Vehicle, mobile terminal and method for controlling the same

1. A mobile terminal comprising:

a camera;

a display;

a communication unit;

a motion sensor configured to generate motion information by sensing motion of the mobile terminal; and

a controller configured to:

enter a parking assist mode;

find, in the parking assist mode, parkable areas based on an overall width of a vehicle and a distance between a plurality of objects in an image received via the camera;

select one of the parkable areas;

cause the communication unit to transmit, to the vehicle, a control signal for parking the vehicle in the selected parking area;

generate a 3-dimensional (3D) map of a parking lot based on the motion information and visual odometry information, wherein the visual odometry information is obtained by tracking feature points on sequential images obtained by the camera;

cause the display to display parkable area information indicating the parkable areas, unparkable area information, and location information of the vehicle on the 3D map,

wherein the unparkable area information indicates an unparkable parking area surrounded by objects and in which no vehicle is parked, and wherein a distance between the objects is equal to or less than the overall width of the vehicle;

provide a route from a location of the mobile terminal to a location where the vehicle is parked using the generated 3D map; and

cause the display to display the route on the 3D map.

2. The mobile terminal according to claim 1 , wherein the controller is further configured to:

enter the parking assist mode in response to detection of a graphic parking sign or a text parking sign in the image; and

determine a parking situation based on the detected graphic or text parking sign.

3. The mobile terminal according to claim 1 , wherein the camera comprises a first camera configured to receive an inside image of the vehicle, and

wherein the controller is further configured to acquire passenger information based on the inside image.

4. The mobile terminal according to claim 3 , wherein the controller is further configured to cause the display to display a selectable parking menu based on the passenger information, allowing a user to select one item from the parking menu.

5. The mobile terminal according to claim 4 , wherein:

the controller is further configured to determine whether a passenger side door of the vehicle needs to be opened based on the passenger information; and

the parking menu comprises a menu item for enabling opening of the passenger side door after parking is completed when it is determined that the passenger side door needs to be opened.

6. The mobile terminal according to claim 4 , wherein the parking menu comprises a menu item for enabling opening of a trunk after parking is completed.

7. The mobile terminal according to claim 4 , wherein the controller is further configured to cause the display to display estimated parking time information on a partial region of the parking menu.

8. The mobile terminal according to claim 1 , wherein the controller is further configured to find the parkable areas based on vehicle information related to parking in response to a user input received via the display.

9. The mobile terminal according to claim 1 , wherein the plurality of objects comprise a first parked vehicle and a second parked vehicle, and the controller is further configure to:

obtain a distance between the first parked vehicle and the second parked vehicle; and

find the parkable areas based on whether the detected distance between the first parked vehicle and the second parked vehicle is greater than the overall width of the vehicle by at least a threshold value.

10. The mobile terminal according to claim 9 , wherein the controller is further configured to cause the display to display the parkable area information corresponding to each of the parkable areas using an indicator.

11. The mobile terminal according to claim 10 , wherein the controller is further configured to cause the display to display distance information near the indicator, the distance information indicating a distance from the vehicle to the parkable area.

12. The mobile terminal according to claim 10 , wherein the controller is further configured to cause the display to display the parkable area information using text when the indicator is not displayable on the image due to movement of the vehicle.

13. The mobile terminal according to claim 1 , wherein:

the controller is further configured to cause the display to display distance information using a vehicle image, the distance information including the distance between the plurality of objects; and

the vehicle image includes an opening degree of each door differently based on the distance information.

14. The mobile terminal according to claim 1 , wherein the controller is further configured to cause the display to indicate a recommended parking area among the parkable areas.

15. The mobile terminal according to claim 14 , wherein the controller is further configured to cause the display to display the recommended parking area based on user-preferred parking space information in response to the user-preferred parking space information received by user input.

16. The mobile terminal according to claim 14 , further comprising a memory configured to store a parking route or a parking pattern, wherein the controller is further configured to provide the recommended parking area based on the parking route or the parking pattern.

17. The mobile terminal according to claim 1 , wherein the controller is further configured to cause the display to display a predicted trajectory of wheels corresponding to a route for parking the vehicle in one area selected among the parkable areas.

18. The mobile terminal according to claim 1 , wherein the controller is further configured to provide space information for double parking when no parkable area is found.

19. The mobile terminal according to claim 1 , wherein the communication unit comprises a wireless communication unit configured to communicate with an external server, another mobile terminal, or another vehicle, and wherein the controller is further configured to cause the wireless communication unit to receive the 3D map from one of the external server, the other mobile terminal, or the other vehicle.

20. The mobile terminal according to claim 1 , wherein the 3D map is generated for a space corresponding to the image obtained by the camera.

21. The mobile terminal according to claim 1 , wherein the controller is further configured to enter the parking assist mode by receiving user input.

22. The mobile terminal according to claim 1 , wherein:

the communication unit comprises an interface unit or a short-range communication module; and

the controller is further configured to cause the interface unit or short-range communication module to transmit the control signal.

23. The mobile terminal according to claim 1 , wherein the parkable area information and the unparkable area information are displayed in different colors.