JP5380941B2 - 駐車支援装置及び方法 - Google Patents
駐車支援装置及び方法 Download PDFInfo
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- JP5380941B2 JP5380941B2 JP2008197407A JP2008197407A JP5380941B2 JP 5380941 B2 JP5380941 B2 JP 5380941B2 JP 2008197407 A JP2008197407 A JP 2008197407A JP 2008197407 A JP2008197407 A JP 2008197407A JP 5380941 B2 JP5380941 B2 JP 5380941B2
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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
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- 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
-
- 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
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/10—Geometric effects
- G06T15/20—Perspective computation
- G06T15/205—Image-based rendering
-
- 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
-
- 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
- B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
-
- 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
- B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
-
- 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
- B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
-
- 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
- B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views
- B60R2300/8026—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 monitoring and displaying vehicle exterior blind spot views in addition to a rear-view mirror system
-
- 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
-
- 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
- B60R2300/8093—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 obstacle warning
Description
2a,2b,2c,2d カメラ
3 超音波センサ
4 車速センサ
5 操舵角センサ
6 シフト位置センサ
7 ディスプレイ
8 スピーカ
9 タッチパネル
10 駐車ボタン
11 スクロールキー
21 画像生成部
22 移動量演算部
23 予測軌跡演算部
101 俯瞰画像
102a〜102d 車両周辺画像
103 ライン
104a〜104d 部分画像
105 自車両マーク
106 繋ぎ目線
200 表示用画像
201 自車両画像
203 駐車目標領域画像
204 白線
205 他車両
206 繋ぎ目線
211R,211L 理想軌跡線
212R,212L 予測軌跡線
220 情報提示領域
Claims (10)
- 車両周辺を撮影する撮影手段と、
前記撮影手段により撮影された車両周辺画像から視点変換処理によって俯瞰画像を生成する俯瞰画像生成手段と、
前記俯瞰画像生成手段により生成された俯瞰画像内で、駐車目標領域を設定する駐車目標領域設定手段と、
前記駐車目標領域設定手段により設定された駐車目標領域のうちで、立体物が存在しない領域を表す駐車目標領域画像を生成する駐車目標領域画像生成手段と、
前記俯瞰画像生成手段により生成された俯瞰画像と、前記目標領域画像生成手段により生成された駐車目標領域画像とを表示する表示手段とを備え、
前記駐車目標領域画像生成手段は、前記俯瞰画像内で立体物が存在する領域が前記俯瞰画像内で設定された駐車目標領域と重なる場合、前記駐車目標領域の重なる部分を除いた駐車目標領域画像を生成すること
を特徴とする駐車支援装置。 - 前記駐車目標領域画像生成手段は、前記俯瞰画像内の駐車目標領域の色情報に基づいて、前記駐車目標領域のうちで、立体物が存在しない領域を表す駐車目標領域画像を生成することを特徴とする請求項1に記載の駐車支援装置。
- 車両の移動方向及び移動量を検出する移動検出手段を更に備え、
前記俯瞰画像生成手段は、前記移動検出手段により検出された車両の移動方向及び移動量に基づいて、前記俯瞰画像内における駐車目標領域の位置を更新した俯瞰画像を生成し、
前記駐車目標領域画像生成手段は、前記駐車目標領域設定手段により駐車目標領域が設定された時における前記俯瞰画像内の駐車目標領域の色情報と、前記駐車目標領域の位置を更新した時の駐車目標領域の色情報とを比較することによって、前記駐車目標領域のうちで、立体物が存在しない領域を表す駐車目標領域画像を生成することを特徴とする請求項2に記載の駐車支援装置。 - 前記駐車目標領域設定手段は、運転者が前記画像内の位置を入力する操作手段を備え、当該操作手段によって入力された画像内の位置に基づいて前記駐車目標領域を設定することを特徴とする請求項1乃至請求項3の何れか一項に記載の駐車支援装置。
- 前記車両周辺に存在する障害物の位置を検出する障害物検出手段を更に備え、
前記駐車目標領域設定手段は、前記障害物検出手段により障害物が検出されていない領域を駐車目標領域に設定することを特徴とする請求項1乃至請求項3の何れか一項に記載の駐車支援装置。 - 前記撮影手段により撮影された車両周辺画像に含まれる白線を認識する画像認識手段を更に備え、
前記駐車目標領域設定手段は、前記画像認識手段により認識された白線間の画像情報に基づいて、前記駐車目標領域を設定することを特徴とする請求項1乃至請求項3の何れか一項に記載の駐車支援装置。 - 車両の後退を検出する後退検出手段と、
前記車両の位置から前記駐車目標領域までの車両の理想軌跡線及び車両の操舵角に基づく予測軌跡線を生成する軌跡生成手段を備え、
前記表示手段は、前記後退検出手段により車両の後退が検出された場合には、前記軌跡生成手段で生成された前記理想軌跡線と予想軌跡線とを表示することを特徴とする請求項1乃至請求項3の何れか一項に記載の駐車支援装置。 - 前記表示手段は、前記俯瞰画像の外側に情報提示領域が設けられ、当該俯瞰画像外の駐車目標領域を情報提示領域に表示することを特徴とする請求項1乃至請求項3の何れか一項に記載の駐車支援装置。
- 前記表示手段は、前記移動検出手段により検出された車両の移動方向及び移動量に基づく俯瞰画像における駐車目標領域が、当該俯瞰画像外となることを判定した場合に、当該俯瞰画像の外側に情報提示領域を設けることを特徴とする請求項3に記載の駐車支援装置。
- 車両周辺画像から視点変換処理によって生成した俯瞰画像内で駐車目標領域を設定し、
前記俯瞰画像内で立体物が存在する領域が前記俯瞰画像内で設定された前記駐車目標領域と重なる場合、前記駐車目標領域の重なる部分を除いた駐車目標領域画像を生成して、前記俯瞰画像と駐車目標領域画像とを表示することを特徴とする駐車支援方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008197407A JP5380941B2 (ja) | 2007-10-01 | 2008-07-31 | 駐車支援装置及び方法 |
PCT/JP2008/067177 WO2009044654A1 (ja) | 2007-10-01 | 2008-09-24 | 駐車支援装置及び駐車支援方法 |
EP08835295.0A EP2207350B1 (en) | 2007-10-01 | 2008-09-24 | Parking assistance device and parking assistance method |
CN200880109888.5A CN101816175B (zh) | 2007-10-01 | 2008-09-24 | 停车辅助装置以及停车辅助方法 |
US12/680,423 US8988250B2 (en) | 2007-10-01 | 2008-09-24 | Parking assistant and parking assisting method |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007258012 | 2007-10-01 | ||
JP2007258012 | 2007-10-01 | ||
JP2008197407A JP5380941B2 (ja) | 2007-10-01 | 2008-07-31 | 駐車支援装置及び方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009101984A JP2009101984A (ja) | 2009-05-14 |
JP5380941B2 true JP5380941B2 (ja) | 2014-01-08 |
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Application Number | Title | Priority Date | Filing Date |
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JP2008197407A Active JP5380941B2 (ja) | 2007-10-01 | 2008-07-31 | 駐車支援装置及び方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8988250B2 (ja) |
EP (1) | EP2207350B1 (ja) |
JP (1) | JP5380941B2 (ja) |
CN (1) | CN101816175B (ja) |
WO (1) | WO2009044654A1 (ja) |
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