Apparatus, system and method for controlling vehicle

An apparatus for controlling a vehicle includes: a sensor that obtains vehicle surrounding environment information and vehicle driving information; and a controller that determines whether an engagement of an Electronic Parking Brake (EPB) is possible based on the vehicle driving information, performs control for preventing a slip based on the vehicle surrounding environment information upon determining that the engagement of the EPB is impossible, calculates a steering angle for preventing the slip, transmits the steering angle to a portable terminal, receives a steering control command from the portable terminal, and controls steering based on the received steering control command.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of priority to Korean Patent Application No. 10-2020-0080431, filed in the Korean Intellectual Property Office on Jun. 30, 2020, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to an apparatus, system and method for controlling a vehicle.

BACKGROUND

An Electronic Parking Brake (EPB) device, which is an electronic parking device, performs a function of maintaining a parking state in which the vehicle does not advance forward even when the brake pedal is not depressed. In case of waiting for a long time, the EPB device is useful to the driver because the EPB device does not allow the vehicle to move forward even if the brake is not continuously applied.

However, in a state where a vehicle is parked on a sloping road, when the EPB device operates abnormally, the brake is not completed and the vehicle slips (slides and moves) along the sloping road, causing a large accident. Therefore, there is a need to develop a technology capable of fundamentally preventing slip when a vehicle is parked on a sloping road.

SUMMARY

An aspect of the present disclosure provides an apparatus, a system and a method for controlling a vehicle capable of securing safety by fundamentally preventing slip when a vehicle is parked on a sloping road.

According to an aspect of the present disclosure, an apparatus for controlling a vehicle includes: a sensor that obtains vehicle surrounding environment information and vehicle driving information; and a controller that determines whether an engagement of an Electronic Parking Brake (EPB) is possible based on the vehicle driving information, performs control for preventing a slip based on the vehicle surrounding environment information upon determining that the engagement of the EPB is impossible, calculates a steering angle for preventing the slip, transmits the steering angle to a portable terminal, receives a steering control command from the portable terminal, and controls steering based on the received steering control command.

The controller may operate the EPB and may further determine whether the slip occurs after the EPB is engaged when the controller determines that the engagement of the EPB is possible.

The controller may determine whether a re-engagement of the EPB is possible when the controller determines that the slip occurs after the EPB is engaged.

The controller may perform the control for preventing the slip when the controller determines that the re-engagement of the EPB is impossible.

The controller may determine a slope of a road based on the vehicle surrounding environment information, and perform the control for preventing the slip based on the slope of the road when the controller determines that the vehicle is located on a sloping road.

The control for preventing the slip may include control for restarting an engine at a time when the engine is turned off and changing a transmission gear ratio based on the vehicle driving information.

The controller may transmit a control history and a return request message of a user to the portable terminal when the control for preventing the slip is performed.

The controller may calculate the steering angle based on a movement trajectory of the vehicle and a location of an obstacle when the slip occurs.

The controller may determine that a curb is located at a left side of the vehicle based on the vehicle surrounding environment information, and determine a steering direction to left when the controller determines that the vehicle is parked at a left side of a driving direction of the vehicle.

The controller may determine that a curb is located at a right side of the vehicle based on the vehicle surrounding environment information, and determine a steering direction to right when the controller determines that the vehicle is parked at a right side of a driving direction of the vehicle.

According to another aspect of the present disclosure, a system for controlling a vehicle includes a portable terminal that generates a steering control command, and a vehicle driving control apparatus that obtains vehicle surrounding environment information and vehicle driving information, determines whether an engagement of an electronic parking brake is possible based on the vehicle driving information, performs control for preventing a slip based on the vehicle surrounding environment information when the engagement of the electronic parking brake is impossible, calculates a steering angle for preventing the slip, transmits the calculated steering angle to the portable terminal, receives a steering control command from the portable terminal, and controls steering based on the received steering control command.

According to still another aspect of the present disclosure, a method of controlling a vehicle includes obtaining vehicle surrounding environment information and vehicle driving information, determining whether an engagement of an electronic parking brake (EPB) is possible based on the vehicle driving information to perform control for preventing the slip based on the vehicle surrounding environment information when the engagement of the EPB is impossible, calculating a steering angle for preventing the slip and transmitting the calculated steering angle to a portable terminal, and receiving a steering control command from the portable terminal and controlling steering based on the received steering control command.

