公开(公告)号：KR101424636B1

公开(公告)日：2014-08-04

申请号：KR1020130010294

申请日：2013-01-30

Applicant: 한국기술교육대학교 산학협력단

Inventor： 유지환 ,  김아성 ,  민경주 ,  박영근

IPC: B60W30/06 ,  B60W30/08 ,  B60R1/00

CPC classification number: B60W30/06 ,  B60W2420/42 ,  G06T7/97

Abstract: Disclosed is an automatic reverse parking system. According to the present invention, the automatic reverse parking system comprises: a parking box recognizing unit, which obtains first image information and recognizes a parking box, which is a parking area based on the first image information; a vehicle control unit calculating X-axis and Y-axis distances between the centers of the parking box and a vehicle to control the vehicle by setting a first parking course; a lane recognizing unit, which obtains second image information by left, right, and rear cameras of the vehicle and recognizes rear, left, and right lanes of the parking box based on the second image information; and a distance and direction angle calculating unit, which calculates a distance and a direction angle from the vehicle based on the rear, left, and the right lanes recognized by the lane recognizing unit. The vehicle control unit controls the vehicle based on the distance and direction angle calculated by the distance and direction angle calculating unit. According to the present invention, the invention controls the vehicle by first recognizing the parking box and by setting the first parking course, and is capable of minimizing the error in the automatic parking by updating a more accurate information on the parking area by second recognizing a parking line around the vehicle.

Abstract translation: 公开了一种自动倒车停车系统。 根据本发明，自动倒车停车系统包括：停车箱识别单元，其基于第一图像信息获取第一图像信息并识别作为停车区域的停车箱; 车辆控制单元，其计算所述停车箱的中心与车辆之间的X轴和Y轴距离，以通过设定第一停车路线来控制所述车辆; 车道识别单元，其通过车辆的左，右和后照相机获得第二图像信息，并基于第二图像信息识别停车箱的后，左，右车道; 以及距离和方向角度计算单元，其基于由车道识别单元识别的后车道，左车道和右车道计算距车辆的距离和方向角度。 车辆控制单元基于由距离和方向角计算单元计算的距离和方向角度来控制车辆。 根据本发明，本发明通过首先识别停车箱并设置第一停车路线来控制车辆，并且能够通过第二识别停车场来更新关于停车区域的更准确的信息来最小化自动停车中的错误 车辆周围的停车线。