KR20120035122A - Method for carrying out a parking process of a motor vehicle and device for controlling a parking process of a motor vehicle - Google Patents

Abstract

The present invention relates to a method for carrying out a parking process of a vehicle. The method relates to sensing a parking space using at least one side sensor oriented laterally with respect to the vehicle and calculating a parking trajectory leading from the current position of the vehicle to the parking space. One or more rear sensors oriented in the rear direction of the vehicle detect the distance between the vehicle and, optionally, an object present in the rear periphery of the vehicle. The geometry of the parking trajectory decreases as the distance between the object and the vehicle decreases, or as the rate of decrease in distance increases, or as a combination of both. The driving along the parking trajectory thus obtained is initiated by an automatic, semi-automatic or assisted parking method upon execution of the parking process.
The invention also relates to an apparatus for controlling the parking process of a vehicle for carrying out the method according to the invention.

Description

METHOD FOR CARRYING OUT A PARKING PROCESS OF A MOTOR VEHICLE AND DEVICE FOR CONTROLLING A PARKING PROCESS OF A MOTOR VEHICLE}

The present invention relates to a method for executing a parking process of a vehicle and an apparatus for controlling a parking process of a vehicle.

In the field of the invention, that is to say in the field of parking assistance systems, inter-vehicle distance warning systems are known which send out a warning signal when the vehicle to be parked is located very close to the surrounding object. In the case of this type of system, the choice of parking path is entirely delegated to the driver, who can judge the surrounding situation only in accordance with the warning signal, with the driver's own usual visual judgment.

In addition, a parking assistance system is also known which detects the geometry of the parking space as it passes, in particular through side sensors such as ultrasonic sensors and radar sensors, and supports the parking process along the calculated parking route based on this. Assistance may be provided in stages, for example in the first stage only warning signals, direction indications or speed indications may be provided by the driver, and in further stages the system may operate the steering system or additionally drive speed. Carry out the parking process in a semi-automatic way or automatically by adjusting.

Furthermore, from DE 10 2005 015354 A1 a parking assistance method is known in which the opposite side is further scanned so as to avoid collisions with objects located on the opposite side of the road while the parking space is being scanned. In a comparable way, DE 103 32 961 A1 describes a way to detect traffic conditions in the opposite lane so that a warning in the event of a collision is possible in the category of parking assistance.

Known parking assistance systems therefore only consider the width of the roadway used to determine lane departure behind the vehicle so as to avoid collisions with vehicles not located in the lanes of the vehicle body during the parking process. As a result, the traffic conditions to be careful of when parking are considered only incompletely, so there is a risk of collision even if known measures are carried out.

It is therefore an object of the present invention to provide a parking process execution method and a parking process control apparatus, which allow the parking process to be deployed more safely.

The problem is solved by a method and an apparatus according to the independent claims.

The present invention makes it possible to take into account the traffic conditions on the road, in particular in order to avoid collision accidents. The present invention enables parking based on automatically collected data that takes into account relevant components of traffic conditions that have not been considered so far. With the present invention, a vehicle equipped with the method or system according to the present invention joins the traffic flow much more smoothly, since important aspects of the surrounding traffic flow can be considered together in the parking process by the present invention. to be. In particular, the present invention does not require the use of specific hardware components, in particular because it can be easily implemented with existing components that only need to be modified slightly through reprogramming. In addition, the present invention can be simply integrated into a conventional parking system.

