JP6743593B2 - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
- Publication number
- JP6743593B2 JP6743593B2 JP2016169767A JP2016169767A JP6743593B2 JP 6743593 B2 JP6743593 B2 JP 6743593B2 JP 2016169767 A JP2016169767 A JP 2016169767A JP 2016169767 A JP2016169767 A JP 2016169767A JP 6743593 B2 JP6743593 B2 JP 6743593B2
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- JP
- Japan
- Prior art keywords
- vehicle
- parking
- target position
- unit
- captured image
- 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.)
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Classifications
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- B62D15/0275—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
- 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
-
- 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
-
- 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—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 GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
-
- 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
- B60R2300/80—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
- B60R2300/8086—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 vehicle path indication
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
Description
D_tem点(x)=(B点(x)-A点(x)*cos(diff_θ))-(B点(y)-A点(y)*sin(diff_θ))
D_tem点(y)=(B点(x)-A点(x)*sin(diff_θ))+(B点(y)-A点(y)*cos(diff_θ))
D_tem点(θ)=B点(θ)-A点(θ)
D点(x)=D_tem点(x)+C点(x)
D点(y)=D_tem点(y)+C点(y)
D点(θ)=D_tem点(θ)+C点(θ)
Claims (4)
- 車両の移動中に当該車両の周辺領域を撮像する撮像部より得られる撮像画像から、前記車両が駐車可能な領域を示す駐車目標位置を検出する検出部と、
前記撮像画像を表示装置に表示させる表示部と、
前記車両の移動中に前記表示装置に前記撮像画像が表示された後、次に前記撮像部で撮像された撮像画像が表示される前の期間中に、前記表示装置に前記撮像画像が表示されてから前記車両が移動した第1移動量と前記撮像画像が撮像されたときの前記車両と前記駐車目標位置との位置関係とに基づいて、現在の前記車両の位置に対する前記駐車目標位置を特定する位置特定部と、
前記期間中に、前記駐車目標位置に前記車両を誘導する旨の要求がなされた場合に特定された前記駐車目標位置に基づいて、前記車両の誘導を実行する駐車支援部と、
を備える駐車支援装置。 - 前記位置特定部は、前記撮像画像が撮像されてから前記駐車目標位置を検出するまでの処理期間中に前記車両が移動した第2移動量を前記第1移動量に加えて前記駐車目標位置を特定する請求項1に記載の駐車支援装置。
- 前記検出部は、前記車両の移動中に所定間隔で前記撮像部が撮像した前記撮像画像から前記駐車目標位置を取得する請求項1または請求項2に記載の駐車支援装置。
- 車両の移動中に当該車両の周辺領域を撮像する撮像部より得られる撮像画像から、前記車両が駐車可能な領域を示す駐車目標位置を検出する検出部と、
前記撮像画像を表示装置に表示させる表示部と、
前記車両の移動中に前記表示装置に前記撮像画像が表示された後、次に前記撮像部で撮像された撮像画像が表示される前の期間中に、前記撮像画像が撮像されてから前記駐車目標位置を検出するまでの処理期間中に前記車両が移動した第2移動量と、前記撮像画像が撮像されたときの前記車両と前記駐車目標位置との位置関係とに基づいて、現在の前記車両の位置に対する前記駐車目標位置を特定する位置特定部と、
前記期間中に、前記駐車目標位置に前記車両を誘導する旨の要求がなされた場合に特定された前記駐車目標位置に基づいて、前記車両の誘導を実行する駐車支援部と、
を備える駐車支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016169767A JP6743593B2 (ja) | 2016-08-31 | 2016-08-31 | 駐車支援装置 |
EP17186796.3A EP3290301B1 (en) | 2016-08-31 | 2017-08-18 | Parking assist device |
US15/688,948 US10179608B2 (en) | 2016-08-31 | 2017-08-29 | Parking assist device |
CN201710764119.XA CN107792061B (zh) | 2016-08-31 | 2017-08-30 | 停车辅助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016169767A JP6743593B2 (ja) | 2016-08-31 | 2016-08-31 | 駐車支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018036878A JP2018036878A (ja) | 2018-03-08 |
JP6743593B2 true JP6743593B2 (ja) | 2020-08-19 |
Family
ID=59677098
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016169767A Active JP6743593B2 (ja) | 2016-08-31 | 2016-08-31 | 駐車支援装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10179608B2 (ja) |
