JP2006189393A - 周辺物体情報取得装置及びこれを用いる駐車支援装置 - Google Patents
周辺物体情報取得装置及びこれを用いる駐車支援装置 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
- G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
- G01S2015/936—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring parking spaces extending transverse or diagonal to the driving direction, i.e. not parallel to the driving direction
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Image Analysis (AREA)
Abstract
【解決手段】 車両に搭載され、該車両の周辺に存在する物体に関する物体情報を取得する周辺物体情報取得装置80において、前記車両から所定方向に発射した検出波の反射波を受信して該検出波の反射点を点列で出力する測距手段70と、前記点列を記憶する手段82と、前記記憶手段に記憶された点列に基づいて、物体の存在を検出する物体検出手段と、前記点列を曲線又は直線で近似して近似曲線又は近似直線を導出する近似手段85と、前記点列の信頼性を評価する評価手段86と、前記評価手段による評価結果に基づいて、前記点列若しくは前記近似曲線又は近似直線から導出可能な情報を、前記検出した物体に関する物体情報として採用すべきか否かを判定する判定手段87とを備えることを特徴とする。
【選択図】 図5
Description
車両から所定方向に存在する物体までの距離相当量を測定する測距手段と、
複数回の測距結果である点列を記憶する手段と、
前記記憶手段に記憶された点列に基づいて、物体の存在を検出する物体検出手段と、
前記点列を曲線又は直線で近似して近似曲線又は近似直線を導出する近似手段と、
前記点列の信頼性を評価する評価手段と、
前記評価手段による評価結果に基づいて、前記点列若しくは前記近似曲線又は近似直線から導出可能な情報を、前記検出した物体に関する物体情報として採用すべきか否かを判定する判定手段とを備えることを特徴とする、周辺物体情報取得装置が提供される。
前記判定手段は、高い方の近似度を評価結果として、近似度の高い方の近似結果から導出可能な情報を、前記検出した物体に関する物体情報として採用すべきか否かを判定するとなるものであってよい。前記近似手段は、前記点列の両端の2点とその中間の1点とを結ぶ2直線がなす屈曲角度に応じて、近似曲線又は近似直線の何れかで近似を行うかを判断するとなるものであってよい。前記物体情報は、前記近似曲線又は近似直線に基づいて導出される該物体の端点に関する情報を含んでよい。尚、距離相当量とは、物体までの距離、反射までの時間、反射強度など、距離に相当する量全般である。
上記の物体形状検出装置を備え、
前記物体形状検出装置により取得された前記物体情報に基づいて、目標駐車位置、又は、該目標駐車位置における車両の向きである目標駐車方向を決定することを特徴とする、駐車支援装置が提供される。
12 駐車支援ECU
16 舵角センサ
18 車速センサ
20 バックモニタカメラ
22 表示モニタ
30 操舵制御ECU
42 駐車空間検出部
44 目標駐車位置決定部
48 目標移動軌跡演算部
50 リバースシフトスイッチ
52 駐車スイッチ
70 測距センサ
80 周辺物体情報取得装置
82 メモリ
83 物体検出部
85 近似部
86 信頼性評価部
87 判定部
88 物体情報生成部
Claims (7)
- 車両に搭載され、該車両の周辺に存在する物体に関する物体情報を取得する周辺物体情報取得装置において、
車両から所定方向に存在する物体までの距離相当量を測定する測距手段と、
複数回の測距結果である点列を記憶する手段と、
前記記憶手段に記憶された点列に基づいて、物体の存在を検出する物体検出手段と、
前記点列を曲線又は直線で近似して近似曲線又は近似直線を導出する近似手段と、
前記点列の信頼性を評価する評価手段と、
前記評価手段による評価結果に基づいて、前記点列若しくは前記近似曲線又は近似直線から導出可能な情報を、前記検出した物体に関する物体情報として採用すべきか否かを判定する判定手段とを備えることを特徴とする、周辺物体情報取得装置。 - 前記評価手段は、前記点列の点列長さを評価するものであり、前記点列が所定長さ以上の点列長さを有する場合、前記判定手段の判定は肯定となる、請求項1に記載の物体形状検出装置。
- 前記評価手段は、所与の基準曲線又は基準直線に対する前記近似曲線又は近似直線の近似度を評価するものであり、前記近似度が所定基準値以上の場合、前記判定手段の判定は肯定となる、請求項1に記載の物体形状検出装置。
- 前記評価手段は、近似曲線及び近似直線の双方に対して、所与の基準曲線及び基準直線に対する近似度をそれぞれ評価するものであり、
前記判定手段は、高い方の近似度を評価結果として、近似度の高い方の近似結果から導出可能な情報を、前記検出した物体に関する物体情報として採用すべきか否かを判定する、請求項1〜3の何れか1項に記載の物体形状検出装置。 - 前記近似手段は、前記点列の両端の2点とその中間の1点とを結ぶ2直線がなす屈曲角度に応じて、近似曲線又は近似直線の何れかで近似を行うかを判断する、請求項1〜3の何れか1項に記載の物体形状検出装置。
- 前記物体情報は、前記近似曲線又は近似直線に基づいて導出される該物体の端点に関する情報を含む、請求項1〜5の何れか1項に記載の物体形状検出装置。
- 目標駐車位置までの車両走行を支援する駐車支援装置であって、
請求項1〜6の何れか1項に記載の物体形状検出装置を備え、
前記物体形状検出装置により取得された前記物体情報に基づいて、目標駐車位置、又は、該目標駐車位置における車両の向きである目標駐車方向を決定することを特徴とする、駐車支援装置。
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JP2005002967A JP2006189393A (ja) | 2005-01-07 | 2005-01-07 | 周辺物体情報取得装置及びこれを用いる駐車支援装置 |
US11/322,353 US20060167633A1 (en) | 2005-01-07 | 2006-01-03 | Neighboring object information acquisition device, and parking support device using neighboring object information acquisition device |