The method may further include operating the EPB and determining whether the slip occurs after the EPB is engaged when it is determined that the engagement of the EPB is possible.

The method may further include determining whether a re-engagement of the EPB is possible when it is determined that the slip occurs after the EPB is engaged.

The method may further include performing the control for preventing the slip when it is determined that the re-engagement of the EPB is impossible.

The method may further include determining a slope of a road based on the vehicle surrounding environment information, wherein the control for preventing the slip is performed based on the slope of the road when it is determined that the vehicle is located on a sloping road.

The control for preventing the slip may include control for restarting an engine at a time when the engine is turned off and changing a transmission gear ratio based on the vehicle driving information.

The method may further include transmitting a control history and a return request message of a user to the portable terminal when the control for preventing the slip is performed.

The steering angle may be calculated based on a movement trajectory of the vehicle and a location of an obstacle when the slip occurs.

DETAILED DESCRIPTION

FIG.1is a block diagram illustrating the configuration of a vehicle control system according to an embodiment of the present disclosure.

As shown inFIG.1, a vehicle control system300according to an embodiment of the present disclosure may include a vehicle control apparatus100and a portable terminal200.

The vehicle control apparatus100may obtain vehicle surrounding environment information, determine whether an electronic parking brake is operable, perform control for preventing a slip based on the vehicle surrounding environment information when an operation of the electronic parking brake is impossible, calculate a steering angle for preventing the slip, transmit the calculated steering angle to the portable terminal200, receive a steering control command from the portable terminal200, and control steering based on the received steering control command. The more details of the vehicle control apparatus will be described with reference toFIG.2.

The portable terminal200may communicate with the vehicle control apparatus100, and according to an embodiment of the present disclosure, may include a portable electronic device including a user's smart phone, a smart pad, a laptop computer, and the like. When the control history performed and a return request message of a user are received from a vehicle, the portable terminal200may generate a steering control command capable of controlling steering of the vehicle and transmit it to the vehicle. More details of the portable terminal will be described with reference toFIG.3.

FIG.2is a block diagram illustrating the configuration of a vehicle control apparatus according to an embodiment of the present disclosure.

As shown inFIG.2, the vehicle control apparatus100may include a sensor110, a camera120, an input device130, a communicator140, and a controller150.

The sensor110may obtain vehicle surrounding environment information. The sensor110may detect an object outside the vehicle such as a vehicle in front or rear of the vehicle, a slope of a road, a surrounding structure of the vehicle, an approaching vehicle in the opposite lane, and the like. In this case, the surrounding structure of the vehicle may include a curbstone installed around a road. According to an embodiment, the sensor110may include an ultrasonic sensor that detects a distance by measuring a time until a reflected wave reflected by an object is received after emitting an ultrasonic pulse to a target. In addition, the sensor110may obtain ground information or line information of a road by detecting a line marking of the road or a signal reflected by the road surface.

In addition, the sensor110may obtain vehicle driving information. According to an embodiment, the sensor110may detect a state in which an electronic parking brake (EPB) device of a vehicle is coupled to a braking device (not shown). In this case, when the electronic parking brake receives a user input signal (electronic parking brake operation signal) from the input device130, the electronic parking brake is operated to be coupled to the braking device (not shown) under control of the controller150, so that the vehicle is braked. In this case, the braking device may be changed corresponding to the braking scheme (drum braking scheme, disc braking scheme). In addition, the sensor110may detect a gear ratio of a vehicle, a distance traveled by the vehicle (movement distance of a wheel), and a steering angle of the vehicle.

The camera120may obtain vehicle surrounding environment information in the form of an image, and may be implemented with a plurality of image sensors. The camera120may include front, left, right and rear cameras, where the front camera is provided in front of the vehicle to obtain an image of the front of the vehicle, and the left and right cameras obtain images of the left and right sides of the vehicle, and the rear camera is provided at the rear of the vehicle to obtain an image of the rear of the vehicle.

The input device130may receive an input signal corresponding to a manipulation, an operation or a voice of a user and according to an embodiment of the present disclosure, the input device130may receive an operation of a user. To this end, the input device130may be implemented with a scroll wheel, a button, a knob, and a switch that can be operated by a user.

