Patent Publication Number: US-2023160252-A1

Title: Method and apparatus for controlling a vehicle for convenient trunk use

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is based on and claims priority to Korean Patent Application No. 10-2021-0162704, filed on Nov. 23, 2021, the disclosure of which is incorporated by reference herein in its entirety. 
     TECHNICAL FIELD 
     The present disclosure relates to a method of and an apparatus for controlling a vehicle for convenient trunk use. 
     BACKGROUND 
     The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. 
     To use the trunk of a vehicle, sufficient working space needs to be secured to access the trunk at that side of the vehicle. Vehicles such as sport utility vehicles (SUVs) cannot spread out (e.g., open or lower) their tailgate before securing a certain rear space around the vehicle. Even with the trunk door, e.g., tailgate or trunk lid opened, the user is cramped for room and may not be able to enter the side of the vehicle with the trunk or may feel uncomfortable in loading or unloading goods at the trunk. 
     The space around the vehicle may vary depending on the parking type of the vehicle (e.g., forward parking, reverse parking or parallel parking, and the like), and the space around the vehicle may change according to the situation after parking. For example, even when a first vehicle is parked, considering the convenience of using the trunk, if a second vehicle comes and parks too close to the first vehicle&#39;s tail, the first vehicle is deprived of space for using the trunk. In this case, the user can use the trunk only after getting in the vehicle, starting, and re-parking the same. 
     SUMMARY 
     According to at least one embodiment, the present disclosure provides a method, performed by a device of a vehicle, for controlling the vehicle, including recognizing a request to use a trunk and obtaining parking status information of the vehicle. The method further includes controlling the vehicle to behave to secure a trunk working space for use of the trunk based on the parking status information of the vehicle, and opening a door (e.g., tailgate or trunk lid) of the trunk in response to securing the trunk working space. 
     According to another embodiment, the present disclosure provides an apparatus for controlling a vehicle, including a control unit configured to obtain parking status information of the vehicle in response to a request to use a trunk. The control unit is further configured to control the vehicle to behave to secure a trunk working space for use of the trunk based on the parking status information of the vehicle, and to open a door of the trunk in response to securing the trunk working space. 
     According to yet another embodiment, the present disclosure provides a vehicle including the apparatus for controlling the vehicle as described above. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a block diagram of a vehicle according to at least one embodiment of the present disclosure. 
         FIG.  2 A  and  FIG.  2 B  illustrate a situation that needs a space to be secured for trunk use according to at least one embodiment of the present disclosure. 
         FIG.  3    illustrates a situation that needs a space to be secured for trunk use according to another embodiment of the present disclosure. 
         FIG.  4    is a flowchart of a method of controlling a vehicle for convenient trunk use according to at least one embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure in some embodiments seeks to provide a method and apparatus capable of improving vehicle user&#39;s convenience by figuring out the space around the vehicle and moving the vehicle to secure a space for use of a trunk. 
     Hereinafter, some embodiments of the present disclosure are described in detail with reference to the accompanying drawings. In the following description, like reference numerals preferably designate like elements, although the elements are shown in different drawings. Further, in the following description of some embodiments, a detailed description of related known components and functions, when considered to obscure the subject of the present disclosure, are omitted for the purpose of clarity and for brevity. 
     Additionally, various terms such as first, second, A, B, (a), (b), and the like, are used solely for the purpose of differentiating one component from others but not to imply or suggest the substances, the order or sequence of the components. Throughout this specification, when parts “include” or “comprise” a component, they are meant to further include other components, not excluding thereof unless there is a particular description contrary thereto. The terms such as “unit,” “module,” and the like refer to units for processing at least one function or operation, which may be implemented by hardware, software, or a combination thereof. 
     When a component, device, element, or the like of the present disclosure is described as having a purpose or performing an operation, function, or the like, the component, device, or element should be considered herein as being “configured to” meet that purpose or to perform that operation or function. 
     It is understood that the term “trunk” or other similar term as used herein is inclusive of cargo space of a vehicle such as a trunk, front trunk, i.e., frunk, and the like. 
       FIG.  1    is a block diagram of a vehicle  10  according to at least one embodiment of the present disclosure. 
