DE102006011590A1 - Parking spot measuring and parking process assisting device for motor vehicle, has image sensor to receive lateral surrounding image of motor vehicle, where distance information about object characteristics is obtained from received image - Google Patents
Parking spot measuring and parking process assisting device for motor vehicle, has image sensor to receive lateral surrounding image of motor vehicle, where distance information about object characteristics is obtained from received image Download PDFInfo
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- DE102006011590A1 DE102006011590A1 DE102006011590A DE102006011590A DE102006011590A1 DE 102006011590 A1 DE102006011590 A1 DE 102006011590A1 DE 102006011590 A DE102006011590 A DE 102006011590A DE 102006011590 A DE102006011590 A DE 102006011590A DE 102006011590 A1 DE102006011590 A1 DE 102006011590A1
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- image
- motor vehicle
- parking
- parking space
- measuring
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/564—Depth or shape recovery from multiple images from contours
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30264—Parking
Abstract
Description
Die Erfindung betrifft eine Vorrichtung zum Vermessen einer Parklücke und zum Unterstützen des Einparkvorgangs in einem Kraftfahrzeug nach dem Oberbegriff des Patentanspruchs 1.The The invention relates to a device for measuring a parking space and to support the Einparkvorgangs in a motor vehicle according to the preamble of Patent claim 1.
Im
Stand der Technik sind Vorrichtungen bekannt, die das Einparken
von Kraftfahrzeugen unterstützen.
Z.B. wird in
Anhand der genannten Schriften wird deutlich, dass das Vermessen von potentiellen Parklücken eine zentrale Funktion von Einparkassistenten einnimmt.Based It is clear from the said writings that the measurement of potential parking spaces a central function of parking assistants occupies.
Der vorliegenden Erfindung liegt deshalb die Aufgabe zugrunde, eine Vorrichtung zur effektiven und sicheren Vermessung einer Parklücke und zum Unterstützen des Einparkvorgangs in einem Kraftfahrzeug anzugeben.Of the The present invention is therefore based on the object, a Device for the effective and safe measurement of a parking space and to support indicate the parking in a motor vehicle.
Die Aufgabe wird erfinderisch gemäß dem unabhängigen Patentanspruch 1 gelöst. Die abhängigen Unteransprüche zeigen vorteilhafte Ausführungsformen und Weiterentwicklungen der Erfindung auf.The Task is inventive according to the independent claim 1 solved. The dependent ones under claims show advantageous embodiments and further developments of the invention.
Es wird Vorrichtung zum Vermessen einer Parklücke und zum Unterstützen des Einparkvorgangs in einem Kraftfahrzeug angegeben. Die Vorrichtung umfasst zumindest einen Bildaufnehmer (Kamera), Mittel zur Datenverarbeitung, ein Anzeigemittel und Sensoren zur Geschwindigkeits- und Lenkwinkelmessung. Zumindest ein Bildaufnehmer ist zur Beobachtung des seitlichen Umfelds des Kraftfahrzeugs vorgesehen. Durch die flächige Bildaufnahme und Bildverarbeitung ist es möglich, den freien Parkraum und alle begrenzenden Objekte in einem großen Winkelbereich gleichzeitig zu bestimmen. Eine alternative Verwendung einer Vorrichtung, die mehrere Strahlsensoren umfasst, würde viel mehr Messungen benötigten, um zu einem ähnlichen Resultat (Beobachtungsbereich, Ortsauflösung) zu gelangen. Vorzugsweise ist der Bildaufnehmer so positioniert, dass das Umfeld rechts vom Kraftfahrzeug aufgenommen wird. In einer weiteren Ausgestaltung werden beide Seitenbereiche des Kraftfahrzeugs überwacht. Vorzugsweise ist der Bildaufnehmer so ausgerichtet, dass ihre Blickrichtung senkrecht zur Fahrtrichtung ist. Dabei ist der Bildaufnehmer schräg nach unten ausgerichtet, um auch niedrige Objekte nah bei dem Eigenfahrzeug detektieren zu können. Bewegt sich das Kraftfahrzeug wird der Abstand zwischen Bildaufnehmer und Objekt aus einer Folge von aufgenommenen Bildern bestimmt. Bei der Auswertung der Bilddaten wird die relative Position des Kraftfahrzeugs zum Objekt anhand von Beschleunigung und Lenkwinkel berücksichtigt.It is device for measuring a parking space and to support the Parking operation indicated in a motor vehicle. The device comprises at least one image recorder (camera), data processing means, a display means and sensors for speed and steering angle measurement. At least one imager is used to observe the lateral environment of the motor vehicle provided. Due to the two-dimensional image acquisition and image processing Is it possible, the free parking space and all limiting objects in a large angular range to be determined simultaneously. An alternative use of a device that multiple beam sensors, would require much more measurements, to a similar result (Observation area, spatial resolution) to get. Preferably, the imager is positioned that the environment is taken to the right of the vehicle. In a In another embodiment, both side areas of the motor vehicle are monitored. Preferably, the imager is oriented so that its viewing direction perpendicular to the direction of travel. The image recorder is inclined downwards Aligned to even low objects close to the own vehicle to be able to detect. Emotional the motor vehicle becomes the distance between imager and Object determined from a sequence of recorded images. In the Evaluation of the image data is the relative position of the motor vehicle taken into account for the object on the basis of acceleration and steering angle.