According to the invention, for the calculation of the parking path (ie the path inside the parking trajectory), not only the parking space is sensed using sensors located on the side of the vehicle to be parked, but also around the rear of the vehicle. Automatic observation (eg via electronic circuitry) is also possible because there may be objects located behind the vehicle (ie other road use objects) that represent potential collision risks. In addition, according to the present invention, an object that potentially represents a danger is considered even though it is not yet present as an obstacle in the parking trajectory at the time of detection. According to the present invention, as the objects located in the rear area of the vehicle appear more relevant, the size of the parking trajectory is reduced, so that the parking process is adapted to the potentially related objects in the rear area of the vehicle. The relevance of a vehicle or other object located in the rear region is determined by distance or approach speed, ie the rate of change of distance, or a combination thereof. Thus, the closer a vehicle is to a vehicle to park, the more limited or reduced the parking trajectory, thus preventing extensive parking movement of the vehicle to be parked, so that other vehicles only make a few maneuvers to pass through the vehicle to park. Just do it. Thus, the present invention is not limited to fixed objects that form a parking space, but also takes into account the development of time-dependent deployment of moving objects located at the rear of the vehicle. Compared to the side objects already parked, the rear side of the vehicle typically has moving objects toward the vehicle to be parked, so the rear side objects of the vehicle are basically different from the side objects (or other fixed objects) already parked on the side of the vehicle. Should be considered in different ways.

Therefore, in the method according to the present invention for executing the parking process of the vehicle, first, the parking space is sensed using one or more side sensors. The method herein may operate only in a way that the warning signal or orientation signal, which is used as a direction indication to the driver for the driver, is sent out in a condition that the method does not interfere with the operation of the vehicle, according to one variant. . In the case of alternative variants, the execution of the parking procedure, in which interference with the driving conditions is effected by an automatic system (actually implementing the present invention), begins with driving along the parking trajectory, for example by mechanical interference to the steering of the vehicle. It may also be provided, which corresponds to semi-automatic assistance, or in the case of automatic parking assistance, the driving speed is also controlled by the automatic system.

In addition, according to the present invention, a parking trajectory for guiding from the current position of the vehicle to the parking space is calculated. The parking trajectory is in particular provided by the optimum parking path and the ground passing when the vehicle starts running along the parking path. In addition, the parking trajectory may include additional lateral allowance deviations, especially if steering is not performed by the automatic system, but if the method of the present invention sends only the orientation signal that the driver should actually implement.

By means of one or more rearward sensors oriented in the rearward direction of the vehicle, the distance between the vehicle and, in some cases, objects located around the rear of the vehicle is detected.

Preferably, the distance is repeatedly detected, in particular to detect the rate of decrease of the distance (ie the relative speed between the vehicle approaching from the rear and the vehicle to be parked), and in accordance with certain embodiments, the rate of decrease of the distance is used for direct speed measurement. For example, using the Doppler effect acting on the pulses of the pulse echo method (for distance measurement). The relevance of the vehicle is detected according to the distance measurement or the speed measurement. The higher the relevance, the more limited the size of the parking trajectory. Relevance is derived from distance, velocity, or a combination of both. The shorter the distance, the higher the relevance (e.g., realized by the relevance value), and the higher the rate of decrease of the distance, that is, the higher the relevance. Thus, the size of the parking trajectory can be determined by decreasing the distance between the object and the vehicle, or as the rate of decrease of the distance increases (as the relative speed between the detected object and the vehicle to be parked) or a combination of both. Is reduced.

The combination (ie, total relevance) may be based on, for example, the addition or multiplication of the relevance values, one relevance value increases with decreasing distance, and another relevance value increases with speed. Thus, for example, even if the distance between the object and the vehicle is far, if the object approaches a vehicle to park at a high speed, a high total relevance is detected. Similarly, although a low speed is detected between the vehicle and the object, if the vehicle has a high relevance based on a short distance, a high total relevance (and thus a stronger reduction in the parking trajectory size) is provided. In calculating the parking trajectory, it is optional whether the relational value or the total relevance value is used as an intermediate value, so that the distance as well as the reduction rate (i.e. speed) are individually or preferably combined with each other to determine the geometric size of the parking trajectory. It is included in the calculation.

