the Invention]
This invention relates to the automatic car parking system and the method for controlling it to enable the car to be parked automatically, particularly the automatic car parking system and the method for controlling it to enable the car to be parked automatically and conveniently by having the system recognize topographical objects and the car's own position in a place where to park the car automatically, and thereby indicate an optimal parking path, an optimal steering angle and an optimal transmission gear selective pattern so that the driver may park the car with ease according thereto, or by having the system change the steering angle and the transmission gear selective pattern automatically, actuate the accelerator and the brake and thereby, move the car to the parking position.
Generally, when the driver, specifically the beginner attempts to park the car, he faces many difficulties in selecting a proper parking path, determining whether a place is suitable for parking or not, and moving the car to a parking position. Therefore, conventionally, when the driver parks the car, he actuates an obstacle sensing device to give an alarm sound or to turn on an alarm lamp upon sensing any obstacle within a given distance while he is moving the car backward. Such conventional device helps the driver park the car to the extent that any collision risk is reduced while the car is being parked by providing the driver with the information that any obstacle exists within a given distance as above described, but it has a problem that it can not help the driver in selecting a parking position and path.
Meanwhile, a navigation system using GPS provided the driver with the geographical information about an area where he intends to move the car by indicating the current car position on the map data. However, such navigation system provides the driver with only the geographical information about the area from the current position to the destination on an outlined road map, not indicating any parking position and path on a detailed map including any topographical objects. It is, therefore, not helpful in the driver's parking at all.
[Detailed Description of the Invention] This invention is, therefore, to provide a solution to the above problem, particularly to provide the automatic car parking system and the method for controlling it to enable the car to be parked automatically and conveniently by having the system recognize topographical objects and the car's own position in a place where to park the car automatically, and thereby, indicate an optimal parking path, an optimal steering angle and an optimal transmission gear selective pattern so that the driver may park the car with ease according thereto, or by having the system move the car to the parking position automatically. The said objective of this invention is to be achieved by having the system comprising a topographical object sensing unit to enable the system to recognize any topographical objects, a steering angle sensing unit to sense a car's steering angle, a transmission gear position sensing unit to sense any selective pattern of an automatic transmission gear, a car movement sensing unit to sense whether the car is in motion, a selective unit to output signals for selecting a parking position, a parking direction and each system mode according to the driver's manipulation, a display unit to indicate external topographical objects, a car position, a parking path and an optimal steering angle, a track indicating unit to indicate an optimal parking path outside the car, a voice information unit to output voice signals corresponding to any collision risk or any turing direction and amount of the steering wheel to be turned, and a control unit to process arithmetic-logically topographical object positions, a car's own position, a steering angle, a transmission gear selective pattern and whether the car is in motion by using the signals inputted by actuating the said topographical object sensing unit, the steering angle sensing unit, the transmission gear position sensing unit and the car movement sensing unit, obtain the parking position, the optimal parking path, the optimal steering angle and the optimal transmission gear selective pattern by the respective operation values and further control the display unit, the track indicating unit and the voice information unit so that they may be indicated. Also, another objective of this invention is to be achieved by having the system set up a direction for moving the car to the parking position automatically by installing a steering angle turning unit and a transmission gear position controlling unit and further connecting them with the said control unit so that they will be actuated according to the optimal parking path, the optimal steering angle and the optimal transmission gear selective pattern.
And, another different objective of this invention is to be achieved by installing an accelerator driving unit and a brake driving unit and further enabling the car to be moved to the parking position automatically through the control operation by the said control unit.
Further, another different objective of this invention is to be achieved by having the system go through a step that when the automatic car parking system is actuated, the topographical object sensing unit, the steering angle sensing unit and the transmission gear position sensing unit are actuated and then the respective sensed signals are inputted; a step that topographical object positions, the car position, the steering angle and the transmission gear selective pattern are arithmetic-logically processed by using the signals inputted in the previous step and further displayed; a step that possible parking positions and directions are arithmetic-logically processed by using the said operation values; a step that as a result that it was determined in the previous step whether the possible parking positions as arithmetic-logically processed were available, if not available, the message of "Parking Unavailable" is displayed, and it is sensed whether the car is in motion or not and then, the system returns to the said initial sensing step, or if available, the possible parking positions and directions are displayed together with the topographical object positions as displayed in the above step; a step that the driver is asked to select the wanted parking position and direction among the displayed possible parking positions and directions by using the selective unit; a step that the optimal parking path to the selected parking position, the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed; a step that following performance of the previous step, it is determined whether the manual operating information mode or the automatic parking mode has been selected; a step that in case neither the manual operating information mode nor the automatic parking mode is selected, it is determined whether the car has been in motion by sensing whether the car is in motion or not; a step that if the car was in motion in the previous step, the topographical object sensing unit is actuated and according to the sensed signals, the topographical object positions and the car position are arithmetic-logically processed and displayed; and a step that following performance of the previous step, it is determined whether the car is located at the selected parking position, and as a result, if not so located, the steering angle sensing unit and the transmission gear position sensing unit are actuated, and according to the sensed signals, the sensed steering angle and the transmission gear selective pattern are arithmetic-logically processed and displayed, and the optimal parking path, the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed, and then the system returns to the step that the external indicator is actuated according to the said optimal parking path, or if so located, the message of "Parking Completed" is displayed and then the system operation is ended.
According to this invention, when the driver attempts to park the car, the automatic car parking system recognizes any external topographical objects and the car's steering angle automatically and thereby, sets up the optimal parking position and path, and further indicates an external track along which the car is to be moved so that the car may be moved according to the said parking path, or informs the driver of the steering angle and the transmission gear selective pattern so that he may park the car with ease and safeii. Furthermore, in case the manual operating information mode is activated, the automatic car parking system informs the driver of the optimal steering angle, the optimal transmission gear selective pattern and the optimal turning direction and amount of the steering wheel through the corresponding screen display and voice signals so that he may park the car with more ease. Meanwhile, in case the automatic parking mode is activated, the system has the car move to the parking position automatically. Thereby, the said objectives of this invention are to be achieved.
[Brief Description of the Drawings!