In einer vorteilhaften Ausgestaltung der Erfindung werden in den Bilddaten eines Bildes vorgegebene Objektmerkmale identifiziert. Diese Auswahl wird z.B. anhand von horizontalen Gradienten getroffen. Der horizontale Gradient ist i. d. R. groß, wenn im Bild z.B. das Ende oder der Anfang von Objekten, z.B. bereits parkenden Fahrzeugen, erreicht wird und ein anderer Hintergrund im Bild sichtbar wird. Die Bildpositionen der vorgegebenen, relevanten Objektmerkmale werden gespeichert. Die Merkmale werden in den darauf folgend aufgenommenen Bildern gezielt gesucht und ihre neuen Bildpositionen werden ebenfalls gespeichert. Die beobachtete Verschiebung der Objektmerkmale in der Bilderfolge wird mit den Bewegungsdaten des Kraftfahrzeugs verglichen. Anhand dieses Vergleichs wird plausibilisiert, ob es sich tatsächlich um relevante Objekte handelt, z.B. parkende Fahrzeuge, Bordsteine, Parkplatz-Begrenzungsmarkierungen etc.In An advantageous embodiment of the invention are in the image data identified image features object. This selection will e.g. hit with horizontal gradients. The horizontal one Gradient is i. d. R. big, if in the picture e.g. the end or beginning of objects, e.g. already parked vehicles, is achieved and a different background becomes visible in the picture. The image positions of the given, relevant Object features are saved. The features are in the on it The following images were searched for and their new image positions are also saved. The observed displacement of the object features in the image sequence is compared with the movement data of the motor vehicle. On the basis of this comparison, it is plausible whether it is actually relevant objects, e.g. parked vehicles, curbs, Parking limit markers etc.
In einer bevorzugten Ausgestaltung der Erfindung wird ein Objekt nur als ein Hindernis erkannt, wenn ihre Höhe einen vorgegebenen Wert überschreitet. Die Höhe eines Objekts wird aufgrund seiner Form im Bild und seiner Ausnahme aus verschiedenen Perspektiven (bewegtes Kraftfahrzeug) bestimmt. Objekte mit geringerer Höhe werden als Bodenziele klassifiziert. Vorzugsweise nimmt der vorgegebene Wert für die vorgegebene Höhe einen Wert zwischen 5 und 15 cm ein. In einer vorteilhaften Ausgestaltung der Erfindung beträgt der Wert der vorgegebenen Höhe 10 cm.In A preferred embodiment of the invention is an object only recognized as an obstacle when its height exceeds a predetermined value. The height of an object becomes due to its shape in the picture and its exception determined from different perspectives (moving motor vehicle). Objects of lesser height are classified as ground targets. Preferably, the default takes Value for the given height a value between 5 and 15 cm. In an advantageous embodiment of the invention the value of the given height 10 centimeters.
In einer vorteilhaften Ausgestaltung der Erfindung die Begrenzung einer potentiellen Parklücke anhand eines vorgegebenen Höhensprungs von Objekten erkannt wird.In an advantageous embodiment of the invention, the limitation of a potential parking space based a predetermined height jump is detected by objects.