     As shown in  FIG.  1   , the vehicle  10  may include an input unit  100 , a sensing unit  110 , a display unit  120 , a driving unit  130 , a communication unit  140 , a storage  150 , and a control unit  160 , in whole or in part. Not all blocks shown in  FIG.  1    are requisite components, and some blocks included in the vehicle  10  may be added, changed, or deleted in another embodiment. The respective components may be implemented as hardware or software or as a combination of hardware and software. Additionally, the function of each component may be implemented by software, and the function by software for each component may be implemented to be executed by at least one or more microprocessors. 
     The respective components may exchange signals via an internal communication system (not shown). The signals may include data. The internal communication system may use at least one communication protocol (e.g., CAN, LIN, FlexRay, MOST, Ethernet). 
     The apparatus for controlling a vehicle according to at least one embodiment of the present disclosure includes one or more of a device, a unit, and logic installed in the vehicle  10 . For example, the vehicle controlling apparatus may include all or some of the communication unit  140 , the control unit  160 , and the storage  150 . 
     The input unit  100  may be configured to receive a user input for trunk use. For example, the input unit  100  may be configured to receive a trunk use request and/or a trunk use termination request from a user. The input unit  100  may be implemented as, for example, at least one of one or more buttons, a jog dial, and a touchpad. The input unit  100  may be implemented as a touch display or the like in combination with the display unit  120 . 
     The sensing unit  110  may be configured to recognize the surrounding situation of the vehicle  10 . For example, the vehicle  10  may use the sensing unit  110  to detect obstacles about the vehicle  10 , such as another vehicle or a wall. The sensing unit  110  may be implemented as, for example, at least one of an image sensor, a radar, a lidar, and an ultrasonic sensor. 
     In some embodiments, when the vehicle  10  is configured to be responsive to the user approaching the vehicle  10 , or responsive to the user making a certain motion to provide a smart tailgate function that automatically opens the trunk door (e.g., tailgate or trunk lid), the sensing unit  110  may further include a sensor for detecting the user&#39;s approach or the certain motion. Upon detecting a user&#39;s approach or a certain motion generated by the user, the sensing unit  110  may be configured to transmit a trunk use request to the control unit  160 . 
     The display unit  120  may be configured to visually provide the user with information about the behavior of the vehicle  10 . The display unit  120  may be implemented as a display disposed in one area of the vehicle  10 , such as a seat, an audio video navigation (AVN), a head-up display (HUD), a graphical user interface (GUI), and/or a cluster. The display unit  120  may be implemented as a touch display or the like in combination with the input unit  100 . 
     The driving unit  130  may be configured to control the operation of various devices related to the behavior of the vehicle  10 , such as starting, steering, braking, speed changing or shifting, and opening and closing of the trunk door of the vehicle  10 . For example, the driving unit  130  may include all or some of a driving unit as a power source, a driving unit for the steering unit, a driving unit for the brake unit, and a driving unit for the trunk door. The driving unit  130  may include one or more processors. According to embodiments, components of the driving unit  130  may each include an individual processor. The driving unit  130  may be operated under the control of the control unit  160 . 
     The present application does not reiterate the method of controlling, by the driving unit  130 , the operation of various units and devices related to the behavior of the vehicle  10 , such as starting, steering, braking, shifting, and opening and closing of the trunk door of the vehicle  10  because the method is commonly known in this technical field. 
     The communication unit  140  may be configured to communicate with at least one external device of the vehicle  10 . According to embodiments, the communication unit  140  may be configured to perform wired/wireless communications with a terminal  12 . The terminal  12  may be implemented as an electronic device possessed by the user of the vehicle  10 , such as a smart key, a smartphone, a smart watch, and a tablet, among others. 
     The communication unit  140  may be configured to receive a user&#39;s input about trunk use from the terminal  12 . For example, the communication unit  140  may be configured to receive a trunk use request and/or a trunk use termination request from the terminal  12  and transmit it to the control unit  160 . 
     The communication unit  140  may be configured to transmit information on the behavior of the vehicle  10  to the terminal  12 . For example, the communication unit  140  may be configured to receive information on the behavior of the vehicle  10  from the control unit  160  and transmit it to the terminal  12 . 