Fig. 1 is a block diagram showing the automatic parking system schematically according to this invention;
Fig. 2 is a block diagram showing a preferred embodiment of the automatic parking system according to this invention; Fig. 3 is a block diagram showing another preferred embodiment of the automatic parking system according to this invention;
Fig. 4 is a block diagram showing another different preferred embodiment of the automatic parking system according to this invention; Fig. 5 is a block diagram showing a preferred embodiment of the selective unit of the automatic parking system according to this invention;
Fig. 6a is a flow chart indicating the first half section of the controlling operational sequence of the automatic parking system according to this invention;
Fig. 6b is a flow chart indicating the second half of the controlling operational sequence of the automatic parking system according to this invention;
Fig. 7 is a flow chart indicating the operational sequence of the manual operating information mode of the automatic parking system according to this invention;
Fig. 8 is a flow chart indicating the operational sequence of the automatic parking mode of the automatic parking system according to this invention;
Fig. 9 is a flowchart indicating the operating sequence of the starting mode of the automatic parking system according to this invention.
Description of Reference Symbols in Figures
100: Control Unit 100' : Microcomputer
200: Topographical Object Sensing Unit 200': Topographical Object Sensor
300: Steering Angle Sensing Unit 300': Steering Wheel
Turning Sensor
400: Transmission Gear Position Sensing Unit
400': Shift Lever Position Sensor
500: Car Movement Sensing Unit 500': Drive- Wheel Sensor
600: Selective Unit 610: Car Direction Selective Section
620: Car Position Selective Section 630 Enter Key
600': Selective Button 700 Display Unit 700': Monitor 800 Voice Information Unit 800': Speaker 900 Track Indicating Unit
900': Laser Beam Transmitting Device 1000: Steering Angle Turning Unit
1000': Steering Wheel Turning Device
1100: Transmission Gear Position Controlling Unit
1100': Shift Lever Position Controlling Device
1200: Accelerator Driving Unit
1200': Accelerator Pedal Driving Device 1300: Brake Driving Unit
1300' : Brake Pedal Driving Device
[Preferred Embodiments of the Invention]
Preferred embodiments of this invention, which are capable of achieving the characteristics of this invention effectively, are described below in details by reference to the accompanied drawings, focusing on the technical constitution and action effects thereof.
Fig. 1 is a block diagram showing the automatic parking system schematically according to this invention; Fig. 2 is a block diagram showing a preferred embodiment of the automatic parking system according to this invention; Fig. 3 is a block diagram showing another preferred embodiment of the automatic parking system according to this invention; and Fig. 4 is a block diagram showing another different preferred embodiment of the automatic parking system according to this invention.
As illustrated in the said figures, this invention comprises the topographical object sensing unit (200) to sense any external topographical objects and their respective distances; the steering angle sensing unit (300) to sense any car's steering angle; the transmission gear position sensing unit (400) to sense any selective pattern of the automatic transmission gear; the car movement sensing unit (500) to sense whether the car is in motion; the selective unit (600) to output signals for selecting a parking position, a parking direction and each system mode according to the driver's manipulation; the control unit (100) to process arithmetic-logically the topographical object positions, the car position, the steering angle and the transmission gear selective pattern according to the signals inputted from the said topographical object sensing unit (200), the steering angle sensing unit (300), the transmission gear position sensing unit (400), the car movement sensing unit (500) and the selective unit (600), output the signals corresponding to the respective operation values, obtain the possible parking positions and directions, the optimal parking path, the optimal steering angle, the optimal turning direction and amount of the steering wheel and the optimal transmission gear selective pattern by the said operation values and further output the signals corresponding thereto; the display unit (700) to indicate the external topographical object positions, the car position, the steering angle, the transmission gear selective pattern, the possible parking positions and directions, the optimal parking path, the optimal steering angle, the optimal turning direction and amount of the steering wheel and the optimal transmission gear selective pattern according to the signals inputted from the said control unit (100); and the voice information unit (800) to output any alarm signals or voice signals corresponding to the optimal steering angle, the optimal transmission selective pattern, the turning direction and amount of the steering wheel, etc. according to the respective signals inputted from the said control unit (100).
The control unit for controlling the respective sensing units, the display unit and the voice information unit of the automatic vehicle parking system comprising as above described comprises a microcomputer (100') with a processing capacity corresponding thereto, which arithmetic-logically processes the topographical object positions, the car position, the steering angle and the transmission gear selective pattern, outputs the signals corresponding the respective operation values, obtains the possible parking positions and directions, the optimal parking path, the optimal steering angle, the optimal turning direction and amount of the steering wheel and the optimal transmission gear selective pattern by the said operation values and further outputs the signals corresponding thereto.
Also, the said control unit (100) has the system set up the car moving direction and enable the car to be moved according thereto by controlling the steering angle turning unit (1000), the transmission gear position controlling unit (1100), the accelerator driving unit (1200) and the brake driving unit (1300) so that the car may be moved along the optimal parking path.
And the said topographical object sensing unit is to transmit optical signals and output the inputted signals to the control unit (100) when the transmitted signals, which reflect from the external topographical objects, are received by the said unit, comprising a plural number of topographical object sensors (100') to perform the said function, which are installed in the respective given positions outside the car.
The said topographical object sensor (100') may be a sensor of a surface configuration measuring device, which comprises a plural number of modules installed in the external side of the car. Each module consists of a slit beam generator and a CCD (Charge Coupled Device) camera, shooting the slit beam on the topographical objects respectively, and a deformed video image by the slit beam is acquired through the respective CCD cameras. Then, the said sensor uses the slit beam to extract the surface configuration of each topographical object around the car from the geometrical composition in consideration of the slit beam, the installation position of each CCD camera and each topographical object position. Also, the said topographical object sensor (100') may comprise a sensor of an optical 2 dimensional measuring device to acquire the dimensions of the obstacle to be measured in a non -contact manner by shooting the optical beam emitted from a light source on the road surface and the area around the car, as a means to measure the size of the obstacle on the road and the size of the obstacle around the car, and a sensor of an optical 3 dimensional configuration measuring device to extract the configuration of the obstacle to be measured by shooting the standardized optical beam emitted from a light source on the road surface and the area around the car, as a means to measure the configuration of the obstacle on the road surface and the configuration of the obstacle around the car, and further comparing the deformed optical beam according to the obstacle configuration with the standardized optical beam.
As well known, as the 3 dimensional configuration measuring method, the PSI (Phase Shifting Interferometery) measuring method, which reproduces the 3 dimensional surface configuration by shooting the optical beam on the object to be measured and analyzing the reference plane to form the reference beam against the optical beam collected by the object lens to parallel the beam reflecting from the object to be measured and the interference pattern generated by the path difference of the optical beam reflected through incidence from the object to be measured, and the WSI (White-Light Scanning Interferometry) method, which measures the 3 dimensional configuration with a high stepped difference by sensing the position where the value index of the interference pattern is maximized while the piezoelectric actuator is actuated through the use of the limited interference characteristic of the white light, are applied to the actual use.
