JP6700216B2 - 駐車空間検出装置 - Google Patents

駐車空間検出装置 Download PDF

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Publication number
JP6700216B2
JP6700216B2 JP2017092920A JP2017092920A JP6700216B2 JP 6700216 B2 JP6700216 B2 JP 6700216B2 JP 2017092920 A JP2017092920 A JP 2017092920A JP 2017092920 A JP2017092920 A JP 2017092920A JP 6700216 B2 JP6700216 B2 JP 6700216B2
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Japan
Prior art keywords
parking space
vehicle
width
entrance side
back side
Prior art date
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Active
Application number
JP2017092920A
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English (en)
Japanese (ja)
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JP2018190220A (ja
JP2018190220A5 (enExample
Inventor
ヒクメット チェティン
ヒクメット チェティン
宗作 重村
宗作 重村
充保 松浦
充保 松浦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
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Denso Corp
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Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2017092920A priority Critical patent/JP6700216B2/ja
Priority to PCT/JP2018/017802 priority patent/WO2018207782A1/ja
Publication of JP2018190220A publication Critical patent/JP2018190220A/ja
Publication of JP2018190220A5 publication Critical patent/JP2018190220A5/ja
Priority to US16/678,249 priority patent/US11024174B2/en
Application granted granted Critical
Publication of JP6700216B2 publication Critical patent/JP6700216B2/ja
Active legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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 OR CALCULATING; 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
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • 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
    • 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
    • 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
    • G01S2015/934—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 depth, i.e. width, not length, 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
    • G01S2015/935—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Acoustics & Sound (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Geometry (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Image Analysis (AREA)
JP2017092920A 2017-05-09 2017-05-09 駐車空間検出装置 Active JP6700216B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2017092920A JP6700216B2 (ja) 2017-05-09 2017-05-09 駐車空間検出装置
PCT/JP2018/017802 WO2018207782A1 (ja) 2017-05-09 2018-05-08 駐車空間検出装置
US16/678,249 US11024174B2 (en) 2017-05-09 2019-11-08 Parking space detection apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017092920A JP6700216B2 (ja) 2017-05-09 2017-05-09 駐車空間検出装置

Publications (3)

Publication Number Publication Date
JP2018190220A JP2018190220A (ja) 2018-11-29
JP2018190220A5 JP2018190220A5 (enExample) 2019-05-30
JP6700216B2 true JP6700216B2 (ja) 2020-05-27

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017092920A Active JP6700216B2 (ja) 2017-05-09 2017-05-09 駐車空間検出装置

Country Status (3)

Country Link
US (1) US11024174B2 (enExample)
JP (1) JP6700216B2 (enExample)
WO (1) WO2018207782A1 (enExample)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10583779B2 (en) * 2017-10-02 2020-03-10 Magna Electronics Inc. Parking assist system using backup camera
JP7135339B2 (ja) * 2018-02-28 2022-09-13 株式会社デンソー 車両に搭載される撮像システム、対象物識別装置、および対象物識別方法
CN109559555B (zh) * 2018-12-21 2021-12-28 联创汽车电子有限公司 车位识别系统及其识别方法
JP7296768B2 (ja) 2019-04-22 2023-06-23 フォルシアクラリオン・エレクトロニクス株式会社 画像処理装置及び画像処理方法
JP7323356B2 (ja) * 2019-06-28 2023-08-08 フォルシアクラリオン・エレクトロニクス株式会社 駐車支援装置及び駐車支援方法
CN110634319B (zh) * 2019-09-20 2021-05-07 哈工大机器人集团重庆普耀信息产业发展有限公司 智慧停车云服务系统
JP2022154517A (ja) * 2021-03-30 2022-10-13 パナソニックＩｐマネジメント株式会社 駐車支援装置および駐車支援方法
CN114333405B (zh) * 2021-12-30 2023-10-31 阿波罗智联(北京)科技有限公司 用于辅助车辆停车的方法
CN114706070A (zh) * 2022-02-22 2022-07-05 惠州市德赛西威智能交通技术研究院有限公司 一种基于4d毫米波雷达的自动泊车车位搜索方法和系统
CN114882701B (zh) * 2022-04-28 2023-01-24 上海高德威智能交通系统有限公司 车位检测方法、装置、电子设备及机器可读存储介质

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4769625B2 (ja) * 2006-04-25 2011-09-07 トヨタ自動車株式会社 駐車支援装置及び駐車支援方法
JP4899647B2 (ja) * 2006-06-05 2012-03-21 富士通株式会社 距離測定プログラム、距離測定装置、距離測定方法
JP5506795B2 (ja) * 2009-06-03 2014-05-28 ボッシュ株式会社 駐車支援装置
JP5511431B2 (ja) * 2010-02-22 2014-06-04 本田技研工業株式会社 駐車支援装置
JP2012017021A (ja) * 2010-07-08 2012-01-26 Panasonic Corp 駐車支援装置および車両
US9146898B2 (en) * 2011-10-27 2015-09-29 Magna Electronics Inc. Driver assist system with algorithm switching
JP5786775B2 (ja) 2012-03-16 2015-09-30 株式会社デンソー 駐車支援装置
JP5845131B2 (ja) * 2012-04-17 2016-01-20 株式会社日本自動車部品総合研究所 駐車空間検知装置
JP2014094726A (ja) * 2012-11-12 2014-05-22 Nippon Soken Inc 駐車支援装置
JP6512004B2 (ja) * 2015-07-13 2019-05-15 日産自動車株式会社 駐車支援装置及び駐車支援方法
JP6724425B2 (ja) * 2016-03-04 2020-07-15 アイシン精機株式会社 駐車支援装置
JP6720715B2 (ja) * 2016-06-17 2020-07-08 日産自動車株式会社 駐車支援方法および装置

Also Published As

Publication number Publication date
US11024174B2 (en) 2021-06-01
WO2018207782A1 (ja) 2018-11-15
JP2018190220A (ja) 2018-11-29
US20200090517A1 (en) 2020-03-19

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