     The storage  150  may be configured to store various programs and data for implementing the vehicle control method according to at least one embodiment of the present disclosure. For example, the storage  150  may be configured to store a program for the operation of the control unit  160 , and it may temporarily store data input/output to the control unit  160 . 
     The control unit  160  may be configured to interwork with the input unit  100 , sensing unit  110 , display unit  120 , driving unit  130 , communication unit  140 , and storage  150  to perform calculations and controls for securing the space for trunk utilization. In addition, the control unit  160  may be implemented as one or more processors. For example, the control unit  160  may be implemented as an electronic control unit (ECU), a micro controller unit (MCU) or any other sub-controller installed in the vehicle  10 . 
     The control unit  160  may be configured to obtain the parking status information of the vehicle  10  in response to the trunk use request. The control unit  160  may be further configured to control, based on the parking status information of the vehicle  10 , the vehicle  10  to behave or move to secure a space for utilizing the trunk. Furthermore, the control unit  160  may be configured to open the door of the trunk in response to securing the space for use of the trunk. 
     The control unit  160  may be configured to recognize a trunk use request and a trunk use termination request based on information received from the input unit  100 , sensing unit  110 , and/or communication unit  140 . 
     For example, in response to receiving a first input of the user through the input unit  100  or the communication unit  140 , the control unit  160  may be configured to recognize it as a trunk use request. Likewise, in response to receiving the user&#39;s second input, the control unit  160  may be configured to recognize it as a trunk use termination request. 
     As another example, the control unit  160  may be configured to operate based on the image or signal received from the sensing unit  110  to be responsive to a detection of the user&#39;s approach or a first motion for recognizing it as a trunk use request. The control unit  160  may be further configured to operate based on the image or signal received from the sensing unit  110  to be responsive to a detection of the user&#39;s distancing or a second motion for recognizing it as a request to terminate trunk use. 
     The method by which the control unit  160  recognizes the trunk use request and/or the trunk use termination request is not limited to the above-described example. Further, the control unit  160  may use various methods that can be implemented in the vehicle  10  to recognize a trunk use request and/or a trunk use termination request. 
     The control unit  160  may be configured to obtain, based on the image or signal received from the sensing unit  110 , the parking status information of the vehicle  10 . To obtain the parking status information of the vehicle  10 , the control unit  160  may be configured to detect one or more obstacles (e.g., other vehicles, walls, or objects) around the vehicle  10 . The control unit  160  may be configured to detect the presence of an obstacle, the size of the obstacle, a distance from the obstacle, and the like. The control unit  160  may be configured to determine the parking type (e.g., parallel parking or perpendicular parking) of the vehicle  10  as the parking status information of the vehicle  10 . 
     The present application does not reiterate and is not limited to a particular method of detecting an obstacle around the vehicle  10  or determining the parking type of the vehicle  10  based on the image or signal received from the sensing unit  110  because such a method is commonly known in the field of image recognition and/or signal processing. 
     The control unit  160  may be configured to determine, based on the image or signal received from the sensing unit  110 , whether it is good to open or close the trunk door, and whether it is convenient for the user to enter the trunk and/or load and unload goods into/from the trunk. To this end, the control unit  160  may be configured to determine whether a space is secured for use of the trunk around the vehicle  10 . The space for using the trunk may include a space for opening a door of the trunk, a space for the user to enter the trunk side of the vehicle  10 , and a space for loading and unloading goods into/from the trunk. The trunk side of the vehicle  10  may be, but is not limited to, a rear of the vehicle  10  or a front of the vehicle  10 . 
     According to embodiments, the control unit  160  compares the distance to the obstacle with a preset reference distance to determine whether the trunk door may be opened or closed well, whether the user can conveniently enter the trunk side of the vehicle  10 , and/or whether the user can conveniently load and unload goods. 
     According to embodiments, the control unit  160  may be configured to define a first minimum space required to open the door of the trunk, a second minimum space required for the user to enter the trunk side of the vehicle  10 , and a third minimum space necessary for loading and unloading goods. Then, based on whether an obstacle is detected in the first to third minimum spaces, the control unit  160  may be configured to determine whether the trunk door may be opened or closed well (e.g., sufficiently), whether the user can conveniently enter the trunk side of the vehicle  10 , and/or whether the user can conveniently load and unload goods into and out of the trunk. 