Es wird die Begrenzung einer potentiellen Parklücke anhand eines vorgegebenen Höhensprungs bei Bodenzielen bestimmt, insbesondere wenn kein Hindernis vorhanden ist. Ein Höhensprung bei ausgedehnten Objekten stellt typischerweise eine Bordsteinkante dar, die einen Parkplatz begrenzt. Alternativ kann ein Bordstein auch über einen Linien- bzw. Kantenfindungsalgorithmus erkannt werden. In einer vorteilhaften Ausgestaltung der Erfindung werden die Abmessungen einer potentiellen Parklücke mit einer zuvor abgelegten Mindestgröße für Parklücken verglichen. In einer vorteilhaften Ausführungsform werden zumindest je eine Mindestgröße für das Einparken in eine Lücke parallel und senkrecht zur Fahrbahn abgelegt. Über ein Anzeigemittel wird dem Fahrer signalisiert, ob es sich um eine ausreichend große Parklücke handelt oder nicht. Ein solches Anzeigemittel kann optisch, haptisch oder akustisch ausgestaltet sein. In einer weiteren Ausgestaltung der Erfindung wird eine vorteilhafte Einparktrajektorie berechnet und dem Fahrer angezeigt bzw. es werden Aktuatoren zum automatischen Einparken des Fahrzeugs angesteuert.It is the limitation of a potential parking space based on a given height jump intended for ground targets, especially if there is no obstacle is. A height jump at Extended objects typically presents a curb which limits a parking space. Alternatively, a curb also over a line or edge finding algorithm are detected. In a advantageous embodiment of the invention, the dimensions a potential parking space with compared to a previously stored minimum size for parking spaces. In an advantageous embodiment At least ever a minimum size for parking in a gap will be parallel and stored perpendicular to the roadway. About a display means is the driver signals whether it is a sufficiently large parking space or not. Such a display means can optically, haptically or be designed acoustically. In a further embodiment of the Invention, an advantageous parking trajectory is calculated and displayed to the driver or there are actuators for automatic Parked vehicle parking.
Die Erfindung wird im Folgenden anhand von Figuren und Ausführungsbeispielen näher beschrieben.The Invention will be described below with reference to figures and embodiments described in more detail.
Es zeigtIt shows
In
In
In
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102006011590.2A DE102006011590B4 (en) | 2006-03-10 | 2006-03-10 | Device for measuring a parking space |
Applications Claiming Priority (1)
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DE102006011590.2A DE102006011590B4 (en) | 2006-03-10 | 2006-03-10 | Device for measuring a parking space |
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DE102006011590A1 true DE102006011590A1 (en) | 2007-09-13 |
DE102006011590B4 DE102006011590B4 (en) | 2019-02-28 |
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FR2921324A1 (en) * | 2007-09-25 | 2009-03-27 | Renault Sas | METHOD AND DEVICE FOR ASSISTING THE PARKING OF A MOTOR VEHICLE |
CN107644549A (en) * | 2017-11-01 | 2018-01-30 | 东软集团股份有限公司 | A kind of parking stall identification and air navigation aid, board units, roadside unit and system |
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EP1094337A2 (en) * | 1999-10-21 | 2001-04-25 | Matsushita Electric Industrial Co., Ltd. | Parking assistance system |
DE10114932A1 (en) * | 2001-03-26 | 2002-10-24 | Daimler Chrysler Ag | Three dimensional parking sensor for motor vehicle has two dimensional sensed data passed to processor for three dimensional output to driver |
DE10244148A1 (en) * | 2002-09-23 | 2004-04-08 | Daimlerchrysler Ag | Method and device for video-based observation and measurement of the lateral surroundings of a vehicle |
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DE10220427A1 (en) | 2002-05-08 | 2003-11-27 | Valeo Schalter & Sensoren Gmbh | Method for operating a parking assistance system and parking assistance system |
DE102005017360B4 (en) | 2004-04-16 | 2020-07-09 | Volkswagen Ag | Parking assistant with a display device |
DE102004047479A1 (en) | 2004-09-30 | 2006-04-13 | Robert Bosch Gmbh | Method and device for classifying side boundaries of a parking space for a parking assistance system |
DE102005042853A1 (en) | 2005-09-09 | 2007-03-22 | Hella Kgaa Hueck & Co. | Method and device for determining the geometry and position of a parking space |
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2006
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EP1094337A2 (en) * | 1999-10-21 | 2001-04-25 | Matsushita Electric Industrial Co., Ltd. | Parking assistance system |
DE10114932A1 (en) * | 2001-03-26 | 2002-10-24 | Daimler Chrysler Ag | Three dimensional parking sensor for motor vehicle has two dimensional sensed data passed to processor for three dimensional output to driver |
DE10244148A1 (en) * | 2002-09-23 | 2004-04-08 | Daimlerchrysler Ag | Method and device for video-based observation and measurement of the lateral surroundings of a vehicle |
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FR2921324A1 (en) * | 2007-09-25 | 2009-03-27 | Renault Sas | METHOD AND DEVICE FOR ASSISTING THE PARKING OF A MOTOR VEHICLE |
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CN107644549A (en) * | 2017-11-01 | 2018-01-30 | 东软集团股份有限公司 | A kind of parking stall identification and air navigation aid, board units, roadside unit and system |
CN107644549B (en) * | 2017-11-01 | 2020-12-08 | 东软集团股份有限公司 | Parking space identification and navigation method, vehicle-mounted unit, roadside unit and system |
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