Also, the said topographical object sensor (100') may have a sensor of an ultra sonic wave distance measuring device for measuring the distance between the car's own position and each topographical object around the car by shooting the ultra sonic wave, detecting the ultra sonic wave reflecting from each topographical object around the car and thereby converting the time duration between the time when the ultra sonic wave was transmitted and the time when the ultra sonic wave was detected into the measured distance, added thereto.
Furthermore, the said topographical object sensor (100' ) may have a sensor of a laser beam distance measuring device for measuring the distance between the car's own position and each topographical object around the car by shooting the laser beam, detecting the laser beam reflecting from the topographical object around the car and thereby converting the time duration between the time when the laser beam was transmitted and the time when the laser beam was detected into the measured distance, added thereto. Moreover, the said topographical object sensor (100') may have a sensor of a distance sensing device using a video camera for measuring the distance between the car's own position and each topographical object around the car by analyzing the video image data of each topographical object around the car as photographed by the video camera with the sensed area being extended gradually.
The said steering angle sensing unit (300) is to sense the turning direction and amount of the steering wheel and output the sensed signals to the control unit (100), which may comprise the steering wheel turning sensor (300') for transmitting the signals according to the turning amount of the steering wheel as installed in the main shaft of the steering wheel.
The said steering wheel turning sensor (300') is to have a reference switch to determine a reference point according to the manipulation condition of the steering wheel installed therein, sense the turning motion of the steering wheel according to the shift of the reference switch and thereby have up/down motions counted so that the turning direction and amount of the steering wheel may be sensed according to the count value. Also, the said steering wheel turning sensor (300') may have through holes provided in the circumference of the central axis of the steering wheel at intervals of a given angle and further a circular disk, which is interlocked with the steering wheel, installed so that the turning direction and amount of the steering wheel may be sensed and the sensed signals may be transmitted by detecting whether any through hole exists or not and the number of its passes over through holes.
And, the said transmission gear position sensing unit (400) is to sense the selective pattern, such as 'P', 'N', 'D' and 'R' of the automatic transmission gear and output the sensed signals, which enables the control unit (100) to determine the selective pattern of the car transmission gear according to the inputted signals by having the shift lever position sensor (400') installed in the shift lever of the automatic transmission gear. The said car movement sensing unit (500) is to sense whether the car is in motion, which may have the turning sensor (500' ) installed in the drive-wheel so that whether the car is in motion or not and the car moving distance can be sensed according to the rotation of the drive-wheel, and further have a given number of turning sensors installed at a given position of the speed meter (not shown in the figures), that is to say, at a given length over the zero (0) position of the speed meter needle so that if the speed meter needle is moved according to the car movement, such needle's movement can be sensed and the sensed signals may be outputted, and according to the sensed signals, the control unit (100) can determine whether the car is in motion or not.
Also, it may have a mileage counter sensor for sensing a mileage count of the mileage counter (not shown in the figures) and outputting the sensed signals installed therein so that according to the outputted signals, whether the car is in motion or not and the car movement distance may be determined.
Meanwhile, Fig. 5 shows a preferred embodiment of the selective unit (600) of the automatic car parking system, and as illustrated in the figure, the said selective unit (600) comprises the car direction selective section (610) to output the car direction conversion signals according to the turning amount as it is installed so that it may be turned right and left; the car position selective section (620) to output any signal corresponding to any pushed button, which comprises the buttons by which upper, lower, left and right directions can be selected; and the enter key (630) to output the enter signal according to operation thereof. So, the driver can select the car parking position and direction with ease, various system modes and menu by using the enter key (630). And the said display unit (700), which displays the external topographical object positions, the car position, the steering angle, the transmission gear selective pattern, the possible parking positions and directions, the optimal parking path, the optimal steering angle, the optimal turning direction and amount of the steering wheel, the optimal transmission gear selective pattern, etc. according to the outputted signals, may have the monitor of the navigation system used as the monitor of the navigation system while the car is running, and further as the parking information outputted on the said monitor while the automatic car parking system is actuated without installing any separate monitor.
Also, the said voice information unit (800) may comprise the speaker (800') which outputs the collision alarm signal and the turning direction and amount of the steering wheel in the respective saved voice signals, and the speaker (800') of the audio system, which is connected with the said control unit (100), outputs the parking information signals while the automatic car parking system is actuated without installing any separate speaker. Then, the driver can park the car with ease according to the parking information outputted from the said speaker.
Meanwhile, the track indicating unit (900), which is installed in the external side of the car and further connected with the said control unit, indicates the optimal parking path outside the car so that the driver may park the car with more ease by moving the car along the indicated track outside the car. The said track indicating unit (900) may comprise a laser beam transmitting device (900') which determines the laser beam shooting direction, angle and distance respectively according to the signals outputted from the control unit (100) and then shoots the laser beam outside the car. And, the steering angle turning unit (1000), the automatic transmission gear position controlling unit (1100), the accelerator driving unit (1200) and the brake driving unit may be included in the automatic car parking system so that the car may be moved to the parking position automatically by using the automatic car parking system according to this invention. They are respectively described below in details;
The steering angle turning unit (1000) may comprise the steering wheel turning device (1000') which turns the main shaft of the steering wheel according to the signals outputted from the control unit (100) by having it installed in the main shaft of the steering wheel, and the transmission gear position controlling unit (1100) may comprise the shift lever position controlling unit (1100' ), which is installed in the shift lever so that the shift lever's position can be changed, and thereby it may change the selective pattern of the transmission gear according to the controlling operation by the control unit (100).
Also, the accelerator driving unit (1200) may comprise the accelerator pedal driving unit which is installed in the accelerator pedal and moves the car by actuating the accelerator pedal upward and downward, and the brake driving unit (1300) may comprise the brake pedal driving unit (1300') which is installed in the brake pedal so that the brake pedal may be actuated upward and downward.
The car steering angle and the transmission gear selective pattern can be controlled automatically by controlling the said steering angle turning unit (1000) and the transmission gear position controlling unit (1100), and the car can be moved automatically to the parking position by actuating the accelerator driving unit (1200) and the brake driving unit (1300).
Furthermore, a given number of collision sensors, which sense any obstacle approaching toward the car and further output the sensed signals, may be installed in the external side of the car and further connected with the control unit (100). Therefore, in case any collision risk exists due to the poor driving skill while the car is being parked, the car can be prevented from being damaged by alarming it in advance through the alarming sound transmitted from the voice information unit (800).