The communicator140may perform wireless communication with the portable terminal200. According to an embodiment, the communicator140may communicate with the portable terminal200in various communication schemes such as Wi-Fi, WiBro, global system for mobile communication (GSM), code division multiple access (CDMA), wideband code division multiple access (WCDMA), universal mobile telecommunication system (UMTS), time division multiple access (TDMA), long term evolution (LTE), and the like. According to an embodiment, the communicator140may transmit the steering direction and steering angle calculated from the vehicle control apparatus to the portable terminal200and receive a steering control command generated from the portable terminal200.

The controller150may be implemented with various processing devices such as a microprocessor equipped with a semiconductor chip capable of performing operations or executions of various commands, and may control the operation of the vehicle control apparatus according to an embodiment. In detail, the controller150may determines whether the electronic parking brake is operable based on the vehicle driving information, perform control for preventing a slip based on the vehicle surrounding environment information when an operation of the electronic parking brake is impossible, calculate a steering angle for preventing the slip, transmit the steering angle to the portable terminal, receive a steering control command from the portable terminal, and control steering based on the received steering control command.

First, the controller150may determine the parking location based on the vehicle surrounding environment information. According to an embodiment, when the vehicle is parked in an automatic parking scheme, the controller150may determine whether the parking location of the vehicle is located at the left or right side based on the driving direction of the vehicle after the automatic parking operation is completed. In addition, when the vehicle is parked in a manual parking scheme, the controller150may determine the location of the surrounding structure when the engine is turned off after the manual parking operation is completed. According to an embodiment, the controller150may determine whether a surrounding structure such as a curb is located close to the left or right side of the vehicle based on the driving direction of the vehicle. More details will be described with reference toFIGS.3and4.

FIGS.3and4are views illustrating the locations of the vehicle and the surrounding structure determined according to an embodiment of the present disclosure.

As shown inFIG.3, when the controller150determines a driving direction30of the vehicle based on the information detected by the sensor110and the camera120, it may be determined that the parking location of the vehicle is at the right side of the driving direction30. In addition, the controller150may determine that a surrounding structure32is located close to the right side based on the driving direction30of the vehicle. In addition, as illustrated inFIG.4, when a driving direction40of the vehicle is determined based on the information detected by the sensor110and the camera120, the controller150may determine that the parking location of the vehicle is at the left side of the driving direction40. In addition, the controller150may determine that a surrounding structure42is located close to the left side based on the driving direction40of the vehicle.

The controller150may determine the slope of the road based on the vehicle surrounding environment information. In this case, the slope of the road may be determined based on the angle between the ground surface and the road surface, and the slope may be determined based on an image obtained through the front or rear camera. According to an embodiment, the controller150may determine whether the vehicle is parked on an uphill or downhill road based on the slope of the road.

When it is determined that the vehicle is parked on an uphill or downhill road, the controller150may determine that the transmission shift lever of the vehicle is positioned in ‘P’ at the time when the vehicle is parked, and determine whether the engagement of the electronic parking brake is completed. When the transmission shift lever is positioned in ‘P’ and it is determined that the engagement of the brake is completed, the controller150may determine whether the slip (sliding on the slope road) occurs after the vehicle is turned off. In this case, the controller150may determine that the slip has occurred when information about the distance traveled of the wheel is received in the ignition-on state for a predetermined time (e.g., one minute) after the vehicle is turned off.

Although it is determined that the engagement of the electronic parking brake is completed, when it is determined that the slip occurs, the controller150may determine whether the re-engagement of the electronic parking brake is possible. When it is determined that the re-engagement of the electronic parking brake is possible, the controller150may control the engine to restart, and control the electronic parking brake to be re-engaged, and then turn off the engine. Thereafter, the controller150may control to transmit the control history (history of engine restart and start-off) performed after the slip to the portable terminal200. In addition, the controller150may control to transmit the vehicle surrounding image obtained through the camera120to the portable terminal200.

When it is determined that the engagement of the electronic parking brake is not completed, the controller150may determine whether the re-engagement is possible. When it is determined that the engagement is possible, the controller150receives the operation signal of the electronic parking brake again at the time when the vehicle is turned off, such that the engagement of the electronic parking brake is completed.

However, when it is determined that the engaging force of the electronic parking brake is lowered or a failure occurs so that it is determined that the engagement or re-engagement is impossible, the controller150may restart the engine at the time when the engine is turned off and control the transmission gear to be changed in a direction opposite to the slope direction. According to an embodiment, when it is determined that the vehicle is parked on an uphill road, the controller150may change the transmission gear to stage ‘D’. When it is determined that the vehicle is parked on a downhill slope, the controller150may change the transmission gear to stage ‘R’. In addition, when it is determined that the vehicle is parked on a flat road, the controller150may change the transmission gear to stage ‘N’.

