| 摘要 |
A method for recognizing a parking area for vehicles is provided to improve operation speed of a parking area searching system by restricting an inspection range by using a bird's eye view. A parking area recognizer(110) recognizes 3D position information of a parked vehicle from a 3D stereo vision camera and outputs the recognized result. A path generator(120) determines a path toward the parking area according to the 3D position information. A vehicle status sensor(130) includes a speed sensor, a steering angle sensor, a yaw rate sensor, and an accelerometer. A vehicle position estimator(140) estimates the present position of the vehicle from the sensed result of the vehicle status sensor. An HMI(Human Machine Interface,150) displays the recognized result from the parking area recognizer and displays a control signal according to the manipulation of a user. A path tracking controller(160) tracks a parking path according to the estimated vehicle position and the input signal from the HMI and outputs a steering angle command. A steering unit(170) adjusts the steering angle according to the steering angle command from the path tracking controller.
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