JP2021064868A - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
- Publication number
- JP2021064868A JP2021064868A JP2019188223A JP2019188223A JP2021064868A JP 2021064868 A JP2021064868 A JP 2021064868A JP 2019188223 A JP2019188223 A JP 2019188223A JP 2019188223 A JP2019188223 A JP 2019188223A JP 2021064868 A JP2021064868 A JP 2021064868A
- Authority
- JP
- Japan
- Prior art keywords
- target
- unit
- accuracy
- lane marking
- pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 49
- 238000005192 partition Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 25
- 238000003384 imaging method Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 14
- 230000001133 acceleration Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 240000004050 Pentaglottis sempervirens Species 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005401 electroluminescence Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000002194 synthesizing effect Effects 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
-
- 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
- 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
- B62D15/0285—Parking performed automatically
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- 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
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/108—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 'non-standard' camera systems, e.g. camera sensor used for additional purposes i.a. rain sensor, camera sensor split in multiple image areas
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Combustion & Propulsion (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Description
Claims (5)
- 車両の周辺を検出する検出部から取得した検出データに基づいて、車両の駐車区画を規定するための一対の区画線を認識する区画線認識部と、
一対の前記区画線の各々の認識精度が予め定めた所定精度以上であるか否かを判断する判断部と、
一対の前記区画線の内、認識精度が前記所定精度以上の前記区画線を前記駐車区画の目標位置導出に用いる対象区画線として設定し、認識精度が前記所定精度未満の前記区画線について、予め記憶した1対の前記対象区画線の相対位置関係を示す相対情報に基づいて生成した仮想区画線を、前記対象区画線として設定する設定部と、
を備える駐車支援装置。 - 前記判断部は
前記車両の周囲の予め定めた検出領域内に前記区画線が含まれる場合、認識精度が前記所定精度以上と判断する、
請求項1に記載の駐車支援装置。 - 前記設定部は、
一対の前記区画線の一方の認識精度が前記所定精度以上であり、且つ、他方の認識精度が前記所定精度未満の場合、
認識精度が前記所定精度以上の前記区画線を一方の前記対象区画線として設定し、
該対象区画線から前記相対情報に示される相対位置に配置した前記仮想区画線を他方の前記対象区画線として設定する、
請求項1または請求項2に記載の駐車支援装置。 - 前記設定部は
一対の前記区画線の双方の認識精度が前記所定精度未満の場合、
直前に前記所定精度以上と判断された前記区画線の内、前記車両に近い一方の前記区画線を一方の前記対象区画線として設定し、
該対象区画線から前記相対情報に示される相対位置に配置した前記仮想区画線を他方の前記対象区画線として設定する、
請求項1〜請求項3の何れか1項に記載の駐車支援装置。 - 前記設定部は、
一対の前記区画線の各々の認識精度が前記所定精度以上である場合、該一対の前記区画線を一対の前記対象区画線として設定し、該一対の前記対象区画線の内、前記車両に近い一方の前記対象区画線に対する他方の前記対象区画線の相対位置関係を示す前記相対情報を更新する、
請求項1〜請求項4の何れか1項に記載の駐車支援装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019188223A JP7383973B2 (ja) | 2019-10-11 | 2019-10-11 | 駐車支援装置 |
DE102020126527.1A DE102020126527A1 (de) | 2019-10-11 | 2020-10-09 | Parkassistenzvorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019188223A JP7383973B2 (ja) | 2019-10-11 | 2019-10-11 | 駐車支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021064868A true JP2021064868A (ja) | 2021-04-22 |
JP7383973B2 JP7383973B2 (ja) | 2023-11-21 |
