Parking assistance device for vehicle and parking control method thereof
Provided are a parking assistance device for a vehicle and a parking control method thereof, capable of preventing collision with a stopper within a parking space by assisting parking in alignment with a parking reference line set with respect to an object located at a distance closest to the self vehicle among distances to objects located around a found parking space. The parking assistance device includes: a parking space searching unit configured to search for a parking space for parking of a self vehicle; a reception unit configured to receive sensing signals sensed from objects located around the parking space; a reference object determination unit configured to use the sensing signals to determine an object closest to the self vehicle as a reference object among the objects located around the parking space; and a parking reference line setting unit configured to set the parking reference line based on a front end of the determined reference object.
1. A parking assistance device comprising a controller which is configured to:
search for a parking space for parking of a self vehicle based on images taken by one or more image sensors;
receive sensing signals sensed from objects located around the parking space;
use the sensing signals to determine an object closest to the self vehicle in a direction perpendicular to a traveling direction of the self vehicle as a reference object among the objects located around the parking space;
set a parking reference line, in a direction parallel to the traveling direction, corresponding to front end of the determined reference object and located between the self vehicle and another object among the objects; and
control the self vehicle to move to and park in the parking space based on the set parking reference line,
wherein the object closest to the self vehicle is an object located at a closest distance in a width direction of the self vehicle with respect to the self vehicle stopped in a lateral direction of the parking space in front of the parking space, and
wherein the parking reference line is a line spaced apart from a length-direction central line of the stopped self vehicle by the closest distance.
2. The parking assistance device according to claim 1 , wherein the lateral direction of the parking space and the length direction of the self vehicle are parallel to each other, and the lateral direction of the parking space and the width direction of the self vehicle are perpendicular to each other.
3. The parking assistance device according to claim 1 , wherein the objects located around the parking space are a vehicle parked in parallel to the parking space and a pillar located between the parking space and the parked vehicle.
4. The parking assistance device according to claim 1 , wherein the controller controls the self vehicle such that the set parking reference line matches a front end of the self vehicle.
5. The parking assistance device according to claim 4 , wherein, even though engine torque is applied to the self vehicle, when a wheel speed measured by a wheel sensor of the self vehicle is 0 or when a collision is sensed by a crash sensor of the self vehicle, the parking assistance device senses a collision with an obstacle behind the self vehicle.
6. A parking control method of a parking assistance device, the parking control method comprising steps of:
searching, by a controller, for a parking space for parking of a self vehicle based on images taken by one or more image sensors;
receiving, by the controller, sensing signals sensed from objects located around the parking space;
using, by the controller, the sensing signals to determine an object closest to the self vehicle in a direction perpendicular to a traveling direction of the self vehicle as a reference object among the objects located around the parking space;
setting, by the controller, a parking reference line, in a direction parallel to the traveling direction, corresponding to a front end of the determined reference object and located between the self vehicle and another object among the objects; and
controlling, by the controller, the self vehicle to move to and park in the parking space based on the set parking reference line,
wherein the object closest to the self vehicle is an object located at a closest distance in a width direction of the self vehicle with respect to the self vehicle stopped in a lateral direction of the parking space in front of the parking space, and
wherein the parking reference line is a line spaced apart from a length-direction central line of the stopped self vehicle by the closest distance.
7. The parking control method according to claim 6 , wherein the lateral direction of the parking space and the length direction of the self vehicle are parallel to each other, and the lateral direction of the parking space and the width direction of the self vehicle are perpendicular to each other.
8. The parking control method according to claim 6 , wherein the objects located around the parking space are a vehicle parked in parallel to the parking space and a pillar located between the parking space and the parked vehicle.
9. The parking control method according to claim 6 , wherein the step of controlling the self vehicle controls the self vehicle such that the set parking reference line matches a front end of the self vehicle.
10. The parking control method according to claim 9 , further comprising step of sensing a collision with an obstacle behind the self vehicle when a wheel speed measured by a wheel sensor of the self vehicle is 0 or when a collision is sensed by a crash sensor of the self vehicle, even though engine torque is applied to the self vehicle.