After the calculation of the parking trajectory or after the modification of the size of the parking trajectory, the parking process is executed by starting the driving along the parking trajectory according to the automatic, semi-automatic or assisted parking method. In the case of automatic and semi-automatic parking methods, at least steering and optionally driving speed are also controlled by the automatic system, and the driver interferes with the parking method only in special operating conditions (eg only when an emergency stop is required). In the case of the semi-automatic parking method, the driving speed is controlled by the driver operating the accelerator pedal or the brake pedal, and in the assisted parking method, only the setting direction of the steering device that the driver actually implements, for example, the setting steering force and the setting steering direction, is used. Is displayed. Such indication signals are provided according to the parking trajectory generated according to the invention by the method according to the invention.

According to an embodiment, the rear sensor is formed as a camera (eg as a video camera that emits an image signal) and the distance is detected by image capture. For optical distance detection, the perspective of the sensed object is used, from which the distance is derived. For this purpose, visual features of the object are detected, for example vehicle contours, license plate or headlight pairs (or outdoor rearview mirror pairs). Since the actual size of the visual features can be estimated to some extent, the separation distance can be estimated from the detected image and the visual features appearing within the image. For example, vehicle contours, license plates or headlight pairs (or wheels between front wheels) can be detected and set in proportion to the typical size of the corresponding visual feature. In addition, the visual feature can be detected as an image object, in which case the image size of the image object is measured, for example by the number of pixels or by the ratio of the image object size to the total visible area of the camera. In particular, two images taken consecutively in time can be compared with each other, and the increase in the size of the corresponding image features is used in calculating the rate of decrease of the distance, ie the speed at which the detected object approaches the vehicle to park. In particular, a known object detection method can be used to select one or more visual features from the detected full camera image, wherein the size of the visual features (ie the width of the outline of the vehicle, the width of the license plate, the distance between the headlights of the headlight pair) Or light cones of headlamps reproduced on the road) can be used for distance detection. In particular, prominent visual features can be detected every time the image is captured, e.g. according to the width of the outdoor rearview mirror pair (ie the distance between the outdoor rearview mirrors) to determine the proximity of the vehicle including the outdoor rearview mirror. The rear view mirror can be detected. In particular, if the rate of decrease of distance, i.e. speed, is detected, the same visual features are detected in the images with time difference, and the vehicle approaching from the rear (in relation to the time between image shots) by the magnitude increasing with time Relative speed between the vehicle and the vehicle to be parked can be detected. According to another embodiment which may be used in place of or in combination with this, the distance is detected by the pulse echo method. For this purpose, the rear sensor is formed as an ultrasonic distance sensor or a radar distance sensor. For this purpose radar distance sensors are preferably used, which for example comprise a piezoelectric converter (or a general acoustic converter) which is excited for transmitting ultrasonic pulses and which also detects echoes from the surroundings. Equally the radar distance sensor can be formed as an antenna which receives echoes which are excited in the same way and carried from the surroundings for transmitting electromagnetic pulses, preferably microwave pulses. In both variants, the calculation unit detects the time interval between the transmission of the pulse and the reception of the echo and converts it into distance. The corresponding calculation unit may be provided to the sensor or may be provided to the central calculation unit.

According to yet another embodiment, as the side sensor, an ultrasonic distance sensor or a radar distance sensor which similarly functions as the above-described rear sensors applying the pulse echo method is used.

At least one rear sensor and at least one side sensor are secured to the vehicle and are oriented away from the vehicle, ie towards the rear and side sides in the normal driving direction as seen from the vehicle. The sensors are mounted on the vehicle body, for example inside the bumper. In the case of a rear sensor formed as a camera, the camera is preferably arranged in the vehicle interior, for example at the top of the rear glass, to detect images through the rear glass. If the rear sensor is formed as a camera having an auto focus function, the distance to the rear object (the trailing vehicle) can be detected according to the adjustment of the auto focus, and the adjusted depth of focus corresponds to the distance to be detected.

In addition, the size of the parking trajectory represents the normal range in the form of a set surface through which the vehicle passes during the parking process. During execution of the parking process it is checked repeatedly (or continuously) whether the current position of the vehicle is located inside the parking trajectory. The current position of the vehicle can be detected by detection of relative movement between the vehicle and the ground (e.g. travel distance passed when the steering wheel steering angle is preset), and also by the sensor assisted orientation of the vehicle relative to the surroundings, or by GPS techniques Can be detected, preferably the methods are combined with each other.