     The control unit  160  may be configured to determine whether an obstacle around the vehicle  10  prevents the use of the trunk. In response to determining that an obstacle around the vehicle  10  disables or impedes any one or more of opening/closing of the trunk door, the user&#39;s entry into the trunk side of the vehicle  10 , and/or loading and unloading the trunk, the control unit  160  may be configured to conclude that the obstacle around the vehicle  10  prevents the use of the trunk. 
     In response to concluding that the obstacle around the vehicle  10  prevents the use of the trunk, the control unit  160  may be configured to control the vehicle  10  to move to secure a space for trunk use. For example, the control unit  160  may be configured to change the parking position and/or posture of the vehicle  10  to secure a space for trunk use. 
     According to embodiments, the control unit  160  may be configured to determine a parking position and/or posture (hereinafter, a target parking state) capable of securing a space for use of the trunk. The control unit  160  may be configured to generate a trajectory for moving the vehicle  10  from the current parking position and/or posture (hereinafter, original parking state) to the target parking state while avoiding obstacles around the vehicle  10 . 
     The control unit  160  may generate control information for controlling one or more of starting, steering, braking, and shifting of the vehicle  10  to move the vehicle  10  to the target parking state. In addition, the control unit  160  may provide the generated control information to the driving unit  130 . 
       FIG.  2 A  and  FIG.  2 B  illustrate a situation that needs a space to be secured for trunk use according to at least one embodiment of the present disclosure. 
     As shown in  FIG.  2 A , the control unit  160  may be configured to generate control information for moving the vehicle  10  forward in response to determining that a detected obstacle behind the vehicle  10  disables or impedes any one or more of the opening/closing of the trunk door, the user&#39;s entry into the trunk side of the vehicle  10 , and/or loading and unloading goods. 
     On the other hand, as shown in  FIG.  2 B , the control unit  160  may be configured to generate control information for moving the vehicle  10  backward in response to determining that a detected obstacle in the front of the vehicle  10  disables or impedes any one or more of opening/closing of the trunk door, the user&#39;s entry into the trunk side of the vehicle  10 , and/or loading and unloading goods. 
     When the vehicle  10  is turned off, the control unit  160  may further generate control information for turning on the vehicle  10  to begin operation. 
       FIG.  3    illustrates a situation that needs a space to be secured for trunk use according to another embodiment of the present disclosure. 
     As shown in  FIG.  3   , when multiple vehicles are parked in a line, the control unit  160  cannot secure a space for trunk use by moving the vehicle  10  forward or backward. As such, the control unit  160  may be configured to move the vehicle  10  to the side through steering control to secure a space for trunk use in response to determining that an obstacle detected at one side of the vehicle  10  prevents the use of the trunk and that another obstacle detected at another side of the vehicle  10  disables the vehicle  10  from moving straight. The one side and the other side of the vehicle  10  may be, but are not limited to, a rear of the vehicle  10  or a front of the vehicle  10 , respectively. 
     While controlling the behavior of the vehicle  10 , the control unit  160  may be configured to provide the user with information on the behavior of the vehicle  10  through the display unit  120  and/or the terminal  12 . For example, the control unit  160  may be configured to generate information for notifying the user of the control of the vehicle  10  to secure a space for trunk use and transmit the information to the display unit  120  and/or the communication unit  140 . As another example, the control unit  160  may be configured to render information on the expected behavior of the vehicle  10  (e.g., its route or turning direction) to be outputted to the display unit  120  and/or the terminal  12 . 
     The control unit  160  may be configured to control the driving unit  130  to open the door of the trunk. The control unit  160  may be configured to generate one or both of control information for unlocking the trunk door and control information for opening up the trunk door. 
     After the trunk use is terminated, the control unit  160  may be configured to control the vehicle  10  to move back to the original parking state. The control unit  160  may be configured to generate a trajectory for moving the vehicle  10  from the target parking state to the original parking state while avoiding obstacles around the vehicle  10 . In this case, the control unit  160  may be configured to use the reverse trajectory of the trajectory generated earlier for moving the vehicle  10  to the target parking state, among other methods available for this purpose. 
       FIG.  4    is a flowchart of a method of controlling a vehicle for convenient trunk use according to at least one embodiment of the present disclosure. 
     The vehicle controlling method shown in  FIG.  4    may be performed by the control unit  160  and the vehicle controlling apparatus having the control unit  160  in  FIGS.  1 - 3   , and hence reiterating details thereof are omitted. 
     The vehicle controlling apparatus recognizes the trunk use request (S 400 ). For example, the vehicle controlling apparatus may recognize the trunk use request by detecting the request when received from the user through the input unit  100  and/or the terminal  12  or detecting the user&#39;s approach or a certain motion through the sensing unit  110 . The vehicle controlling apparatus may recognize the trunk use request regardless of whether the vehicle  10  is started or whether the user is in the vehicle  10 . 
     The vehicle controlling apparatus obtains the parking status information of the vehicle  10  (S 410 ). The vehicle controlling apparatus may obtain parking status information of the vehicle  10  based on information obtained through the sensing unit  110 . 
     According to embodiments, the vehicle controlling apparatus detects an obstacle around the vehicle  10  for its parking status information, or it determines a parking type of the vehicle  10  (e.g., parallel parking and perpendicular parking, and the like). 
     According to embodiments, based on information obtained through the sensing unit  110 , the vehicle controlling apparatus determines whether an obstacle around the vehicle  10  prevents the use of the trunk. For example, with the vehicle  10  being in the current parking position and/or posture (hereinafter, original parking state), the vehicle controlling apparatus determines whether an obstacle around the vehicle  10  deprives the vehicle  10  of a space that needs to be secured for trunk use. If yes, the vehicle controlling apparatus may conclude that the obstacle around the vehicle  10  is preventing the use of the trunk. The space for using the trunk may include a space for opening a door of the trunk, a space for the user to enter the trunk side of the vehicle  10 , and a space for loading and unloading goods into and out of the trunk. The vehicle controlling apparatus may determine whether an obstacle around the vehicle  10  prevents the use of the trunk based on whether that obstacle leaves insufficient space for opening the trunk door, whether it impedes the user&#39;s easy access to the trunk side of the vehicle  10 , or whether it hinders the user&#39;s easy loading and unloading of the trunk. 
     The vehicle controlling apparatus determines whether the vehicle  10  needs to move in order to use the trunk (S 420 ). In response to determining that an obstacle around the vehicle  10  prevents the use of the trunk, the vehicle controlling apparatus may determine that the vehicle  10  needs to move for trunk use. 
     In response to determining that the vehicle  10  needs to move, the vehicle controlling apparatus controls the vehicle  10  to behave to secure a space for the trunk use based on the parking status information of the vehicle  10  (S 430 ). To this end, the vehicle controlling apparatus may determine a parking position and/or posture for securing a space for trunk use (hereinafter, referred to as a target parking state). The vehicle controlling apparatus may generate a trajectory for moving the vehicle  10  from its original parking state to the target parking state while avoiding obstacles around the vehicle  10 . The vehicle controlling apparatus may control one or more of starting, steering, braking, and shifting of the vehicle  10  to move the vehicle  10  to the target parking state. 
     For example, the vehicle controlling apparatus may move the vehicle  10  straight to secure a space for trunk use in response to determining that an obstacle detected at the rear or front of the vehicle  10  prevents the use of the trunk. 
     As another example, the vehicle controlling apparatus may control the steering of the vehicle  10  to secure a space for trunk use in response to determining that an obstacle detected at one side of the vehicle  10  prevents the use of the trunk and that another obstacle detected at another side of the vehicle  10  prevents moving the vehicle  10  forward or backward. 
     As yet another example, the vehicle controlling apparatus may control the steering of the vehicle  10  to secure a space for trunk use in response to determining that the parking type of the vehicle  10  is parallel parking. 
     The vehicle controlling apparatus provides the user with information on the behavior of the vehicle  10  while controlling the behavior of the vehicle  10  (S 440 ). For example, the vehicle controlling apparatus may notify the user that the vehicle  10  is controlled to secure a space for trunk use through the display unit  120  and/or the terminal  12 . 
     When Step S 420  determines that the vehicle  10  needs no movement or when Step S 430  proceeds to secure the space for trunk use, the vehicle controlling apparatus opens the door of the trunk (S 450 ). 
     The vehicle controlling apparatus recognizes a trunk use termination request (S 460 ). For example, the vehicle controlling apparatus may recognize the trunk use termination request by receiving the same request from the user through the input unit  100  and/or the terminal  12  or by detecting the user&#39;s distancing from the trunk or certain motion through the sensing unit  110 . 
     In response to the trunk use termination request, the vehicle controlling apparatus returns the vehicle  10  to the original parking state (S 470 ). To this end, the vehicle controlling apparatus may generate a trajectory for moving the vehicle  10  to the original parking position and/or posture while avoiding obstacles around the vehicle  10 . 
     When the user skips a separate trunk use termination request to get in the vehicle  10  immediately after using the trunk, the vehicle controlling apparatus may also skip the step of returning the vehicle  10  to the original parking state to unpark the vehicle right away. 
     Although  FIG.  4    presents the respective steps thereof as being sequentially performed, it merely instantiates the technical idea of some embodiments of the present disclosure. Therefore, a person having ordinary skill in the pertinent art could incorporate various modifications, additions, and substitutions in practicing the present disclosure by changing the sequence of steps illustrated by  FIG.  4    or by performing one or more of the steps thereof in parallel. Hence the steps in  FIG.  4    are not limited to the illustrated chronological sequences. 
     Various implementations of the systems and methods described herein may be realized by digital electronic circuitry, integrated circuits, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), computer hardware, firmware, software, and/or their combination. These various implementations can include those realized in one or more computer programs executable on a programmable system. The programmable system includes at least one programmable processor coupled to receive and transmit data and instructions from and to a storage system, at least one input device, and at least one output device The programmable processor may be a special-purpose processor or a general-purpose processor. Computer programs, also known as programs, software, software applications, or codes, contain instructions for a programmable processor and are stored in a “computer-readable recording medium.” 
     The computer-readable recording medium includes any types of recording devices on which data that can be read by a computer system are recordable. Examples of computer-readable recording medium include non-volatile or non-transitory media such as a ROM, CD-ROM, magnetic tape, floppy disk, memory card, hard disk, optical/magnetic disk, storage devices, and the like. The computer-readable recording medium further includes transitory media such as data transmission medium. Further, the computer-readable recording medium can be distributed in computer systems connected via a network, wherein the computer-readable codes can be stored and executed in a distributed mode. 
     Various implementations of the systems and techniques described herein can be realized by a programmable computer. In one example, the computer includes a programmable processor, a data storage system (including volatile memory, nonvolatile memory, or any other type of storage system or a combination thereof), and at least one communication interface. For example, the programmable computer may be one of a server, a network device, a set-top box, an embedded device, a computer expansion module, a personal computer, a laptop, a personal data assistant (PDA), a cloud computing system, and a mobile device. 
     As described above, according to some embodiments, the present disclosure can secure not only a space for opening a trunk door but also a space for allowing the user to enter the trunk side of the vehicle  10  as well as a space for the user to conveniently load and unload goods at the trunk, thereby preventing an awkward (e.g., inconvenient) situation in which the user has to load or unload goods through a half-open trunk door in a narrow space. Furthermore, according to some embodiments, the present disclosure can control the vehicle  10  to be autonomously parked back to the original position after using the trunk to improve user convenience. 
     Although embodiments of the present disclosure have been described for illustrative purposes, those having ordinary skill in the art should appreciate that various modifications, additions, and substitutions are possible, without departing from the idea and scope of the claimed disclosure. Therefore, embodiments of the present disclosure have been described for the sake of brevity and clarity. The scope of the technical idea of the embodiments of the present disclosure is not limited by the illustrations. Accordingly, one of ordinary skill in the art would understand the scope of the claimed disclosure is not to be limited by the above explicitly described embodiments but by the claims and equivalents thereof. 
     REFERENCE NUMERALS 
     
         
           10 : vehicle 
           12 : terminal 
           100 : input unit 
           110 : sensing unit 
           120 : display unit 
           130 : driving unit 
           140 : communication unit 
           150 : storage 
           160 : control unit