Meanwhile, Fig. 6a and Fig. 6b are the flow charts showing the operating sequence of the method for controlling the automatic car parking system according to this invention, and as illustrated in the figures, the method for controlling it according to this invention is described as follows;
As shown in Fig. 6a and Fig. 6b, when the automatic car parking system is actuated, the system performs the step (S100) that the topographical object sensing unit, the steering angle sensing unit and the transmission gear position sensing unit are turned on and then the respective sensed signals are inputted; the step (S200) that the topographical object positions, the car position, the steering angle and the transmission gear selective pattern are arithmetic-logically processed by using the signals inputted in the previous step and further displayed, the step (S300) that it is determined whether possible parking positions exist or not by processing possible parking positions and directions arithmetic-logically by using the said operation values! the step (310) that if any possible parking position does not exist, the message of "Parking Unavailable" is displayed, and it is sensed whether the car is in motion or not and as a result, if it is determined that the car is in motion, the system returns to the said sensing step of S100; the step (S320) that if possible parking positions exist, possible parking positions and directions are displayed together with the topographical object positions as displayed in the previous step and further the message for selecting the parking position and direction is outputted; and the step (S400) that if any parking position and direction among the possible parking positions and directions are selected by the driver, the optimal parking path to the selected parking position, the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed together with the screen contents displayed in the said S200 step.
Further, the system performs the step (S500) that following performance of the previous step (S400), it is determined whether the manual operating information mode has been selected; the step (S600) that if the manual operating information mode has not been selected, it is determined whether the automatic parking mode has been selected; the step (S800) that in case the automatic parking mode was not selected in the previous step, it is determined whether the car has been in motion according the signals sensed by actuating the car movement sensing unit; the step (S900) that if the car has been in motion, the topographical object positions and the car position are arithmetic-logically processed according to the signals sensed by actuating topographical object sensing unit and further displayed; the step (S1000) that it is determined whether the car is located at the parking position as selected in the said S400 step; the step (SHOO) that in case it is determined that the car is not located at the selected parking position, the steering angle sensing unit and the transmission gear position sensing unit are actuated, and according to the sensed signals, the sensed steering angle and the transmission gear selective pattern are arithmetic-logically processed and displayed, and the optimal parking path, the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed, and then the system returns to the S800 step; and the step (S1200) that in case the car is located at the selected parking position, the message of "Parking Completed" is displayed and then the system operation is ended.
In case a plural number of possible parking positions are indicated at the said S320 step, an optimal possible parking position may be arithmetic-logically processed along with them and further be displayed with it being flickered or in a different color so that the driver can select it with ease, and in case the system goes on without the driver's selection of any possible parking position, the optimal possible parking position may be selected automatically.
Meanwhile, another preferred embodiment of the method for controlling the automatic car parking system according to this invention is to perform the manual operating information mode following performance of the step that the optimal parking path and the optimal steering angle were displayed, and the operation sequence of the manual operating information mode is described hereunder;
Fig. 7 is a flowchart indicating the manual operating information mode according to this invention. As shown in the figure, in the manual operating information mode, the system performs the step (S510) that if it is determined in the said S500 step that the manual operating information mode is selected, the difference between the optimal steering angle and the sensed steering angle and the difference between the optimal transmission gear selective pattern and the transmission gear selective pattern are arithmetic-logically processed, and according to the respective operation values, the optimal turning direction and amount of the steering wheel and the optimal controlling direction of the shift lever are arithmetic-logically processed and displayed, and then the corresponding instructional signals are outputted in the voice signals; the step (S520) that the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed according to the signals sensed by actuating the steering angle sensing unit and the transmission gear position sensing unit following performance of the previous step and further displayed, and then it is determined whether the sensed steering angle and the sensed transmission gear selective pattern are in conformance with the optimal steering angle and the optimal transmission gear selective pattern respectively; and the step (S521) that in case they were not in conformance therewith in the previous step, an alarming message is displayed and at the same time it is outputted in a voice, and then the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed, and then the system returns to the S510 step.
Further, the system performs in regular sequence the step (S522) that if it is determined that they are in conformance therewith in the said S520 step, the instructional signals tor moving the car are displayed and further outputted in a voice; the step (S530) that it is determined whether the car is in motion according to the signals inputted by actuating the car movement sensing unit following performance of the previous step; the step (S540) that in case the car is in motion, the topographical object positions and the current car position are arithmetic-logically processed according to the signals sensed by actuating the topographical object sensing unit and further displayed; the step (S550) that it is determined whether the current car position as arithmetic-logically processed in the previous step is in conformance with the selected parking position! the step (S560) that in case it is determined that the car is not located at the parking position selected in the said S550 step, the current sensed steering angle and the current sensed transmission selective pattern are arithmetic-logically processed according to the sensed signals inputted by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed and then the optimal parking path and the optimal transmission gear selective pattern are arithmetic-logically processed and further displayed, and then the system returns to the said step (S510); and the step (S570) that in case it is determined that the car is located at the parking position selected in the said S550 step, the message of "Parking Completed" is displayed and then the system operation is ended.
If the said manual operating information mode is performed, the turning direction and amount of the steering wheel and the direction of the gear shift lever to be manipulated are indicated on the monitor (500'), and furthermore they are made to be recognized by the driver in a voice signal. Therefore, the driver can park the car with more ease by controlling the steering wheel and the gear shift lever according to the provided information.
And, the method for controlling the automatic car parking system according to this invention includes the automatic parking mode enabling the car to be moved to the parking position automatically, and the operation sequence of the automatic parking mode is described as follows;
Fig. 8 is a flowchart indicating the operation sequence of the automatic parking mode according to this invention. As shown in the figure, in the automatic parking mode, the system performs the step (S610) that if it is determined in the said S600 step that the automatic parking mode is selected, the parking path is divided by stages according to changes in the optimal steering angle and the optimal transmission gear selective pattern and further displayed; the step (S611) that the moving distance is arithmetic-logically processed by stages of the path as divided at the said S610 step and further displayed; the step (S620) that the stage (x) to be performed is set up as the first stage among all divided stages; the step (S630) that the steering angle turning unit and the transmission gear position controlling unit are actuated according to the optimal steering angle and the optimal transmission gear selective pattern at the stage to be performed; the step (S640) that the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed according to the signals sensed by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed, and it is determined whether the sensed steering angle and the sensed transmission gear selective pattern are respectively in conformance with the optical steering angle and the optimal transmission gear selective pattern as arithmetic-logically processed; and the step (S641) that if it is determined that they are not in conformance therewith, the system returns to the S630 step.