In the case of the automatic or semi-automatic parking method, if the vehicle is detected to be out of the provided parking trajectory or expected to be out of the parking trajectory in the present steering wheel adjustment, the vehicle is steered toward the parking trajectory by the automatic steering wheel adjustment. In the case of assisted parking methods, another response of the system is provided, that is, if the vehicle is out of the parking trajectory or if the vehicle is expected to leave the parking trajectory during the current steering wheel adjustment, then the steering wheel adjustment is not changed. Warning alerts or direction indications or both are provided.

According to the invention the size of the parking trajectory is shortened or enlarged depending on the detected distance and / or the detected speed. The change in the parking trajectory size can be provided through a change in width, a change in length, or a change in the radius of the curve that reproduces the parking path of the parking trajectory. Especially if shorter distances or higher speeds are detected, the length of the parking trajectory is shortened, so if a shorter distance or higher speed (or both) is detected during or after the detection of the parking space, the vehicle is shorter. It will move the section. This shortens the overall parking trajectory as the reverse path required as the first section of the parking trajectory is shortened. Thus, if there is already a trailing vehicle located near the parking space and thus near the vehicle to be parked, the parking process can be carried out faster, since only a shorter section needs to be moved.

According to another embodiment, the size of the parking trajectory is set to a predefined size for distances above the maximum distance threshold or for relative speeds between a trailing vehicle below the maximum speed threshold and a vehicle to park. . The maximum distance threshold and the minimum speed threshold form a threshold at which the method according to the invention starts to further shorten the parking trajectory. The magnitude below the minimum distance threshold depends on the distance depending on the function, which is at least a piecewise monotonic decreasing or strictly monotonic decreasing function, preferably a continuous function or the function Is constructed as a step function, in which case the magnitude decreases stepwise by the discrete interval width as the distance becomes shorter. A finite number of discrete magnitude values, a constant magnitude value, and a continuous reduction magnitude value are then determined to determine the magnitude of the parking trajectory. Similarly, there is a function corresponding to the previously described function up to the inclination direction between the rate of decrease of the distance (ie the speed) and the size of the parking trajectory. There is a relationship between the relative speed between the vehicle to be parked and the trailing vehicle and the magnitude of the parking trajectory, which is formed at least as a partial monotonic reduction function, or as a net forging reduction function, preferably as a continuous function, the magnitude of which is a rising step function. Depending on the relevant speed values, the step function corresponds to the step function described above up to the opposite inclination direction.

In another embodiment, depending on the type of parking method, a minimum distance threshold or a maximum speed threshold is provided, upon which the parking method automatically stops or a warning signal is issued. Therefore, if the trailing vehicle is too close to the vehicle to be parked or approaches at too high a speed, the parking process is interrupted, especially because of the short distance of the trailing vehicle, which indicates an obstacle inside the parking trajectory. Because it causes. The parking process also stops at speeds above the maximum speed threshold, because if not stopped, the trailing vehicle must perform a very strong braking process, which creates the risk of a crash.

In particular, if the geometry of the parking trajectory is reduced according to the present invention and falls below the currently required size, the parking process is interrupted, a warning is issued, or the support of the parking process is ended. Since the presently required size is calculated from the current position of the vehicle towards the parking space, an interruption is carried out, for example, if the parking trajectory is shortened such that the current position of the vehicle lies outside (at least partially) the parking trajectory.

The invention is also realized by an apparatus for controlling the parking process of a vehicle, which is suitable for carrying out the method according to the invention. When referred to herein as a control, the steering device and the accelerator pedal are provided by a driver provided with a warning signal or an orientation signal generated in accordance with the present invention, as well as interference to control of the vehicle speed by the automatic system and / or interference. Or brake pedal operation. The device according to the invention comprises at least one side sensor and at least one rear sensor as described above. One or more side sensors may be provided by a sensor device having two or more sensors, one sensor mounted at the rear and at the vehicle front end, respectively. Also provided are two or more rear sensors, preferably arranged at both ends of the rear bumper.

