Parking alignment adjustment apparatus and method

1. A parking alignment adjustment apparatus comprising:

a first sensor configured to sense driving information of a host vehicle;

a second sensor configured to sense surrounding environment information of the host vehicle; and

a control unit configured to:

receive the driving information and the surrounding environment information from the first sensor and the second sensor;

determine whether the host vehicle is being parked on the basis of the received driving information;

calculate a target parking position including a relative angle between the host vehicle and a nearby object, a transverse relative position of the host vehicle with respect to the nearby object and a longitudinal relative position of the host vehicle with respect to the nearby object, on the basis of the received surrounding environment information when the host vehicle is being parked;

compare a current parking position to the target parking position and determine whether it is possible to improve parking alignment after the host vehicle is parked by a driver;

show, to the driver, that the improvement of the parking alignment is possible when it is possible to improve the parking alignment; and

control the host vehicle such that the host vehicle is parked at the target parking position when a parking alignment improvement command is entered by the driver.

2. The parking alignment adjustment apparatus of claim 1 , wherein the first sensor includes one or more of a steering angle sensor, a speed sensor, a yaw sensor, a gear shift detection sensor, an ultrasonic sensor, or an image sensor of the host vehicle.

3. The parking alignment adjustment apparatus of claim 1 , wherein the second sensor includes one or both of an ultrasonic sensor and an image sensor.

4. The parking alignment adjustment apparatus of claim 1 , wherein when it is determined that the host vehicle is being parked, the control unit calculates the target parking position on the basis of the received surrounding environment information, and the control unit continuously calculates the target parking position until the host vehicle is parked by the driver.

5. The parking alignment adjustment apparatus of claim 1 , wherein when calculating the target parking position, the control unit calculates a route for reaching the target parking position in addition to the target parking position.

6. The parking alignment adjustment apparatus of claim 5 , wherein the control unit compares the current parking position to the target parking position after the host vehicle is parked by the driver, and the control unit determines that it is possible to improve the parking alignment when there is a difference between the current parking position and the target parking position and the route for reaching the target parking position is present.

7. The parking alignment adjustment apparatus of claim 1 , wherein, in perpendicular parking, the relative angle between the host vehicle and the nearby object is determined through alignment with an angle between the host vehicle and the nearby object, and the transverse relative position and the longitudinal relative position of the host vehicle are determined through alignment with a relative position of the nearby object.

8. The parking alignment adjustment apparatus of claim 1 , wherein, in parallel parking, the relative angle between the host vehicle and the nearby object and the transverse relative position of the host vehicle are determined through alignment with an angle of a curb or another vehicle parked in front of or behind of the host vehicle, and the longitudinal relative position of the host vehicle is determined through alignment with a half point of a distance from the another vehicle parked in front of or behind the host vehicle, or, when the another vehicle is parked only in front of or behind the host vehicle, through alignment with a point spaced a predetermined distance from the another vehicle parked in front or behind.

9. The parking alignment adjustment apparatus of claim 1 , wherein the target parking position is determined through alignment with at least one of a virtual right reference line, a virtual left reference line, a virtual front reference line and a virtual rear reference line.

10. A parking alignment adjustment method, the method comprising:

sensing a driving information of a host vehicle;

determining whether the host vehicle is being parked on the basis of the sensed driving information;

sensing a surrounding environment information of the host vehicle; and

controlling the host vehicle on the basis of the sensed surrounding environment information, wherein the controlling of the host vehicle comprises:

calculating a target parking position including a relative angle between the host vehicle and a nearby object, a transverse relative position of the host vehicle with respect to the nearby object and a longitudinal relative position of the host vehicle with respect to the nearby object, on the basis of the sensed surrounding environment information;

determining whether to improve parking alignment by comparing a current parking position to the target parking position after the host vehicle is parked by a driver;

showing, to the driver, that it is possible to improve the parking alignment when the improvement of the parking alignment is possible; and

controlling the host vehicle such that the host vehicle is parked at the target parking position when a parking alignment improvement command is entered by the driver.

11. The parking alignment adjustment method of claim 10 , wherein the calculating of the target parking position includes calculating continuously the target parking position until the host vehicle is parked by the driver.

12. The parking alignment adjustment method of claim 11 , wherein the calculating of the target parking position includes calculating a route for reaching the parking target position in addition to the parking target position.

13. The parking alignment adjustment method of claim 12 , wherein the determining of whether to improve parking alignment includes comparing the current parking position to the target parking position after the host vehicle is parked by the driver, and determining that it is possible to improve the parking alignment when there is a difference between the current parking position and the target parking position and the route for reaching the target parking position is present.

14. The parking alignment adjustment method of claim 10 , wherein, in perpendicular parking, the relative angle between the host vehicle and the nearby object is determined through alignment with an angle between the host vehicle and the nearby object, and the transverse relative position and the longitudinal relative position of the host vehicle are determined through alignment with a relative position of the nearby object.

15. The parking alignment adjustment method of claim 10 , wherein, in parallel parking, the relative angle between the host vehicle and the nearby object and the transverse relative position of the host vehicle are determined through alignment with an angle of a curb or another vehicle parked in front of or behind of the host vehicle, and the longitudinal relative position of the host vehicle is determined through alignment with a half point of a distance from the another vehicle parked in front of or behind the host vehicle, or, when the another vehicle is parked only in front of or behind the host vehicle, through alignment with a point spaced a predetermined distance from the another vehicle parked in front or behind.

16. The parking alignment adjustment method of claim 10 , wherein the target parking position is determined through alignment with at least one of a virtual right reference line, a virtual left reference line, a virtual front reference line and a virtual rear reference line.