Parking operation control apparatus and control method thereof

1. A parking operation control apparatus, comprising:

a first sensing unit configured to sense at least one current wheel speed of an automobile based on an operating mode of a parking operation device of the automobile,

a first controller configured to receive the at least one current wheel speed sensed by the first sensing unit, to output the at least one current wheel speed, to store a reference wheel-speed range corresponding to a preset reference front-wheel speed range, and to store a preset reference rear-wheel speed range;

a second sensing unit configured to sense the at least one current wheel speed output from the first controller;

a first judgment unit configured to judge whether the at least one current wheel speed sensed by the first sensing unit deviates from the reference wheel-speed range, or to judge whether the at least one current wheel speed sensed by the second sensing unit is not yet output; and

a regulation unit configured to regulate the at least one current wheel speed to conform to the reference wheel-speed range if the first judgment unit judges that the at least one current wheel speed deviates from the reference wheel-speed range or that the at least one current wheel speed is not yet output,

wherein

the first sensing unit is configured to sense a current front-wheel speed and a current rear-wheel speed of the automobile if the parking operation device is in a parking release mode, and

the first sensing unit is configured to sense the current front-wheel speed of the automobile if the parking operation device is in a parking operation mode.

2. The apparatus according to claim 1 , wherein

the first sensing unit is further configured to sense a current final reduction of the automobile if the parking operation device is in the parking release mode,

the first controller is further configured to store a preset reference final reduction range,

the first judgment unit is further configured to judge whether the current final reduction of the automobile sensed by the first sensing unit deviates from the reference final reduction range, and

the regulation unit is further configured to regulate the current final reduction to conform to the reference final reduction range if the first judgment unit judges that the current final reduction of the automobile deviates from the reference final reduction range.

3. The apparatus according to claim 1 , wherein

the first sensing unit is further configured to sense a current yaw rate and current lateral acceleration of the automobile;

the first controller is further configured to store a preset reference yaw-rate range and a preset reference lateral-acceleration range,

the first judgment unit is further configured to judge whether the current yaw rate and the current lateral acceleration of the automobile sensed by the first sensing unit deviate from the reference yaw-rate range and the reference lateral-acceleration range, and

the regulation unit is further configured to regulate the current yaw rate and the current lateral acceleration of the automobile to conform to the reference yaw-rate range and the reference lateral-acceleration range if the first judgment unit judges that the current yaw rate and the current lateral acceleration of the automobile deviate from the reference yaw-rate range and the reference lateral-acceleration range.

4. The apparatus according to claim 3 , wherein

the first controller is further configured to store a preset first parking-force level range, and

the regulation unit is further configured to reduce a parking force of the automobile to conform to the first parking-force level range so as to stabilize the automobile if the first judgment unit judges that the current yaw rate and the current lateral acceleration of the automobile deviate from the reference yaw-rate range and the reference lateral-acceleration range.

5. The apparatus according to claim 4 , wherein

the first sensing unit is further configured to sense a current speed-reduction of the automobile,

the first controller is further configured to store a preset second parking-force level range and a target speed-reduction range, and

the regulation unit is further configured to increase the parking force of the automobile to conform to the second parking-force level range and maintains the increased parking force of the automobile conforming to the second parking-force level range if the first sensing unit senses that the current speed-reduction of the automobile reaches the target speed-reduction range so as to stabilize the automobile if the first judgment unit judges that the current yaw rate and the current lateral acceleration of the automobile are within the reference yaw-rate range and the reference lateral-acceleration range.

6. The apparatus according to claim 1 , further comprising:

a third sensing unit configured to sense at least one current wheel drive shaft rotation information among current front-wheel drive shaft rotation information and current rear-wheel drive shaft rotation information of the automobile if the first judgment unit judges that the at least one current wheel speed deviates from the reference wheel-speed range or that the at least one current wheel speed is not yet output;

a second controller configured to receive the at least one current wheel drive shaft rotation information sensed by the third sensing unit, wherein the second controller is configured to store reference wheel drive shaft rotation information corresponding to preset reference front-wheel drive shaft rotation information and preset reference rear-wheel drive shaft rotation information, and the second controller is further configured to store a wheel-speed range on a per reference wheel drive shaft rotation information basis; and

a second judgment unit configured to judge whether the at least one current wheel drive shaft rotation information sensed by the third sensing unit deviates from the reference wheel drive shaft rotation information,

wherein the regulation unit is configured to regulate the at least one current wheel drive shaft rotation information to conform to the wheel speed range on a per reference wheel drive shaft rotation information basis if the second judgment unit judges that the at least one current wheel drive shaft rotation information deviates from the reference wheel drive shaft rotation information.

7. A parking operation control method, comprising:

sensing, using a sensing unit, at least one current wheel speed of an automobile based on an operating mode of a parking operation device of the automobile, wherein the sensing unit is configured to sense a current front-wheel speed and a current rear-wheel speed of the automobile if the parking operation device is in a parking release mode, and to sense the current front-wheel speed of the automobile if the parking operation device is in a parking operation mode;

setting a reference wheel-speed range in a first controller;

judging whether the at least one current wheel speed deviates from the reference wheel-speed range; and

regulating the at least one current wheel speed to conform to the reference wheel-speed range if the at least one current wheel speed deviates from the reference wheel-speed range.