Further, the system performs the step (S650) that if it is determined that they are in conformance therewith in the said S640 step, the car is moved as far as the moving distance applicable to the corresponding stage of the path; the step (S660) that the topographical object positions and the current car position are arithmetic-logically processed according to the signals sensed by actuating the topographical object sensing unit after the car is moved as far as the set distance and further displayed; the step (S670) that it is determined whether the current car position as arithmetic-logically processed is in conformance with the selected parking position', the step (S671) that if it is determined that it is not in conformance therewith at the S670 step, it is determined whether the current car position is the starting position at the subsequent stage (χ+1) of the path; and the step (S672) that if it is determined that it is the starting position at the said S671 step, the subsequent stage of the path is set up as the stage to be performed (χ+1 → x) and then, the system returns to the S630 step.
Further, the system performs in regular sequence the step (S680) that if it is determined that it is not the starting position at the said S671 step, the current steering angle and the current transmission gear selective pattern are arithmetic-logically processed according to the signals sensed by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed, and the optimal parking path is arithmetic-logically processed according to the topographical object positions and the current car position as arithmetic-logically processed and displayed at the S660 step, and further the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed according thereto and further displayed, and then the system returns to the S610 step; and the step (S690) that if it is determined that the current car position is in conformance with the selected parking position, the message of "Parking Completed" is displayed and then the system operation is ended.
Meanwhile, at the S650 step that the car is moved as far as the set distance, the car may be moved by controlling the accelerator driving unit (1200) and the brake driving unit (1300) automatically according to the moving distance at the stage of the path to be performed, or by having the driver manipulate the accelerator pedal and the brake pedal directly. If the automatic parking mode is performed as above described, the car gets to be moved to the parking position by controlling the steering angle and the transmission gear selective pattern automatically according to the optimal parking path, and any safety accident due to the driver's poor operation is, therefore, prevented from taking place.
Meanwhile, the method for controlling the automatic car parking system according to this invention includes the starting mode which can be used when the car is started from the parking position, and the operation sequence of the starting mode is described as follows!
Fig. 9 is a flowchart indicating the operation sequence of the starting mode using the automatic parking system according to this invention. As shown in the figure, in the starting mode, the system performs the step (S910, S920) that when the car is started, it is determined whether the car is parked by using the automatic parking mode! the step (S930) that if it is determined that the car is parked by using the automatic parking mode, the topographical objects, the parking position, the steering angle and the transmission gear selective pattern, which are lastly saved, are displayed; the step (S931) that the topographical object positions sensed according to the signals sensed by actuating the topographical object sensing unit is compared with the last topographical object positions displayed at the said S930 step; and the step (S932) that as a result of comparing so at the said S931 step, it is determined whether the sensed topographical objects are in conformance with the last topographical objects within a given tolerance.
Further, the system performs the step (S940) that if it is determined that it is in conformance therewith at the said S932 step, the possible starting positions and car directions are arithmetic-logically processed and displayed; the step (S941) that the message for selecting the wanted starting position and the wanted car direction is outputted; and the step (S950) that if the wanted starting position and the wanted car direction are selected, the optimal starting path, the optimal steering angle and the optimal transmission gear pattern are arithmetic-logically processed according thereto and further displayed. Further, the system performs the step (S921) that if it is determined that the car is not parked by using the automatic car parking system at the said S920 step or that the sensed topographical object is not in conformance with the last topographical object at the said S932 step, the signals sensed by actuating the topographical object sensing unit, the steering sensing unit and the transmission gear position sensing unit are inputted, and then the topographical object positions, the current car position, the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed and further displayed, and then the system performs the step (S922) that the system returns to the S940 step.
Further, the system performs in regular sequence the step (S960) that it is determined whether the car is moved as far as the given distance by actuating the car movement sensing unit following performance of the said S950 step; the step (S970) that if it is determined that the car is moved as far as the given distance, the topographical object positions and the current car position are arithmetic-logically processed according to the signals sensed by actuating the topographical object sensing unit and further displayed; the step (S980) that it is determined whether the current car position as arithmetic-logically processed and displayed at the said S970 step is in conformance with the selected starting position; the step (S981) that if it is determined that it is not in conformance therewith at the said S980 step, the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed according the signals inputted by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed, and then the system returns to the S950 step; and the step (S990) that if it is determined that it is in conformance therewith at the S980 step, the message of "Starting Completed" is displayed and then the system operation is ended.
If the said starting mode is performed as above described, the car can be started from the parking position with ease. Meanwhile, when the car has any risk to collide with any external obstacle, such risk can be informed in advance so that the collision may be prevented by having the system perform a step that the collision sensor (not shown in the figures), which is installed in the external side of the car and further connected with the control unit (100) of the automatic car parking system according to this invention, is actuated while the said car is being moved, a step that the distance between the car and the object approaching toward the car is arithmetic-logically processed according to the sensed signals and a step that in case the distance between the car and the object approaching toward the car is within a given distance, the alarming sound is transmitted.
And, if the system performs the step (S700) that the track corresponding to the optimal parking path is indicated outside the car by actuating the track indicating unit (900) following performance of the said S600 step and returns to the step (S700) that the track indicating unit is actuated following performance of the said SHOO step (as shown in a dotted line in the figure), the track corresponding to the optimal parking path is indicated outside the car by the laser beam, etc.. Therefore, the driver can park the car with ease along the indicated track.
The operation status of this invention comprising as above described is described as follows; When the driver actuates the automatic car parking system in a parking lot or a narrow parking place on a backside road requiring a single row parking, the microcomputer (100'), which constitutes the control unit (100), arithmetic-logically processes the signals inputted by actuating the topographical object sensor (200'), the steering wheel turning sensor (300') and the shift lever position sensor (400'), and thereby determines the external topographical objects, the current car position, the current steering angle and the current transmission gear selective pattern, and further displays them on the monitor (700').
Further, the microcomputer arithmetic-logically processes the signals inputted from the said topographical object sensor (200') and the said steering wheel turning sensor (300') and thereby arithmetic-logically processes the possible parking positions and directions at the external topographical objects by using the saved data, and as a result, if any possible parking positions exist, they are displayed together with the said contents on the monitor (700').
As a result of processing arithmetic-logically as above described, in case any possible parking position does not exist, the message of "Parking Unavailable" is displayed on the monitor (700') and therefore, the driver moves the car to another position. Then, the car movement is sensed. And, when the car is stopped subsequently, the process to actuate the respective sensors (200', 300', 400' ) is repeatedly performed.
And, a plural number of possible parking positions and directions are displayed on the monitor (700'). Among the possible parking positions and directions, the optimal possible parking position and direction are flickered or displayed in a different color. Therefore, if the driver watches the monitor where they are displayed as above described and selects the wanted parking position by using the car position selective section (620) of the selective buttons (600') and the wanted car parking direction by manipulating the car direction selective section (610) or clicks the enter key (630) of the selective buttons (600'), the optimal possible parking position and direction are selected as the wanted parking position and direction, and the microcomputer (100') displays them and further processes the optimal parking path arithmetic-logically and then outputs the corresponding signals so that the optimal parking path may be displayed together with them.
