JP2021062749A - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
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- JP2021062749A JP2021062749A JP2019188380A JP2019188380A JP2021062749A JP 2021062749 A JP2021062749 A JP 2021062749A JP 2019188380 A JP2019188380 A JP 2019188380A JP 2019188380 A JP2019188380 A JP 2019188380A JP 2021062749 A JP2021062749 A JP 2021062749A
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- 238000001514 detection method Methods 0.000 claims abstract description 78
- 238000000034 method Methods 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 230000000295 complement effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
Images
Classifications
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/173—Reversing assist
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/176—Camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Image Analysis (AREA)
Abstract
Description
上記実施形態では、撮像画像における移動領域8が車輪やドアであるとして説明した。例えばカメラ3を左のサイドミラー4及び右のサイドミラー5以外に設ける場合には、移動領域8として左のサイドミラー4及び右のサイドミラー5を含むことも可能である。もちろん、車輪やドアや左のサイドミラー4及び右のサイドミラー5以外のものであっても良い。
2:車両
3:カメラ
8:移動領域
9:基準領域
10:重複領域
11:撮像画像取得部
12:移動領域算定部
13:重複領域算定部
14:検出領域設定部
15:地物検出部
20:検出領域
51:位置情報算定部
Claims (5)
- 車両の側方の路面を撮像した撮像画像を取得する撮像画像取得部と、
前記撮像画像を撮像するカメラの撮像範囲において前記車両と共に移動する移動領域を算定する移動領域算定部と、
前記撮像画像において前記車両の側方に前記路面に沿って設定された基準領域のうち、前記移動領域と重複する重複領域を算定する重複領域算定部と、
前記基準領域から前記重複領域を除いて、前記車両の駐車区画を規定する地物を検出する検出領域を設定する検出領域設定部と、
前記撮像画像の前記検出領域内において前記地物を検出する地物検出部と、
を備える駐車支援装置。 - 前記移動領域算定部は、前記車両の状態を示す車体情報及び前記車両の周囲の物体を示す物体情報の少なくともいずれか一方に基づいて前記移動領域を算定する請求項1に記載の駐車支援装置。
- 前記車体情報は、前記車両のドアの開閉状態を示す開閉情報、及び前記車両の操舵輪の切れ角を示す角度情報の少なくともいずれか一方である請求項2に記載の駐車支援装置。
- 前記物体情報は、前記車両の周囲の物体を検出する物体検出部の検出結果、及び前記撮像画像を用いて画像認識処理により前記物体を検出した検出結果の少なくともいずれか一方である請求項2又は3に記載の駐車支援装置。
- 過去に取得された前記撮像画像である第1撮像画像において検出された前記地物の端部の位置を示す位置情報を、前記車両の移動量を示す移動量情報に基づいて算定する位置情報算定部と、
前記位置情報算定部によって算出された前記地物の端部の位置を示す前記位置情報を記憶する記憶部と、を更に備え、
前記記憶部は、前記地物検出部が新たに取得された前記撮像画像である第2撮像画像において前記地物の端部が検出できない場合に、前記記憶部に記憶された前記地物の端部の位置を示す前記位置情報を出力する請求項1から4のいずれか一項に記載の駐車支援装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019188380A JP7419741B2 (ja) | 2019-10-15 | 2019-10-15 | 駐車支援装置 |
DE102020126828.9A DE102020126828A1 (de) | 2019-10-15 | 2020-10-13 | Parkassistenzeinrichtung |
Applications Claiming Priority (1)
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JP2019188380A JP7419741B2 (ja) | 2019-10-15 | 2019-10-15 | 駐車支援装置 |
Publications (2)
Publication Number | Publication Date |
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JP2021062749A true JP2021062749A (ja) | 2021-04-22 |
JP7419741B2 JP7419741B2 (ja) | 2024-01-23 |
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JP2019188380A Active JP7419741B2 (ja) | 2019-10-15 | 2019-10-15 | 駐車支援装置 |
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JP (1) | JP7419741B2 (ja) |
DE (1) | DE102020126828A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002314990A (ja) * | 2001-04-12 | 2002-10-25 | Auto Network Gijutsu Kenkyusho:Kk | 車両周辺視認装置 |
JP2012176656A (ja) * | 2011-02-25 | 2012-09-13 | Fuji Heavy Ind Ltd | 駐車支援装置 |
JP2016082329A (ja) * | 2014-10-14 | 2016-05-16 | 株式会社デンソー | 映像処理装置、及び車載映像処理システム |
JP2016144110A (ja) * | 2015-02-04 | 2016-08-08 | 日立建機株式会社 | 車体外部移動物体検知システム |
JP2019040316A (ja) * | 2017-08-23 | 2019-03-14 | 株式会社Jvcケンウッド | 駐車支援装置、駐車支援方法および駐車支援プログラム |
-
2019
- 2019-10-15 JP JP2019188380A patent/JP7419741B2/ja active Active
-
2020
- 2020-10-13 DE DE102020126828.9A patent/DE102020126828A1/de active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002314990A (ja) * | 2001-04-12 | 2002-10-25 | Auto Network Gijutsu Kenkyusho:Kk | 車両周辺視認装置 |
JP2012176656A (ja) * | 2011-02-25 | 2012-09-13 | Fuji Heavy Ind Ltd | 駐車支援装置 |
JP2016082329A (ja) * | 2014-10-14 | 2016-05-16 | 株式会社デンソー | 映像処理装置、及び車載映像処理システム |
JP2016144110A (ja) * | 2015-02-04 | 2016-08-08 | 日立建機株式会社 | 車体外部移動物体検知システム |
JP2019040316A (ja) * | 2017-08-23 | 2019-03-14 | 株式会社Jvcケンウッド | 駐車支援装置、駐車支援方法および駐車支援プログラム |
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JP7419741B2 (ja) | 2024-01-23 |
DE102020126828A1 (de) | 2021-04-15 |
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