Family
ID=75155661
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019188223A Active JP7383973B2 (ja) | 2019-10-11 | 2019-10-11 | 駐車支援装置 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP7383973B2 (ja) |
DE (1) | DE102020126527A1 (ja) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005018148A (ja) * | 2003-06-23 | 2005-01-20 | Toshiba Corp | 白線推定装置 |
JP2008285083A (ja) * | 2007-05-18 | 2008-11-27 | Toyota Motor Corp | 駐車支援装置 |
JP2013116696A (ja) * | 2011-12-05 | 2013-06-13 | Clarion Co Ltd | 駐車支援装置 |
WO2014083825A1 (ja) * | 2012-11-27 | 2014-06-05 | 日産自動車株式会社 | 運転支援装置及び運転支援方法 |
JP2014156201A (ja) * | 2013-02-15 | 2014-08-28 | Nippon Soken Inc | 駐車空間検知装置 |
JP2017076275A (ja) * | 2015-10-15 | 2017-04-20 | 株式会社日本自動車部品総合研究所 | 駐車区画認識装置、駐車区画認識方法 |
-
2019
- 2019-10-11 JP JP2019188223A patent/JP7383973B2/ja active Active
-
2020
- 2020-10-09 DE DE102020126527.1A patent/DE102020126527A1/de active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005018148A (ja) * | 2003-06-23 | 2005-01-20 | Toshiba Corp | 白線推定装置 |
JP2008285083A (ja) * | 2007-05-18 | 2008-11-27 | Toyota Motor Corp | 駐車支援装置 |
JP2013116696A (ja) * | 2011-12-05 | 2013-06-13 | Clarion Co Ltd | 駐車支援装置 |
WO2014083825A1 (ja) * | 2012-11-27 | 2014-06-05 | 日産自動車株式会社 | 運転支援装置及び運転支援方法 |
JP2014156201A (ja) * | 2013-02-15 | 2014-08-28 | Nippon Soken Inc | 駐車空間検知装置 |
JP2017076275A (ja) * | 2015-10-15 | 2017-04-20 | 株式会社日本自動車部品総合研究所 | 駐車区画認識装置、駐車区画認識方法 |
Also Published As
Publication number | Publication date |
---|---|
JP7383973B2 (ja) | 2023-11-21 |
DE102020126527A1 (de) | 2021-04-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6724425B2 (ja) | 駐車支援装置 | |
US10031227B2 (en) | Parking assist system | |
JP6015314B2 (ja) | 駐車目標位置を算出する装置、駐車目標位置を算出する方法およびプログラム | |
US20160114795A1 (en) | Parking assist system and parking assist method | |
EP3290301B1 (en) | Parking assist device | |
JP6852534B2 (ja) | 障害物検知報知装置、方法及びプログラム | |
JP7351172B2 (ja) | 駐車支援装置 | |
JP2016060241A (ja) | 駐車支援装置 | |
JP7009785B2 (ja) | 周辺監視装置 | |
JP6969124B2 (ja) | 運転制御装置 | |
JP2022023870A (ja) | 表示制御装置 | |
JP7427907B2 (ja) | 駐車支援装置 | |
CN110546047A (zh) | 停车辅助装置 | |
CN112644466A (zh) | 停车辅助装置、停车辅助方法以及记录介质 | |
CN112349091A (zh) | 特定区域检测装置 | |
JP7383973B2 (ja) | 駐車支援装置 | |
JP7114919B2 (ja) | 走行支援装置 | |
JP2021062727A (ja) | 駐車支援装置、駐車支援方法及び駐車支援プログラム | |
JP7380073B2 (ja) | 駐車支援装置 | |
JP7501500B2 (ja) | 駐車支援装置 | |
JP7506645B2 (ja) | 駐車支援装置 | |
JP7380058B2 (ja) | 駐車支援装置 | |
WO2023090186A1 (ja) | 駐車支援装置 | |
JP7423970B2 (ja) | 画像処理装置 | |
JP2019018616A (ja) | 駐車支援用表示制御装置、駐車支援システム、方法及びプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220908 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20230515 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230530 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230629 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20231010 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20231023 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7383973 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |