PARKING CONTROL METHOD, DEVICE AND SYSTEM
The present invention relates to a parking control technology of a vehicle. The present invention provides a parking control method including: searching a parking space by sensing a left or right object existing on a left or right side of a parking space while moving along a parking passage; and acquiring sensing information for an opposite side object existing opposite to the searched parking space with reference to the parking passage, and calculating a parking route for parking a vehicle in the parking space based on the acquired sensing information. The parking control method enables a parking control to a target parking space even if the parking passage width is narrow.
1 . A parking control method comprising:
searching a parking space by sensing a left or right object existing on a left or right side of a parking space while moving along a parking passage; and
acquiring sensing information for an opposite side object existing opposite to the searched parking space with reference to the parking passage, and calculating a parking route for parking a vehicle in the parking space based on the acquired sensing information.
2 . The parking control method of claim 1 , further comprising:
extracting a shape point of the opposite side object based on the sensing information before the calculating of the parking route.
3 . The parking control method of claim 1 , wherein the searching of the parking space includes calculating a parking passage width while moving along the parking passage.
4 . The parking control method of claim 3 , wherein in the calculating of the parking route, when the calculated passage width information is larger than a pre-set reference value, the parking route is calculated based on sensing information for the left or right object, and when the passage width information is equal to or smaller than the reference value, the parking route is calculated based on the sensing information for the opposite side object.
5 . A parking control device comprising:
a parking space search unit configured to search a parking space by sensing a left or right object existing on a left or right side of a parking space while moving along a parking passage; and
a parking route calculation unit configured to acquire sensing information for an opposite side object existing opposite to the searched parking space with reference to the parking passage, and to calculate a parking route for parking a vehicle in the parking space based on the acquired sensing information.
6 . The parking control device of claim 5 , further comprising:
a shape point extraction unit configured to extract one or more shape points of the opposite side object based on the sensing information.
7 . The parking control device of claim 6 , wherein the parking route calculation unit sets each of corner points for the vehicle and calculates a turning route such that any one of the set corner points and any one of the shape points of the opposite side object which are extracted by the shape point extraction unit are maintained at a separation distance which is equal to or larger than a reference value.
8 . A parking control system comprising:
a sensor unit configured to sense an object around a vehicle and generate sensing information while the vehicle moves along a parking passage; and
a parking control device configured to search a parking space based on sensing information for a left or right object existing on the left or right side of the parking space in the sensing information transmitted from the sensor unit and calculate a parking route for parking the vehicle in the parking space based on the sensing information for an opposite side object existing opposite to the searched parking space.