The apparatus of the present application comprises, in particular, a calculating device, connected with the sensors, for calculating the relative position of the vehicle with respect to the side parking space. In addition, the calculation device may calculate the distance between the vehicle and, in some cases, the following vehicle, from the data of the rear sensor. The calculation device receives the data as an input value and is provided to calculate the parking trajectory from the data. In order to carry out the method herein, the distance or the step of decreasing the distance (and thus the speed detected by the rear sensors) is calculated. The calculation provided by the calculating device is limited in accordance with the above-described relationship according to the detected distance and / or speed (= reduction rate of distance) and the geometric size of the parking trajectory.

The apparatus herein includes a steering actuator that interferes with the steering of the vehicle so as not to deviate from the parking trajectory and is connected with the computing device for control. In the same way, the accelerator pedal may also be actuated by the calculation device by connecting the accelerator pedal actuator with the calculation device. The last mentioned feature is provided in the case of a device provided for an automatic or semi-automatic parking method. In the case of devices according to the invention for providing a method of assisted parking, the device comprises a warning signal display or a direction indication display, which allows the driver to adjust the direction to actually implement the signal shown on the display. In this case the device according to the invention comprises a display but not the driver's operation. In this case, in particular, the driver is not considered as an actuator as part of the invention, only the display as the output device of the device according to the invention.

The embodiment of the control device according to the present invention provides an ultrasonic distance sensor or a radar distance sensor as an alternative embodiment to the rear sensor as a camera as described above. The features described above also apply to embodiments of the device according to the invention.

The apparatus of the present application also includes a positioning device equipped to detect a current position of the vehicle. The positioning device may detect the current relative position of the vehicle relative to the parking space, for example based on the side sensor, in which case the positioning device comprises a side sensor. In addition, the positioning device may be provided to measure the relative movement of the vehicle relative to the ground, in which case the positioning device comprises a path sensor and / or an angle sensor provided to measure the current steering angle. Especially as a path sensor, the angle sensor which detects wheel rotation is suitable. In addition, the positioning device may be a device for absolute positioning, such as a satellite support system such as a GPS system, or another system for positioning, such as a positioning system based on a mobile wireless communication network (GSM, UMTS, GPRS and / or EDGE protocol based). The positioning device may comprise a combination of the above devices, and the positioning device is also provided to match the individual data of the various components to each other. The positioning device, together with the calculating device, is provided to calculate the relative position of the vehicle to be parked relative to the sensed parking space, and is further provided to provide the current relative position of the vehicle with respect to the calculated parking trajectory. According to the comparison, which can be carried out by a positioning device or a calculation device, the device according to the invention calculates to what extent the steering angle should be changed, for which a steering actuator is controlled or a direction indication (or warning) is given to the invention. By an associated display device as part of the device accordingly.

The apparatus according to the invention also provides an emergency stop unit for braking the vehicle and / or stopping the drive of the vehicle in the case of a distance below the minimum distance threshold or in the event of a reduction rate above the maximum speed threshold. Include. In this connection the emergency stop unit comprises, for example, a shutoff mechanism or brake actuator in connection with the engine control device or brake device of the vehicle.

In particular the invention is provided by a device according to the invention, which does not comprise at least one side sensor and at least one rear sensor itself, but only a terminal to which the sensors can be connected. A device of this type can be connected to an existing sensor system of a vehicle and implements the invention in the same way as a device comprising the sensors themselves, according to the invention described above.

Embodiments of the invention are shown in the figures and described in more detail in the following detailed content section.
1 is a schematic diagram illustrating a traffic situation upon which an embodiment of a method according to the present invention is based.
2A and 2B are schematic diagrams each illustrating a traffic situation for explaining an example of distance detection as used in the scope of the present invention.