The controller150may transmit the control history and a message requesting the user to return to the vehicle to the portable terminal200after determining that the engagement of the electronic parking brake is impossible. The controller150may wait until a steering control command is received from the portable terminal200and calculate a steering angle and steering direction optimal to prevent the slip. In addition, the controller150may transmit the calculated steering angle and steering direction to the portable terminal200. More details will be described with reference toFIGS.5A,5B,6A,6B,7A,7B,8A,8B,9A,9B,10A, and10B.

FIGS.5A,5B,6A and6Bare views illustrating a steering direction calculated on an uphill road according to an embodiment of the present disclosure.FIGS.7A,7B,8A,8B,9A,9B,10A and10Bare views illustrating a steering direction calculated according to the location of a surrounding structure and the type of a sloping road.

As shown inFIGS.5A and5B, the controller150may determine that the vehicle is parked on an uphill road, a surrounding structure50is located nearby within a specified distance at the left side of the vehicle, and an obstacle52is located in the rear of the vehicle. As shown inFIGS.6A and6B, the controller150may determine that the vehicle is parked on an uphill road and the surrounding structure50is spaced apart from the left side of the vehicle beyond a specified distance. In this case, the controller150may calculate the steering angle based on the distance by which the obstacle52is spaced apart from the vehicle corresponding to the distance by which the surrounding structure50is spaced apart from the vehicle. According to an embodiment, the controller150may decrease the steering angle as the surrounding structure50approaches the vehicle and increase the steering angle as the surrounding structure50moves away from the vehicle. In addition, the controller150may increase the steering angle as the obstacle52approaches the vehicle and decrease the steering angle as the obstacle52moves away from the vehicle. In addition, the controller150may transmit the largest value of the calculated steering angles to the portable terminal200.

For example, when the maximum left steering angle is −350° and the maximum right steering angle is +350°, in case ofFIGS.5A and5B, the controller150may calculate a steering angle of −100° based on the surrounding structure50and a steering angle of −350° based on the rear obstacle52, and transmit the calculated steering angle of −350° to the portable terminal200. In addition, in case ofFIGS.6A and6B, the controller150may calculate a steering angle of −350° based on the surrounding structure50and transmit the calculated steering angle of −350° to the portable terminal200.

In addition, referring toFIGS.7A,7B,8A,8B,9A,9B,10A and10B, the controller150may determine the steering direction corresponding to the location of the surrounding structure and the type of a slop road based on the vehicle.

As shown inFIGS.7A and7B, when the controller150determines that the vehicle is located on a downhill road and a surrounding structure70is located at an adjacent position within a specified distance from the right side of the vehicle, the controller150may determine the right as the steering direction. As shown inFIGS.8A and8B, when the controller150determines that the vehicle is located on an uphill road and the surrounding structure70is located within a specified distance from the right side of the vehicle, the controller150may determine the right as the steering direction.

In addition, as shown inFIGS.9A and9B, when the controller150determines that the vehicle is located on a downhill road and a surrounding structure90is located at a location adjacent to the left side of the vehicle within a specified distance, the controller150may determine the left as the steering direction. As shown inFIGS.10A and10B, when the controller150determines that the vehicle is located on an uphill road and a surrounding structure10is located within a specified distance from the left side of the vehicle, the controller150may determine to the left as the steering direction.

Although not shown, when the controller150determines that the vehicle is located on a flat road, the controller150may determine the steering direction to a sensor (center) regardless of the location of a surrounding structure or an obstacle.

As described above, the controller150may calculate the steering direction and steering angle and transmits the calculated information to the portable terminal200. When the controller150receives the steering control command from the portable terminal200while waiting until the steering control command is received from the portable terminal200, the controller150may control the steering based on the received steering control command.

That is, the controller150may provide the optimal steering direction and steering angle calculated based on the vehicle surrounding environment information to allow the user to reflect it in setting the steering command, and may ultimately control the steering based on the steered control command generated by the user's intention.

Even after the controller150receives the steering control command from the portable terminal200and steering of the vehicle is controlled based on the received steering control command, the controller150may monitors whether the slip occurs, wait until the driver returns, and transmit the surrounding image and control history of the vehicle to the portable terminal200.

FIG.11is a block diagram illustrating the configuration of a portable terminal according to an embodiment of the present disclosure.

As shown inFIG.11, the portable terminal200may include a communicator210, an output device220, an input device230, and a controller240.

The communicator210may perform wireless communication with the portable terminal200. According to an embodiment, the communicator210may communicate with the communicator140of the vehicle control apparatus in various communication schemes such as Wi-Fi, WiBro, global system for mobile communication (GSM), code division multiple access (CDMA), wideband code division multiple access (WCDMA), universal mobile telecommunication system (UMTS), time division multiple access (TDMA), long term evolution (LTE), and the like. According to an embodiment, the communicator210may receive the steering direction and steering angle calculated from the vehicle control apparatus100. In addition, the communicator210may transmit the steering control command generated by the controller240to the vehicle control apparatus100.

The output device220may display a steering menu including a steering angle and a steering direction received from the vehicle. To this end, the output device220may be implemented with a display device. According to an embodiment, the output device220may output a steering menu as shown in following Table 1.

In addition, when the control history and the return request message is received from the vehicle control apparatus, the output device220may output the received information. The input device230may receive an input signal corresponding to a manipulation, an operation or a voice of a user and according to an embodiment of the present disclosure, the input device230may receive an operation of a user. To this end, the input device230may be implemented with a button, a touch screen, and the like. When the input device230is a touch screen, the input device230may be implemented integrally with the output device220.

According to an embodiment of the present disclosure, when one of images in Table 1 output to the output device220is selected by the user, the input device230may receive an input signal corresponding to the selected image.

The controller240may be implemented with various processing devices such as a microprocessor equipped with a semiconductor chip capable of performing operations or executions of various commands, and may control the operation of the vehicle control apparatus according to an embodiment.

When the controller240receives the control history and return request message from the vehicle control apparatus100, the controller240may allow the output device220to output the control history and return request message and output the steering menu including the steering direction and steering angle information calculated from the vehicle control apparatus100.

The controller240may generate a steering control command based on the input signal input to the input device230and may transmit the steering control command to the vehicle control apparatus when the steering control command is generated.

FIG.12is a flowchart illustrating a vehicle control method according to an embodiment of the present disclosure.

As shown inFIG.12, in operation S110, the controller150obtains vehicle surrounding environment information. In operation S110, the controller150may determine the parking location based on the vehicle surrounding environment information. According to an embodiment, when the vehicle is parked in an automatic parking scheme, the controller150may determine whether the parking location of the vehicle is located at the left or right side based on the driving direction of the vehicle after the automatic parking operation is completed. In addition, when the vehicle is parked in a manual parking scheme, the controller150may determine the location of the surrounding structure when the engine is turned off after the manual parking operation is completed. According to an embodiment, the controller150may determine whether a surrounding structure such as a curb is located close to the left or right side of the vehicle based on the driving direction of the vehicle. For more details, refer to the descriptions ofFIGS.3and4.

In operation S120, the controller150may determine the slope of a road based on the vehicle surrounding environment information. In operation S120, the slope of the road may be determined based on the angle between the ground surface and the road surface, and the slope may be determined based on the image obtained through the front or rear camera. According to an embodiment, the controller150may determine whether the vehicle is parked on an uphill or downhill road based on the slope of the road.

When it is determined that the vehicle is parked on an uphill or downhill road, in operation S130, the controller150may determine that the transmission shift lever of the vehicle is positioned in ‘P’ at the time when the vehicle is parked, and determine whether the engagement of the electronic parking brake is completed. When the transmission shift lever is positioned in ‘P’ and it is determined that the engagement of the brake is completed in operation S130(Y), in operation S160, the controller150may determine whether the slip (sliding on the slope road) occurs after the vehicle is turned off. In S160, the controller150may determine that the slip has occurred when information about the distance traveled of the wheel is received in the ignition-on state for a predetermined time (e.g., one minute) after the vehicle is turned off.

Although it is determined in operation S130that the engagement of the electronic parking brake is completed, when it is determined in operation S160that the slip occurs, in operation S170, the controller150may determine whether the re-engagement of the electronic parking brake is possible. When it is determined in operation S170that the re-engagement of the electronic parking brake is possible (Y), in operation S180, the controller150may control the engine to restart, and control the electronic parking brake to be re-engaged, and then turn off the engine. Thereafter, in operation S190, the controller150may control to transmit the control history (history of engine restart and start-off) performed after the sleep to the portable terminal200. In operation S190, the controller150may control to transmit the vehicle surrounding image obtained through the camera120to the portable terminal200.

