| 摘要 |
The present invention relates to a method for controlling an advanced smart parking assistant system that determines whether systems providing parking assistance perform other functions related thereto before advanced smart parking assistance is performed, arbitrates the parking assistance in accordance with the determined results, and if an abnormal state is generated due to a driver′s overriding, provides the parking assistance in a safer manner. The method for controlling the advanced smart parking assistant system includes the steps of: determining whether parking assistance is selected from a parking switch; if the parking assistance is selected, determining whether systems providing parking assistance perform other functions related thereto before the parking assistance is performed; if the systems perform other functions related thereto, stopping the parking assistance; if not, determining a parking mode, searching every direction to recognize a parking area, setting a parking path, performing the control of a steering angle, a vehicle velocity, and a shifting velocity, and performing the advanced smart parking to a target position; and if selection different from guide message is inputted or overriding is generated due to a driver′s artificial manipulation in the state where the parking assistance is provided, performing vehicle velocity stopping, transmission gear controlling, and parking brake operating for safety control. [Reference numerals] (AA) START; (BB,DD,FF) YES; (CC,EE,GG) NO; (HH) END; (S101) Driving; (S102) Parking switch ON?; (S103) Check related systems are turned on; (S104) Check system diagnosis for any abnormality; (S105) Check related system not turned on/ Normal system; (S106) Determine parking mode; (S107) Seek for parking space; (S108) Recognize parking space and guide gear shift; (S109) Move to target location (steering, vehicle speed, control speed change); (S110) Override occurred?; (S111) Judge type of override; (S112) Safe control based on type of override; (S113) Completion of fully automatic parking control; (S114) Arrive at target location; (S115) Enter safe state |
