Parking assist system with improved avoidance steering control and method thereof

A parking assist method with improved avoidance steering control, the parking assist method comprising:

• obtaining an object image around a parking space using front- and rear-view image data and side-view image data of a vehicle, the front- and rear-view image data and the side-view image data being captured by an SVM camera;
• detecting a position of an object and a distance to the object using sensing data obtained by a sensor;
• storing, by a processor, coordinates of the object which is detected from the image data and is corrected in position by the sensing data in an object map;
• selecting, by a processor, an avoidance reference point required for avoidance of the vehicle among coordinates of points making up the object and calculating an alignment angle of the vehicle, the alignment angle being required for avoidance steering based on the avoidance reference point;
• and
• specifying the object,
• wherein the specifying of the object includes:
• determining an ROI where front- and rear-view image data and both side-view image data are overlapped;
• selecting an object, which is detected on the ROI of front- and rear-view image data and side-view image data, as a boundary object;
• calculating a first centroid of a boundary object image detected from the front- and rear-view image data and a second centroid of the boundary object image detected from the side-view image data;
• and
• determining a boundary object, which has the minimum distance between the first centroid and the second centroid calculated for the boundary object to which the same object classification code is matched, as the same object.

A parking assist method with improved avoidance steering control, the parking assist method comprising:

• obtaining an object image around a parking space using front- and rear-view image data and side-view image data of a vehicle, the front- and rear-view image data and the side-view image data being captured by an SVM camera;
• detecting a position of an object and a distance to the object using sensing data obtained by a sensor;
• storing, by a processor, coordinates of the object which is detected from the image data and is corrected in position by the sensing data in an object map;
• and
• selecting, by a processor, an avoidance reference point required for avoidance of the vehicle among coordinates of points making up the object and calculating an alignment angle of the vehicle, the alignment angle being required for avoidance steering based on the avoidance reference point,
• wherein the calculating of the alignment angle of the vehicle includes:
• selecting a point of the object closest to the sensor as reference coordinates in generating the object map and moving the reference coordinates in a direction facing a position where the SVM camera is installed to generate correction coordinates of the object, until meeting a circle which is around the sensor and has a return path of sensing data for the reference coordinates as a radius;
• and
• moving coordinates of the other points of the object in parallel in the same manner along a direction where the reference coordinates to the correction coordinates.