8. The method according to claim 7 , further comprising:

sensing at least one current wheel drive shaft rotation information among current front-wheel drive shaft rotation information and current rear-wheel drive shaft rotation information of the automobile if the at least one current wheel speed deviates from the reference wheel-speed range;

setting reference wheel drive shaft rotation information in a second controller;

judging whether the at least one current wheel drive shaft rotation information deviates from the reference wheel drive shaft rotation information; and

regulating the at least one current wheel drive shaft rotation information to conform to a wheel speed range per the reference wheel drive shaft rotation information set in the second controller if the at least one current wheel drive shaft rotation information deviates from the reference wheel drive shaft rotation information.

9. A parking operation control method, comprising:

sensing, using a sensing unit comprising one or more sensors, at least one current wheel speed of an automobile based on an operating mode of a parking operation device of the automobile, wherein the first sensing unit is configured to sense a current front-wheel speed and a current rear-wheel speed of the automobile if the parking operation device is in a parking release mode, and to sense the current front-wheel speed of the automobile if the parking operation device is in a parking operation mode;

judging whether the current front-wheel speed sensed by the sensing unit deviates from a reference front-wheel speed range set in a first controller; and

regulating the current front-wheel speed to conform to the reference front-wheel speed range if the current front-wheel speed deviates from the reference front-wheel speed range.

10. The method according to claim 9 , further comprising:

sensing current front-wheel drive shaft rotation information of the automobile if the current front-wheel speed deviates from the reference front-wheel speed range;

judging whether the current front-wheel drive shaft rotation information deviates from the reference front-wheel drive shaft rotation information set in a second controller; and

regulating the current front-wheel drive shaft rotation information to conform to a wheel speed range per the reference wheel drive shaft rotation information set in the second controller if the current front-wheel drive shaft rotation information deviates from the reference front-wheel drive shaft rotation information.

11. A parking operation control method comprising:

sensing, using a sensing unit comprising one or more sensors, at least one current wheel speed of an automobile based on an operating mode of a parking operation device of the automobile, wherein the first sensing unit is configured to sense a current front-wheel speed and a current rear-wheel speed of the automobile if the parking operation device is in a parking release mode, and to sense the current front-wheel speed of the automobile if the parking operation device is in a parking operation mode;

judging whether the current front-wheel speed sensed by the sensing unit deviates from a reference front-wheel speed range set in a first controller;

sensing a current final reduction of the automobile if the parking operation device is in the parking release mode;

regulating the current front-wheel speed to conform to the reference front-wheel speed range if the current front-wheel speed deviates from the reference front-wheel speed range

judging whether the current final reduction of the automobile deviates from a reference final reduction range set in the first controller; and

regulating the current final reduction to conform to the reference final reduction range if the current final reduction of the automobile deviates from the reference final reduction range.

12. The method according to claim 7 , further comprising:

sensing a current yaw rate and current lateral acceleration of the automobile;

judging whether the current yaw rate and the current lateral acceleration of the automobile deviates from a reference yaw-rate range and a reference lateral-acceleration range; and

regulating the current yaw rate and the current lateral acceleration of the automobile to conform to the reference yaw-rate range and the reference lateral-acceleration range if the current yaw rate and the current lateral acceleration of the automobile deviate from the reference yaw-rate range and the reference lateral-acceleration range.

13. The method according to claim 12 , wherein regulating the current yaw rate and the current lateral acceleration of the automobile comprises reducing a parking force of the automobile to conform to a first parking-force level range set in the first controller so as to stabilize the automobile if the current yaw rate and the current lateral acceleration of the automobile deviate from the reference yaw-rate range and the reference lateral-acceleration range.

14. The method according to claim 13 , further comprising:

sensing a current speed-reduction of the automobile;

judging whether the current yaw rate and the current lateral acceleration of the automobile deviate from the reference yaw-rate range and the reference lateral-acceleration range;

increasing the parking force of the automobile to conform to a second parking-force level range set in the first controller; and

maintaining the increased parking force of the automobile conforming to the second parking-force level range if the current speed-reduction of the automobile reaches a target speed-reduction range set in the first controller so as to stabilize the automobile if the current yaw rate and the current lateral acceleration of the automobile are within the reference yaw-rate range and the reference lateral-acceleration range.

15. The method according to claim 9 , further comprising:

sensing a current yaw-rate and a current lateral acceleration of the automobile;

judging whether the current yaw rate and the current lateral acceleration of the automobile deviate from a reference yaw-rate range and a reference lateral-acceleration range; and

regulating the current yaw rate and the current lateral acceleration of the automobile to conform to the reference yaw-rate range and the reference lateral-acceleration range if the current yaw rate and the current lateral acceleration of the automobile deviate from the reference yaw-rate range and the reference lateral-acceleration range.

16. The method according to claim 15 , regulating the current yaw rate and the current lateral acceleration of the automobile comprises reducing a parking force of the automobile to conform to a first parking-force level range set in the first controller so as to stabilize the automobile if the current yaw rate and the current lateral acceleration of the automobile deviate from the reference yaw-rate range and the reference lateral-acceleration range.

17. The method according to claim 16 , further comprising:

sensing a current speed-reduction of the automobile;

judging whether the current yaw rate and the current lateral acceleration of the automobile are within the reference yaw-rate range and the reference lateral-acceleration range; and

increasing the parking force of the automobile to conform to a second parking-force level range set in the first controller; and

maintaining the increased parking force of the automobile conforming to the second parking-force level range if the current speed-reduction of the automobile reaches a target speed-reduction range set in the first controller so as to stabilize the automobile if the current yaw rate and the current lateral acceleration of the automobile are within the reference yaw-rate range and the reference lateral-acceleration range.