EP (1) | EP3290301B1 (ja) |
JP (1) | JP6743593B2 (ja) |
CN (1) | CN107792061B (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2568749B (en) * | 2017-11-28 | 2020-09-02 | Jaguar Land Rover Ltd | Imaging apparatus and method |
JP7035661B2 (ja) * | 2018-03-15 | 2022-03-15 | 株式会社アイシン | 駐車管制装置および車両制御装置 |
JP7059740B2 (ja) * | 2018-03-23 | 2022-04-26 | 株式会社デンソーテン | 画像処理装置 |
JP7108229B2 (ja) * | 2018-06-08 | 2022-07-28 | トヨタ自動車株式会社 | 駐車支援装置 |
JP7116613B2 (ja) * | 2018-07-20 | 2022-08-10 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
KR102200651B1 (ko) * | 2019-05-22 | 2021-01-08 | 한양대학교 산학협력단 | 주차 차량 포즈 추정 방법 및 그 장치 |
KR102200648B1 (ko) * | 2019-05-30 | 2021-01-08 | 한양대학교 산학협력단 | 자율 주차 제어 방법 및 그 장치 |
JP7256463B2 (ja) * | 2019-10-11 | 2023-04-12 | トヨタ自動車株式会社 | 車両駐車支援装置 |
JP7160014B2 (ja) * | 2019-10-11 | 2022-10-25 | トヨタ自動車株式会社 | 駐車支援装置 |
JP6982053B2 (ja) * | 2019-12-13 | 2021-12-17 | 本田技研工業株式会社 | 駐車支援システム |
JP7041118B2 (ja) * | 2019-12-13 | 2022-03-23 | 本田技研工業株式会社 | 駐車支援システム |
CN112330977B (zh) * | 2020-10-28 | 2022-05-13 | 广州小鹏自动驾驶科技有限公司 | 一种自动泊车的方法和装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004025942A (ja) * | 2002-06-21 | 2004-01-29 | Equos Research Co Ltd | 駐車操作支援装置 |
JP4306670B2 (ja) * | 2005-10-31 | 2009-08-05 | トヨタ自動車株式会社 | 駐車支援装置 |
JP2007309670A (ja) * | 2006-05-16 | 2007-11-29 | Toyota Motor Corp | 車両位置検出装置 |
JP5088074B2 (ja) * | 2007-10-01 | 2012-12-05 | 日産自動車株式会社 | 駐車支援装置及び方法 |
JP4900232B2 (ja) * | 2007-12-26 | 2012-03-21 | 日産自動車株式会社 | 車両用駐車支援装置および映像表示方法 |
JP5287344B2 (ja) * | 2009-02-26 | 2013-09-11 | 日産自動車株式会社 | 駐車支援装置及び障害物検知方法 |
JP5483535B2 (ja) * | 2009-08-04 | 2014-05-07 | アイシン精機株式会社 | 車両周辺認知支援装置 |
JP2011259152A (ja) * | 2010-06-08 | 2011-12-22 | Suzuki Motor Corp | 運転支援装置 |
DE102010040591B4 (de) * | 2010-09-10 | 2020-07-02 | Robert Bosch Gmbh | Einparkassistent zur Unterstützung eines Einparkvorgangs bei einer Mehrzahl vorhandener Parklücken |
DE102010051206A1 (de) * | 2010-11-12 | 2012-05-16 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erzeugen eines Bilds einer Fahrzeugumgebung und Abbildungsvorrichtung |
JP5516992B2 (ja) * | 2010-11-30 | 2014-06-11 | アイシン精機株式会社 | 駐車位置調整装置 |
KR101438941B1 (ko) * | 2012-12-11 | 2014-11-03 | 현대자동차주식회사 | 주차 지원 제어 장치 및 방법 |
JP2014121984A (ja) | 2012-12-21 | 2014-07-03 | Toyota Motor Corp | 出庫支援装置 |
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 |
JP5855622B2 (ja) * | 2013-10-04 | 2016-02-09 | 本田技研工業株式会社 | 駐車支援装置 |
JP6110349B2 (ja) * | 2014-09-12 | 2017-04-05 | アイシン精機株式会社 | 駐車支援装置 |
-
2016
- 2016-08-31 JP JP2016169767A patent/JP6743593B2/ja active Active
-
2017
- 2017-08-18 EP EP17186796.3A patent/EP3290301B1/en active Active
- 2017-08-29 US US15/688,948 patent/US10179608B2/en active Active
- 2017-08-30 CN CN201710764119.XA patent/CN107792061B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US20180057056A1 (en) | 2018-03-01 |
EP3290301B1 (en) | 2021-06-16 |
US10179608B2 (en) | 2019-01-15 |
CN107792061B (zh) | 2022-02-25 |
CN107792061A (zh) | 2018-03-13 |
JP2018036878A (ja) | 2018-03-08 |
EP3290301A1 (en) | 2018-03-07 |
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