Also, the microcomputer processes arithmetic-logically the optimal steering angle to enable the car to be moved along the said optimal parking path and further displays it together with the current car steering angle on the monitor (700' ). Further, it processes arithmetic-logically the optimal transmission gear selective pattern and further displays it together with the current car transmission gear selective pattern on the monitor (700'). Then, the driver can watch them and determine the turning direction of the steering wheel and the controlling direction of the shift lever.
Subsequently, if the driver selects the manual operating information mode or the automatic parking mode, the system performs it. If the driver does not select so and moves the car, the drive-wheel rotation sensor (500' ) senses such car movement and thereby the topographical object sensor (200'), the steering wheel turning sensor (300') and the shift lever position sensor (400') are actuated until it is determined that the car is moved to the selected parking position. Thereby, the current topographical object positions, the current car position, the current steering angle, the current transmission gear selective pattern, the optimal parking path, the optimal steering angle and the optimal transmission gear selective pattern are displayed on the monitor (700'). Then, the driver can watch them and move the car to the parking position. Meanwhile, if the manual operating information mode is selected, the difference between the optimal steering angle and the sensed car steering angle and the difference between the optimal transmission gear selective pattern and the sensed transmission gear selective pattern are arithmetic-logically processed. Further, according to such operation values, the turning direction and amount of the steering wheel and the controlling direction of the shift lever are arithmetic-logically processed. Further, according to such operation values, the instructional signals are outputted to the monitor (700') and the speaker (800'). Thereby, the driver can move the car to the parking position with ease by manipulating the steering wheel and the shift lever according to the voice information or the displayed information corresponding to the outputted signals.
Also, if the automatic parking mode is selected, the parking path is divided by stages according to changes in the optimal steering angle and the transmission gear selective pattern, and each divided path is displayed together with each moving distance by respective stages as divided. Then, the shift lever position controlling device (1100') and the steering wheel turning device (1000') are automatically actuated according to the optimal steering angle and the transmission gear selective pattern by respective stages. Thereby, the shift lever and the steering wheel is changed to a proper position.
And, the driver may move the car directly by manipulating the accelerator and the brake. Otherwise, the accelerator pedal driving device (1200') and the brake pedal driving device (1300' ) are actuated according to the controlling signals, and thereby the car is moved automatically as far as the moving distance by stages.
The said transmission gear and steering angle controlling step and the car moving step are repeatedly performed along the optimal parking path by respective stages as divided, and thereby the car is moved to the parking position. Then, the automatic parking mode is ended.
Meanwhile, if the car is moved, the collision sensor is actuated to sense any obstacle approaching toward the car. As a result, if it is determined that the distance between the obstacle approaching toward the car and the car is within a given value, the alarming sound is outputted to the speaker (800') and the alarming message is displayed on the monitor (700'). Thereby, the driver can recognize the collision risk and therefore, any contact accident can be prevented.
Also, if the signals according to the optimal parking path are outputted to the laser beam transmitting device (600') by actuating the track indicating unit (600), the laser beam is shot at the outside of the car. Then, the driver can move the car to the parking position with ease by manipulating the steering wheel along the laser beam shot as above described. And, when the driver attempts to start the car as parked by the said automatic car parking system, the driver can start the car from the parking position with ease by using the staring mode of the automatic car parking system. The operation status of the starting mode is described as follows; When the driver starts the car, the system senses it and thereby, the topographical objects, the parking position, the steering angle and the transmission gear selective pattern, which are lastly saved in the temporary memory of the microcomputer (100'), are automatically displayed on the monitor (700'), and if it is determined that the respective topographical object positions in front of, in rear of, on the right of and on the left of the car are within the given tolerance of the lastly saved topographical object positions, the car position and direction at the time when the driver started to park the car by using the automatic car parking system are displayed together with a plural number of possible starting positions and directions on the monitor (700'). Subsequently, when the driver watches the monitor where they are displayed as above described and selects the starting position and direction, the optimal starting path, the steering angle and the transmission gear selective pattern are arithmetic-logically processed according thereto and displayed.
The driver can watch the monitor (700' ) where they are displayed as above described, manipulate the shift lever and the steering wheel with ease and then start the car by moving the car. As the car is moved, the topographical object sensor (200'), the steering wheel turning sensor (300') and the shift lever position sensor (400' ) are actuated, and thereby, the topographical object positions, the car position, the steering angle, the transmission gear selective pattern, the optimal path, the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed. If the car is moved according thereto, the driver can move the car out of the parking position with ease.
At the said starting mode, like the method for controlling the said manual operating information mode, the system can instruct the driver to manipulate the steering wheel and the shift lever through the corresponding voice information together with the corresponding information as displayed on the monitor, and further, like the method for controlling the automatic parking mode, process arithmetic-logically the steering angle and the transmission gear selective pattern automatically. Accordingly, the car can be started by changing the respective positions of the steering wheel and the shift lever.
[Industrial Applicability]
As described above, when the driver attempts to park the car, this invention recognizes any external topographical objects and the car steering angle automatically, and thereby, sets up the optimal parking position and the optimal parking path. Further, it indicates the external track along which the car is to be moved or informs the driver of the turning direction and amount of the steering wheel so that the driver may park the car with ease and safety or move the car to the parking position automatically. This invention is, therefore, a very useful invention to enhance the convenience for the driver more greatly.

Claims

[What is claimed is] [1]
The automatic car parking system is characterized by comprising the topographical object sensing unit (200) to sense any external topographical objects and their respective distances; the steering angle sensing unit (300) to sense the direction and the turning amount of any steering angle; the transmission gear position sensing unit (400) to sense any selective pattern of the automatic transmission gear; the car movement sensing unit (500) to sense whether the car is in motion and any car moving distance; the selective unit (600) to output signals for selecting a parking position, a parking direction and each system mode according to the driver's manipulation; the control unit (100) to process arithmetic-logically the topographical object positions, the car position, the steering angle and the transmission gear selective pattern according to the signals inputted from the said topographical object sensing unit (200), the steering angle sensing unit (300) and the transmission gear position sensing unit (400), sense whether the car is in motion or not according to the signals inputted from the car movement sensing unit (500), output the signals corresponding to the respective operation values, obtain the parking position and directions, the optimal path, the optimal steering angle, the optimal turning direction and amount of the steering wheel, the optimal controlling direction of the gear shift lever and the optimal transmission gear selective pattern by the said operation values and the signals from the selective unit (600) according to the driver's manipulation, and further output the signals corresponding thereto; the display unit (700) to indicate the instructional signals corresponding to the external topographical object positions, the car position, the steering angle, the transmission gear selective pattern, the parking position and direction, the parking path, the optimal steering angle, the optimal transmission gear selective pattern, the optimal turning direction and amount of the steering wheel and the optimal controlling direction of the gear shift lever according to the signals inputted from the said control unit (100); and the voice information unit (800) to output any information messages in voice signals according to the signals inputted from the said control unit (100).
