Disclosed are an automatic parking method using an artificial neural network, and a trajectory generating method for automatic parking. The disclosed automatic parking method comprises: a step of generating a parking trajectory from a first location of a vehicle to a second location spaced at a preset distance from the parking space; a step of estimating the location and a size of an obstacle by using a front image of the vehicle and a first artificial neural network while moved along the parking trajectory; a step of determining whether the obstacle collides with the vehicle by using a second artificial neural network according to the estimated location and size; and a step of updating the parking trajectory according to a determination result.
인공 신경망을 이용하는 자동 주차 방법 및 자동 주차를 위한 궤적 생성 방법이 개시된다. 개시된 자동 주차 방법은 차량의 제1위치에서, 주차 공간으로부터 미리 설정된 거리만큼 이격된 제2위치까지의 주차 궤적을 생성하는 단계; 상기 주차 궤적을 따라 이동하면서, 상기 차량의 전방 이미지 및 제1인공 신경망을 이용하여 장애물의 위치 및 크기를 추정하는 단계; 상기 추정된 위치 및 크기에 따라서 제2인공 신경망을 이용하여, 상기 장애물과 상기 차량의 충돌 여부를 판단하는 단계; 및 상기 판단 결과에 따라서, 상기 주차 궤적을 갱신하는 단계를 포함한다.
METHOD FOR AUTOMATED PARKING AND TRACK GENERATION METHOD FOR AUTOMATED PARKING
자동 주차 방법 및 자동 주차를 위한 궤적 생성 방법
2021-07-08
Patent
Electronic Resource
Korean
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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