When it is determined in operation S130that the engagement of the electronic parking brake is not completed (N), in operation S140, the controller150may determine whether the engagement is possible. When it is determined in operation S140that the engagement of the electronic parking brake is possible (Y), in operation S150, the controller150receives the operation signal of the electronic parking brake again at the time when the vehicle is turned off, such that the engagement of the electronic parking brake is completed.

However, when it is determined in operation S140that the engaging force of the electronic parking brake is lowered or a failure occurs so that it is determined that the engagement or re-engagement is impossible (N), or it is determined in operation S170that the engagement or re-engagement is impossible (N), in operation S200, the controller150may restart the engine at the time when the engine is turned off and control the transmission gear to be changed in a direction opposite to the slop direction. In operation S200, according to an embodiment, when it is determined that the vehicle is parked on an uphill road, the controller150may change the transmission gear to stage ‘D’. When it is determined that the vehicle is parked on a downhill slope, the controller150may change the transmission gear to stage ‘R’. In addition, when it is determined that the vehicle is parked on a flat road, the controller150may change the transmission gear to stage ‘N’.

In operation S210, the controller150may transmit the control history and a message requesting the user to return to the vehicle to the portable terminal200after determining that the engagement of the electronic parking brake is impossible. In operation S220, the controller150may wait until a steering control command is received from the portable terminal200, calculate a steering angle and steering direction optimal to prevent the slip, and transmit the calculated steering angle and steering direction to the portable terminal200. For detailed description of the operation S220, refer to the descriptions ofFIGS.5A,5B,6A,6B,7A,7B,8A,8B,9A,9B,10A, and10B.

In operation S230, the controller150may calculate the steering direction and steering angle and transmit the calculated information to the portable terminal200. In addition, when the controller150receives the steering control command from the portable terminal200while waiting until the steering control command is received from the portable terminal200, the controller150may control the steering based on the received steering control command.

In operation S190, after the controller150receives the steering control command from the portable terminal200and steering of the vehicle is controlled based on the received steering control command, the controller150may monitor whether the slip occurs, wait until the driver returns, and transmit the surrounding image and control history of the vehicle to the portable terminal200.

FIG.13is a flowchart illustrating a method of operating a portable terminal according to an embodiment of the present disclosure.

As shown inFIG.13, in operation S310, the controller240receives the control history and return request message from the vehicle control apparatus100, and may allow the output device220to output the control history and return request message through the output device220. In operation S320, the controller240may control to output the steering menu including the steering direction and steering angle information calculated from the vehicle control apparatus100. In this case, refer to Table 1 for the steering menu.

The controller240may generate a steering control command based on the input signal input to the input device230in operation S330, and in operation S340, may transmit the steering control command to the vehicle control apparatus when the steering control command is generated.

FIG.14is a block diagram illustrating a configuration of a computing system executing a method according to an embodiment of the present disclosure.

Accordingly, the processes of the method or algorithm described in relation to the embodiments of the present disclosure may be implemented directly by hardware executed by the processor1100, a software module, or a combination thereof. The software module may reside in a storage medium (that is, the memory1300and/or the storage1600), such as a RAM, a flash memory, a ROM, an EPROM, an EEPROM, a register, a hard disk, solid state drive (SSD), a detachable disk, or a CD-ROM. The exemplary storage medium is coupled to the processor1100, and the processor1100may read information from the storage medium and may write information in the storage medium. In another method, the storage medium may be integrated with the processor1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In another method, the processor and the storage medium may reside in the user terminal as an individual component.

According to embodiments the present disclosure, the apparatus, system and method for controlling a vehicle are capable of securing safety by fundamentally preventing slip when a vehicle is parked on a sloping road.

The above description is a simple exemplification of the technical spirit of the present disclosure, and the present disclosure may be variously corrected and modified by those skilled in the art to which the present disclosure pertains without departing from the essential features of the present disclosure.

Therefore, the disclosed embodiments of the present disclosure do not limit the technical spirit of the present disclosure but are illustrative, and the scope of the technical spirit of the present disclosure is not limited by the embodiments of the present disclosure. The scope of the present disclosure should be construed by the claims, and it will be understood that all the technical spirits within the equivalent range fall within the scope of the present disclosure.