1 illustrates a traffic situation in which the vehicle 10 is executing a assisted parking or automatic parking process into a parking space. The vehicle first passes past the parking space 20, during which the sensors 30a and 30b are used to scan the edge of the roadway. 1 shows a situation in which the vehicle has already passed by the section 40 after the detection of the parking space 20. In the illustrated situation, a question arises as to whether to drive back to the parking space according to the parking trajectory 50.

According to the invention, the rear periphery of the vehicle 10 is first sensed by a vehicle assisted rear sensor 60 having a sensor area 62 extending in the rearward direction from the vehicle 10. In Fig. 1, for clarity, the entire range of the sensor area 62 is not shown, only the sensing direction and angle.

The rear sensor 60 detects a rear traffic situation on the road 70 on which the vehicle 10 is located. If an object 80 is detected from the vehicle 10 but within a predetermined proximity area before reaching the parking space, the parking trajectory 50 is determined by the parking trajectory 50 measured along the road 70. The length is shortened and adjusted to already end at position 90. As a result, the vehicle 10 is located outside of the already reduced (and thus shortened) parking trajectory 50, whereby the parking process is interrupted (or a warning is issued).

If the object 80 is further away from the parking space 20 (and therefore the distance from the vehicle 10 also increases), the parking trajectory 50 is shortened relatively less. For example, if the object is not at the location indicated by the dashed rectangle, but far left, the parking trajectory 50 is longer, extending to a location 92 farther away from the parking space than the location 90. . Thus, if the separation distance of the object 80 is further, the allowable reverse path for the vehicle is longer than when the separation distance of the object 80 is closer. In this case, the reverse path may correspond to the interval 40. In this case, therefore, the parking process is allowed / supported and executed.

If no object is detected by the sensor 60, the parking trajectory 50 is provided unchanged.

Accordingly, the rear sensor 60 detects the distance to the rear object 80 and also detects whether the object 80 is located in the rear periphery. If the object is not detected by the rear sensor 60, the size of the parking trajectory 50 does not change, and thus the method of the present disclosure only when the object 60 is detected (only when the object is located within the minimum separation distance). Is executed.

2a and 2b show the rear periphery sensed by the sensor 60, which corresponds to the situation of FIG. 1. The sensor is formed as an electronic camera and detects two vehicles parked in FIGS. 2A and 2B and a parking space 120 located therebetween. The sensor also detects an object 180 that is a trailing vehicle. The trailing vehicle is farther apart in FIG. 2A than in FIG. 2B.

It can be seen from the comparison between FIG. 2A and FIG. 2B that different separation distances are reproduced as different image sizes based on the vanishing point perspective of the camera. One or more features of the object 180 image are used to derive the separation distance from the size of one or more features of the object 180 image in accordance with the present invention. Thus, for example, wheels, outdoor rearview mirrors, license plates or the entire contour as individual objects are perceived as visual features. Based on this, the features are surveyed. In other words, the distance between the wheels or the outdoor rearview mirrors, the width of the license plate or the overall contour is calculated. From the relationship between the indicated size of the object and the distance of the object determined by the optical properties of the camera, the distance of the object is calculated. For example, in FIG. 2B, the object 180 is located closer to the parking space by a distance 190 than in FIG. 2A. This shorter separation distance is also reflected in the distance 200 between the outdoor rear view mirrors that is twice as large in FIG. 2B as in FIG. 2A. The larger the visual features sensed by the camera are displayed, the closer the distance between the object 180 and the vehicle is.

Claims (10)

Sensing the parking space using one or more side sensors 30a, 30b oriented laterally with respect to the vehicle, and calculating a parking trajectory 50 guiding from the current position of the vehicle to the parking space 20. Including, a method for executing a parking process of the vehicle,
In this method, the distance between the vehicle 10 and, optionally, the object 80 present around the rear of the vehicle, is detected using one or more rear sensors 60 oriented in the rearward direction of the vehicle,
The geometric size of the parking trajectory 50 decreases as the distance between the object and the vehicle decreases, or as the rate of decrease in distance increases, or a combination of the two,
When the parking process is executed, driving along the parking trajectory is initiated by an automatic, semi-automatic or assisted parking method. The method of claim 1, wherein the distance is detected by image capture by a camera 60 forming a rear sensor by detecting a visual feature,
Distance is provided according to the size of the visual feature,
Carry out the parking process, provided that the distance is reduced as the size of the visual feature increases, or the distance is detected by pulse echo method by one or more ultrasonic distance sensors or radar distance sensors forming a rear sensor oriented towards the rear periphery. Way. 3. The parking space 20 according to claim 1, wherein the parking space 20 is detected by one or more ultrasonic distance sensors or radar distance sensors as side sensors fixed to the vehicle 10 and oriented laterally with respect to the vehicle. How to run a parking course. 3. The method according to claim 1 or 2, wherein the size of the parking trajectory 50 represents a normal range, and whether the current position of the vehicle is located inside the parking trajectory is repeatedly checked during the execution of the parking process, and automatically or In the case of the semi-automatic parking method, if the vehicle is out of the parking trajectory, the vehicle is steered toward the parking trajectory by automatic steering wheel adjustment, and in the case of the assisted parking method, a warning is provided if the vehicle is out of the parking trajectory. A parking trajectory according to claim 1 or 2, wherein when the parking trajectory is smaller, the parking trajectory has a smaller curved radius, smaller width or shorter length (90, 92) than when the parking trajectory is larger. Provided, how to run the parking course. The method according to claim 1 or 2, wherein the size of the parking trajectory is set to a predefined size when the distance exceeds the maximum distance threshold or the rate of decrease of the distance is below the minimum speed value.
There is at least a partial monotonic reduction relationship or a net monotonic reduction relationship between the magnitude and distance below the maximum distance threshold or above the minimum speed threshold, or the size of the parking trajectory is a finite number of discrete magnitude values, constants, in the distance values. A method of executing a parking process, dependent on distance, in a step function that assigns magnitude values and continuous decreasing magnitude values. The method according to claim 1 or 2, wherein the distance is less than the minimum distance threshold corresponding to the object proximity that the object cannot pass at the maximum turning of the vehicle, or the reduction rate is higher than the maximum speed threshold. If the automatic or semi-automatic parking method is used, the parking method is automatically stopped, and if the assisted parking method is used, a warning signal is sent indicating a blocked parking path. An apparatus for controlling the parking process of the vehicle, the apparatus,
One or more side sensors 30a, 30b provided to be mounted to the side of the vehicle,
At least one rear sensor 60 provided to be mounted to the vehicle in a rearward direction,
Connected with the one or more side sensors and the one or more rear sensors, the position of the side parking space is calculated from the data of the side sensors, and from the data of the rear sensors between the vehicle and the object 80 present around the rear of the vehicle. Calculating a distance, comprising a calculating device arranged to calculate a parking trajectory for the vehicle 10 from the location of the parking space,
The calculating device also calculates the distance in the calculation of the parking trajectory, and when the distance between the object and the vehicle 10 is shorter, the reduction rate of the distance is higher, or a combination of the two points, Compute a parking trajectory with a smaller geometric size than when the distance is greater or the reduction rate is smaller.
The calculating device controls the steering actuator according to the parking trajectory (50) or controls the warning signal display according to the current relative position of the vehicle with respect to the parking trajectory (50). The apparatus of claim 8, wherein the rear sensor is formed as a camera, the computing device includes an image capture unit, the image capture unit detecting a visual feature in an image signal supplied from the camera, And detect the magnitude and output a distance value that decreases as the magnitude increases, or the rear sensor is formed as an ultrasonic distance sensor or a radar distance sensor. 10. The apparatus of claim 8 or 9, wherein the parking process control device further comprises a positioning device, wherein the positioning device comprises at least one side sensor, a vehicle movement sensor, an apparatus for absolute positioning or And a combined device, the parking course control device being arranged to provide a relative position of the vehicle relative to the parking trajectory.

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