EP06000071A EP1679526A1 (en) | 2005-01-07 | 2006-01-03 | Parking support device for motor vehicles using neighboring object information acquisition device |
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JP2005002967A JP2006189393A (ja) | 2005-01-07 | 2005-01-07 | 周辺物体情報取得装置及びこれを用いる駐車支援装置 |
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EP (1) | EP1679526A1 (ja) |
JP (1) | JP2006189393A (ja) |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007046336A1 (ja) * | 2005-10-20 | 2007-04-26 | Aisin Seiki Kabushiki Kaisha | 物体認識装置 |
JP2007114057A (ja) * | 2005-10-20 | 2007-05-10 | Aisin Seiki Co Ltd | 物体認識装置 |
WO2008105282A1 (ja) * | 2007-02-27 | 2008-09-04 | Toyota Jidosha Kabushiki Kaisha | 駐車支援装置 |
JP2009192430A (ja) * | 2008-02-15 | 2009-08-27 | Honda Motor Co Ltd | 物体種別判定装置、物体種別判定方法、及び物体種別判定用プログラム |
US7920087B2 (en) | 2007-08-10 | 2011-04-05 | Denso Corporation | Apparatus for estimating state of vehicle located in frontward field |
JP2011245939A (ja) * | 2010-05-25 | 2011-12-08 | Nippon Soken Inc | 駐車空間検出装置 |
KR101263975B1 (ko) * | 2009-04-10 | 2013-05-13 | 주식회사 만도 | 평행주차용 목표주차위치인식 방법 및 그 시스템 |
KR20130128894A (ko) * | 2012-05-18 | 2013-11-27 | 현대모비스 주식회사 | 주차 제어 시스템 및 그 방법 |
JP2014034321A (ja) * | 2012-08-09 | 2014-02-24 | Denso Corp | 駐車支援装置 |
KR101470099B1 (ko) * | 2012-12-20 | 2014-12-05 | 현대오트론 주식회사 | 물체인식 기능을 갖는 자동주차 시스템 |
JP5843948B1 (ja) * | 2014-11-27 | 2016-01-13 | 三菱電機株式会社 | 駐車支援装置および駐車支援方法 |
JP2016222193A (ja) * | 2015-06-03 | 2016-12-28 | 日野自動車株式会社 | 衝突予測システム |
KR101824681B1 (ko) * | 2011-07-29 | 2018-03-14 | 현대모비스 주식회사 | 자동 주차모드 선택이 지원되는 주차 보조 장치 및 그 방법 |
WO2019181260A1 (ja) * | 2018-03-22 | 2019-09-26 | 日立オートモティブシステムズ株式会社 | 駐車支援装置 |
JP2021046174A (ja) * | 2019-09-20 | 2021-03-25 | 株式会社デンソー | 駐車支援装置 |
WO2023026875A1 (ja) * | 2021-08-26 | 2023-03-02 | 株式会社デンソー | 物体認識装置 |
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JP4179285B2 (ja) * | 2005-01-12 | 2008-11-12 | トヨタ自動車株式会社 | 駐車支援装置 |
DE102006057879A1 (de) * | 2006-12-08 | 2008-07-03 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betrieb eines Parkhilfesystems |
US7885764B2 (en) * | 2007-09-06 | 2011-02-08 | GM Global Technology Operations LLC | Method for adaptively constructing and revising road maps |
FR2922029A1 (fr) * | 2007-10-08 | 2009-04-10 | Imra Europ Sas Soc Par Actions | Dispositif et methode de detection d'objet |
DE102007055389A1 (de) * | 2007-11-20 | 2009-05-28 | Valeo Schalter Und Sensoren Gmbh | Verfahren und Vorrichtung zur Kollisionsverhinderung bei der Planung einer Bahn zum Einparken eines Fahrzeugs |
DE102008027779A1 (de) * | 2008-06-11 | 2009-12-17 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Unterstützung eines Fahrers eines Fahrzeugs beim Einparken in eine Parklücke |
DE102008028763A1 (de) * | 2008-06-17 | 2009-12-24 | Valeo Schalter Und Sensoren Gmbh | Verfahren und Vorrichtung zur Unterstützung eines Einparkvorgangs eines Fahrzeugs |
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