Parking assist system and method
The present disclosure provides a parking assist system including: a rear object recognizer that recognizes a rear object existing behind a vehicle through rear sensors; a reversing controller that controls the vehicle to reverse until an entry rate to the parking space becomes a first reference value or more, and ends reversing control when a distance between the vehicle and the rear object becomes less than a second reference value; a rear object position storage that stores position information of the rear object and increases a count when the reversing control is ended on the basis of the distance between the vehicle and the rear object; and a system terminator that ends parking control when the position information of the rear object before and after the count is increased is substantially the same.
1. A parking assist system, comprising:
a rear object recognizer configured to recognize a rear object existing behind a vehicle through rear sensors;
a reversing controller configured to control the vehicle to reverse until an occupied parking space area in the parking space becomes a first reference value or more, and to end reversing control when the occupied parking space area becomes the first reference value and a distance between the vehicle and the rear object becomes less than a second reference value;
a rear object position storage configured to store position information of the rear object and increase a count, which is a number of times of ending of the reversing control, when the distance between the vehicle and the rear object is less than the second reference value and the reversing control is ended; and
a system terminator configured to end parking control when the distance between the vehicle and the rear object before increasing the count is same as a distance between the vehicle and the rear object after the count is increased.
2. The system of claim 1 , wherein the rear object position storage resets the count and the position information of the rear object before or while the parking space is searched.
3. The system of claim 1 , further comprising an advancing controller configured to control the vehicle to advance when the reversing control is ended on the basis of a condition that the distance between the vehicle and the rear object is less than the second reference value and when the position information of the rear object before and after the count is increased is different.
4. The system of claim 3 , further comprising a parking space searcher configured to search the parking space through side sensors,
wherein the reversing controller controls the vehicle to reverse when the parking space searcher finishes searching for the parking space or the advancing controller finishes advancing control.
5. The system of claim 1 , wherein the system terminator ends parking control when the count exceeds a third reference value.
6. The system of claim 1 , further comprising a parking space searcher configured to search the parking space through side sensors,
wherein the parking space searcher calculates the depth of the parking space and the reversing controller calculates the occupied parking space area using an entry position of the vehicle to the depth of the parking space.
7. A parking assist method comprising:
searching, a parking space searcher, for a parking space through side sensors;
controlling, by a reversing controller, a vehicle to reverse until an occupied parking space area in the parking space becomes a first reference value or more;
recognizing, by a rear object recognizer, a rear object in the parking space through rear sensors;
ending, by the reversing controller, reversing control when the occupied parking space area becomes the first reference value and a distance between the vehicle and the rear object becomes less than a second reference value;
storing, by a rear object position storage, position information of the rear object and increasing a count when the distance between the vehicle and the rear object is less than the second reference value;
comparing, by a system terminator, position information of the rear object before and after the count is increased;
controlling the vehicle to be parked in the parking space when the distance between the vehicle and the rear object before increasing the count is same as a distance between the vehicle and the rear object after the count is increased; and
ending, by the system terminator, parking control.
8. The method of claim 7 , further comprising controlling the vehicle to advance when the position information of the rear object before and after the count is increased is different in the comparing of position information of the rear object,
wherein the controlling of a vehicle to reverse is performed again when the controlling of the vehicle to advance is finished.
9. The method of claim 7 , further comprising ending parking control when the count exceeds a third reference value before and after the storing of position information of the rear object and increasing of a count.
10. The method of claim 7 , further comprising resetting the count and the position information of the rear object before or during the searching of a parking space.
11. The method of claim 7 , further comprising determining a parking control completion condition when the occupied parking space area becomes the first reference value or more by the controlling of the vehicle to reverse, and increasing the count when the parking control completion condition is not satisfied.