The present invention relates to a parking assistance system with improved avoidance steering control, and a method thereof. The parking assistance system with the improved avoidance steering control of the present invention comprises: a sensor fusion calculating module which calculates location information of an obstacle based on a current position of a vehicle by fusing sensing data of an ultrasonic sensor and video data of an SVM camera; and a parking supporting module which performs steering control of the vehicle for autonomously parking by avoiding an obstacle based on the location information. Therefore, the obstacle located outside a sensing range of the ultrasonic sensor can be also clearly sensed. As a result, robust avoidance steering for a surrounding obstacle is possible during the autonomous parking.
본 발명은 초음파센서의 센싱 데이터와 SVM 카메라의 영상 데이터를 융합하여 차량의 현재 위치를 기준으로 하는 장애물의 위치정보를 산출하는 센서 퓨전 연산모듈 및 상기 위치정보를 기반으로 장애물을 회피하여 자율 주차하기 위한 차량의 조향 제어를 수행하는 주차지원모듈을 포함함으로써, 초음파 센서의 감지 범위를 벗어나는 위치에 있는 장애물도 명확하게 감지할 수 있게 하여 자율 주차시 주변 장애물에 대한 강건한 회피 조향이 가능하게 한 회피 조향 제어가 개선된 주차 지원 시스템 및 방법에 관한 것이다.
PARKING ASSIST SYSTEM AND METHOD WITH IMPROVED ESCAPE STEERING CONTROL
회피 조향 제어가 개선된 주차 지원 시스템 및 방법
2022-07-04
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 / B62D MOTOR VEHICLES , Motorfahrzeuge |
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