JP6500436B2 - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
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- JP6500436B2 JP6500436B2 JP2014266602A JP2014266602A JP6500436B2 JP 6500436 B2 JP6500436 B2 JP 6500436B2 JP 2014266602 A JP2014266602 A JP 2014266602A JP 2014266602 A JP2014266602 A JP 2014266602A JP 6500436 B2 JP6500436 B2 JP 6500436B2
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/005—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a video camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
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- 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
- B60R2300/80—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
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
Claims (5)
- 車両の目標位置となり得る駐車区画の境界に対応した境界標示を検出する境界標示検出部と、
第一時刻で検出された前記境界標示の路面上の二次元的な特徴を示す特徴データを記憶する記憶部と、
第一時刻よりも後の第二時刻で検出された境界標示の画像データと前記記憶部に記憶された前記特徴データとに基づいて車両の誘導制御における目標位置を決定する目標位置決定部と、
前記目標位置決定部によって決定された前記目標位置に前記車両を誘導する誘導制御部と、
を備えた、駐車支援装置。 - 前記記憶部は、前記第一時刻で検出された複数の前記境界標示のそれぞれに対応した複数の前記特徴データを記憶し、
前記目標位置決定部は、前記境界標示の路面上の二次元的な特徴を示す特徴データの比較に基づいて前記第一時刻で検出されるとともに前記第二時刻で検出された前記境界標示を特定し、前記第一時刻で検出された複数の前記境界標示のうち前記第二時刻で検出された前記境界標示の画像データと、前記第一時刻で検出された複数の前記境界標示のうち前記第二時刻では検出されなかった前記境界標示の前記特徴データと、に基づいて目標位置を決定する、請求項1に記載の駐車支援装置。 - 前記目標位置決定部は、前記境界標示の路面上の二次元的な特徴を示す特徴データの比較に基づいて前記第一時刻で検出されるとともに前記第二時刻で検出された前記境界標示を特定し、前記第二時刻で複数の前記境界標示が検出された場合にあっては、当該第二時刻で検出された複数の前記境界標示のうち前記第一時刻でも検出された前記境界標示の画像データに基づいて目標位置を決定する、請求項1または2に記載の駐車支援装置。
- 前記特徴データは、複数の前記境界標示の間隔および前記境界標示の幅のうち少なくとも一方を含む、請求項1〜3のうちいずれか一つに記載の駐車支援装置。
- 記憶された前記特徴データは、自車が駐車区画外または駐車区画内に位置した状態で検出された前記境界標示に対応する、請求項1〜4のうちいずれか一つに記載の駐車支援装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014266602A JP6500436B2 (ja) | 2014-12-26 | 2014-12-26 | 駐車支援装置 |
CN201510993536.2A CN105730338B (zh) | 2014-12-26 | 2015-12-25 | 停车辅助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014266602A JP6500436B2 (ja) | 2014-12-26 | 2014-12-26 | 駐車支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016124401A JP2016124401A (ja) | 2016-07-11 |
JP6500436B2 true JP6500436B2 (ja) | 2019-04-17 |
Family
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Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014266602A Active JP6500436B2 (ja) | 2014-12-26 | 2014-12-26 | 駐車支援装置 |
Country Status (2)
Country | Link |
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JP (1) | JP6500436B2 (ja) |
CN (1) | CN105730338B (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019006254A (ja) * | 2017-06-23 | 2019-01-17 | 株式会社アドヴィックス | 走行制御装置 |
KR20200046159A (ko) * | 2018-10-16 | 2020-05-07 | 현대자동차주식회사 | 차량의 주차 지원 장치 및 방법 |
JP7308451B2 (ja) * | 2019-09-30 | 2023-07-14 | パナソニックIpマネジメント株式会社 | 駐車支援装置 |
JP7247849B2 (ja) * | 2019-10-11 | 2023-03-29 | トヨタ自動車株式会社 | 駐車支援装置 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09102040A (ja) * | 1995-10-06 | 1997-04-15 | Fujitsu General Ltd | エッジによる画像認識装置 |
DE19703517C2 (de) * | 1997-01-31 | 2001-05-31 | Daimler Chrysler Ag | Verfahren zur Anzeige der Steuereingriffe zum Parken eines Kraftfahrzeuges bzw. Verfahren zur Durchführung der Steuereingriffe zum Parken eines Kraftfahrzeuges sowie Vorrichtung zur Durchführung des Verfahrens |
JP3547946B2 (ja) * | 1997-08-05 | 2004-07-28 | 三菱電機株式会社 | エプロン監視装置 |
JP3651387B2 (ja) * | 2000-11-22 | 2005-05-25 | 日産自動車株式会社 | 白線検出装置 |
JP2006090957A (ja) * | 2004-09-27 | 2006-04-06 | Nissan Motor Co Ltd | 移動体の周囲物体検出装置及び移動体の周囲物体検出方法 |
JP4670463B2 (ja) * | 2005-04-28 | 2011-04-13 | アイシン・エィ・ダブリュ株式会社 | 駐車区画監視装置 |
JP2009193240A (ja) * | 2008-02-13 | 2009-08-27 | Toyota Motor Corp | 移動ロボット及び環境地図の生成方法 |
JP2010208358A (ja) * | 2009-03-06 | 2010-09-24 | Toyota Industries Corp | 駐車支援装置 |
JP5278108B2 (ja) * | 2009-03-30 | 2013-09-04 | マツダ株式会社 | 移動体検出システム及び移動体検出方法 |
WO2014083820A1 (ja) * | 2012-11-27 | 2014-06-05 | 日産自動車株式会社 | 車両用加速抑制装置及び車両用加速抑制方法 |
JP5849942B2 (ja) * | 2012-12-25 | 2016-02-03 | 株式会社日本自動車部品総合研究所 | 車載画像処理装置 |
JP6094266B2 (ja) * | 2013-02-28 | 2017-03-15 | アイシン精機株式会社 | 駐車支援装置、駐車支援方法およびプログラム |
JP2016016681A (ja) * | 2014-07-04 | 2016-02-01 | クラリオン株式会社 | 駐車枠認識装置 |
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2014
- 2014-12-26 JP JP2014266602A patent/JP6500436B2/ja active Active
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2015
- 2015-12-25 CN CN201510993536.2A patent/CN105730338B/zh active Active
Also Published As
Publication number | Publication date |
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JP2016124401A (ja) | 2016-07-11 |
CN105730338B (zh) | 2020-01-14 |
CN105730338A (zh) | 2016-07-06 |
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