[2]
The automatic car parking system according to Claim 1, wherein the said steering angle sensing unit (300) comprises the steering wheel turning sensor (300' ) as installed in the main shaft of the steering wheel so that it may transmit the signals according to the turning direction and amount of the steering wheel.
[3]
The automatic car parking system according to Claim 1, wherein the said transmission gear position sensing unit (400) comprises the gear lever position sensor (400') as installed in the gear lever so that it may output corresponding signals according to the gear lever position.
[4]
The automatic car parking system according to Claim 1, wherein the said car movement sensing unit (500) comprises the drive-wheel rotation sensor (500') as installed in a given position of the car tire wheel so that it may sense the rotation of the tire wheel and further output the sensed signals.
[5]
The automatic car parking system according to Claim 1, wherein the said car movement sensing unit (500) comprises the speed meter needle turning sensor as installed in a given position of the car speed meter so that it may sense a turning movement of the speed meter needle as the car is moved and further output the sensed signals.
[6]
The automatic car parking system according to Claim 1, wherein the said car movement sensing unit (500) comprises the mileage counter sensor as installed in a given position of the mileage counter so that it may sense a count of the mileage counter part and further output the sensed signals.
[7]
The automatic car parking system according to Claim 1, wherein thesaid selective unit (600) comprises the selective buttons (600') consisting of the car direction selective section (610) which is installed so that it may be turned right and left and outputs the car direction converting signals according to its turning amount; the car position selective unit consisting of the 4 buttons for selecting 'up', 'down', 'right' and 'left' so that it may output the signal corresponding to any pushed button! and the enter key for outputting the enter signal according to manipulation thereof.
[8] The automatic car parking system according to Claim 1, wherein the said display unit (700) comprises the monitor (700') of the navigation system.
[9] The automatic car parking system according to Claim 1, wherein the said voice information unit (800) comprises the speaker (800' ) of the car audio system.
[10] The automatic car parking system according to Claim 1, wherein the track indicating unit (900), which indicates the optimal path outside the car according to the controlling signals from the said control unit (100), is connected with the control unit (100).
[11]
The automatic car parking system according to Claim 10, wherein the said track indicating unit (900) comprises the laser beam transmitting device (900') as installed in a given position of the car. [12]
The automatic car parking system according to Claim 1, wherein the steering angle turning unit (1000), which is actuated so that the steering angle may be controlled according to the controlling signals from the said control unit (100), is connected with the control unit
(100).
[13] The automatic car parking system according to Claim 12, wherein the said steering angle turning unit (1000) comprises the steering wheel turning device (1000' ) as installed in the main shaft of the steering wheel so that it may control the steering angle by turning the main shaft of the steering wheel as it is actuated according to the signals from the control unit (100).
[14]
The automatic car parking system according to Claim 1, wherein the transmission gear position controlling unit (1100), which is actuated so that the transmission gear selective pattern may be controlled according to the controlling signals from the said control unit (100), is connected with the control unit (100).
[15]
The automatic car parking system according to Claim 1, wherein the accelerator driving unit (1200) for moving the car by actuating the accelerator pedal automatically according to the controlling signals from the said control unit (100) and the brake driving unit (1300) for stopping the car by actuating the brake pedal are connected with the control unit (100).
[16] The method for controlling the automatic car parking system is characterized by it that the system performs in regular sequence the step (S100) that when the automatic car parking system is actuated, the topographical object sensing unit, the steering angle sensing unit and the transmission gear position sensing unit are turned on and then the sensed signals are inputted; the step (S200) that the topographical object positions, the car position, the transmission gear selective pattern and the steering angle are arithmetic-logically processed by using the signals inputted in the previous step and further displayed, the step (S300) that it is determined whether any possible parking positions exist or not by processing possible parking positions and directions arithmetic-logically by using the said operation values; the step (310) that if any possible parking position does not exist, the message of "Parking Unavailable" is displayed, and it is sensed whether the car is in motion or not and as a result, if it is determined that the car is in motion, the system returns to the said sensing step of S100; the step (S320) that if any possible parking positions exist, the possible parking positions and directions are displayed together with the topographical object positions as displayed in the previous step and further the message for selecting the parking position and direction is outputted; and the step (S400) that if any parking position and direction among the displayed possible parking positions are selected by the driver, the optimal parking path to the selected parking position, the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed together with the screen contents displayed in the said S200 step; the step (S500) that following performance of the previous step (S400), it is determined whether the manual operating information mode has been selected; the step (S600) that if the manual operating information mode has not been selected, it is determined whether the automatic parking mode has been selected; the step (S800) that in case the automatic parking mode was not selected in the previous step, it is determined whether the car has been in motion according the signals sensed by actuating the car movement sensing unit; the step (S900) that if the car has been in motion, the topographical object positions and the car position are arithmetic-logically processed according to the signals sensed by actuating the topographical object sensing unit and further displayed; the step (S1000) that it is determined whether the car is located at the parking position as selected in the said S400 step; the step (SHOO) that in case it is determined that the car is not located at the selected parking position, the steering angle sensing unit and the transmission gear position sensing unit are actuated, and according to the sensed signals, the sensed steering angle and the transmission gear selective pattern are arithmetic-logically processed and displayed, and the optimal parking path, the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed, and then the system returns to the S800 step; and the step (S1200) that in case the car is located at the selected parking position, the message of "Parking Completed" is displayed and then the system operation is ended.
[17]
According to Claim 16, the method for controlling the automatic car parking system is characterized by it that the system performs in regular sequence the step (S510) that if it is determined in the said S500 step that the manual operating information mode is selected, the difference between the optimal steering angle and the sensed steering angle and the difference between the optimal transmission gear selective pattern and the transmission gear selective pattern are arithmetic-logically processed, and according to the respective operation values, the optimal turning direction and amount of the steering wheel and the optimal controlling direction of the shift lever are arithmetic-logically processed and displayed, and then the corresponding instructional signals are outputted in the voice signals; the step (S520) that the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed according to the signals sensed by actuating the steering angle sensing unit and the transmission gear position sensing unit following performance of the previous step and further displayed, and then it is determined whether the sensed steering angle and the sensed transmission gear selective pattern are in conformance with the optimal steering angle and the optimal transmission gear selective pattern respectively; and the step (S521) that in case they were not in conformance therewith in the previous step, an alarming message is displayed and at the same time it is outputted in a voice, and then the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed and displayed, and then the system returns to the S510 step; the step (S522) that if it is determined that they are in conformance therewith in the said S520 step, the instructional signals for moving the car are displayed and further outputted in a voice; the step (S530) that it is determined whether the car is in motion according to the signals inputted by actuating the car movement sensing unit following performance of the previous step; the step (S540) that in case the car is in motion, the topographical object positions and the current car position are arithmetic-logically processed according to the signals sensed by actuating the topographical object sensing unit and further displayed; the step (S550) that it is determined whether the current car position as arithmetic-logically processed in the previous step is in conformance with the selected parking position; the step (S560) that in case it is determined that the car is not located at the parking position selected in the said S550 step, the current sensed steering angle and the current sensed transmission selective pattern are arithmetic-logically processed according to the sensed signals inputted by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed and then the optimal parking path and the optimal transmission gear selective pattern are arithmetic-logically processed and further displayed, and then the system returns to the said step (S510); and the step (S570) that in case it is determined that the car is located at the parking position selected in the said S550 step, the message of "Parking Completed" is displayed and then the system operation is ended.
[18] According to Claim 16, the method for controlling the automatic car parking system is characterized by it that the system performs in regular sequence the step (S610) that if it is determined in the said S600 step that the automatic parking mode is selected, the parking path is divided by stages according to changes in the optimal steering angle and the optimal transmission gear selective pattern and further displayed; the step (S611) that the moving distance is arithmetic-logically processed by stages of the path as divided at the said S610 step and further displayed; the step (S620) that the stage (χ) to be performed is set up as the first stage among all divided stages; the step (S630) that the steering angle turning unit and the transmission gear position controlling unit are actuated according to the optimal steering angle and the optimal transmission gear selective pattern at the stage to be performed; the step (S640) that the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed according to the signals sensed by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed, and it is determined whether the sensed steering angle and the sensed transmission gear selective pattern are respectively in conformance with the optical steering angle and the optimal transmission gear selective pattern as arithmetic-logically processed; and the step (S641) that if it is determined that they are not in conformance therewith, the system returns to the S630 step; the step (S650) that if it is determined that they are in conformance therewith in the said S640 step, the car is moved as far as the moving distance applicable to the corresponding stage of the path; the step (S660) that the topographical object positions and the current car position are arithmetic-logically processed according to the signals sensed by actuating the topographical object sensing unit and further displayed; the step (S670) that it is determined whether the current car position as arithmetic-logically processed is in conformance with the selected parking position; the step (S671) that if it is determined that it is not in conformance therewith at the S670 step, it is determined whether the current car position is the starting position at the subsequent stage (χ+l) of the path; and the step (S672) that if it is determined that it is the starting position at the said S671 step, the subsequent stage of the path is set up as the stage to be performed (x+l → x) and then, the system returns to the S630 step; the step (S680) that if it is determined that it is not the starting position at the said S671 step, the current steering angle and the current transmission gear selective pattern are arithmetic-logically processed according to the signals sensed by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed, and the optimal parking path is arithmetic-logically processed according to the topographical object positions and the current car position as arithmetic-logically processed and displayed at the S660 step, and further the optimal steering angle and the optimal transmission gear selective pattern are arithmetic-logically processed according thereto and further displayed, and then the system returns to the S610 step; and the step (S690) that if it is determined that the current car position is in conformance with the selected parking position, the message of "Parking Completed" is displayed and then the system operation is ended.
[19] According to Claim 16, the method for controlling the automatic car parking system is characterized by it that the system performs the step (S700) that the track corresponding to the optimal parking path is indicated outside the car by actuating the track indicating unit (900) following performance of the said S600 step and returns to the step (S700) that the track indicating unit is actuated following performance of the said SHOO step.
[20] The method for controlling the automatic car parking system is characterized by it that the system performs in regular sequence the step (S910, S920) that when the car is started, it is determined whether the car is parked by using the automatic parking mode; the step (S930) that if it is determined that the car is parked by using the automatic parking mode, the topographical objects, the parking position, the steering angle and the transmission gear selective pattern, which are lastly saved, are displayed; the step (S931) that the topographical object positions sensed according to the signals sensed by actuating the topographical object sensing unit is compared with the last topographical object positions displayed at the said S930 step; the step (S932) that as a result of comparing so at" the said S931 step, it is determined whether the sensed topographical objects are in conformance with the last topographical objects within a given tolerance; the step (S940) that if it is determined that it is in conformance therewith at the said S932 step, the possible starting positions and car directions are arithmetic-logically processed and displayed; the step (S941) that the message for selecting the wanted starting position and the wanted car direction is outputted; the step (S950) that if the wanted starting position and the wanted car direction are selected, the optimal starting path, the optimal steering angle and the optimal transmission gear pattern are arithmetic-logically processed according thereto and further displayed; the step (S921) that if it is determined that the car is not parked by using the automatic car parking system at the said S920 step or that the sensed topographical object is not in conformance with the last topographical object at the said S932 step, the signals sensed by actuating the topographical object sensing unit, the steering sensing unit and the transmission gear position sensing unit are inputted, and then the topographical object positions, the current car position, the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed and further displayed, and then the step (S922) that the system returns to the S940 step; the step (S960) that it is determined whether the car is moved as far as the given distance by actuating the car movement sensing unit following performance of the said S950 step; the step (S970) that if it is determined that the car is moved as far as the given distance, the topographical object positions and the current car position are arithmetic-logically processed according to the signals sensed by actuating the topographical object sensing unit and further displayed; the step (S980) that it is determined whether the current car position as arithmetic-logically processed and displayed at the said S970 step is in conformance with the selected starting position; the step (S981) that if it is determined that it is not in conformance therewith at the said S980 step, the sensed steering angle and the sensed transmission gear selective pattern are arithmetic-logically processed according the signals inputted by actuating the steering angle sensing unit and the transmission gear position sensing unit and further displayed, and then the system returns to the S950 step; and the step (S990) that if it is determined that it is in conformance therewith at the S980 step, the message of "Starting Completed" is displayed and then the system operation is ended.
PCT/KR2000/001101 1999-10-01 2000-10-02 Auto parking system Ceased WO2001025048A1 (en)

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