JP6784840B2 - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
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- JP6784840B2 JP6784840B2 JP2019526154A JP2019526154A JP6784840B2 JP 6784840 B2 JP6784840 B2 JP 6784840B2 JP 2019526154 A JP2019526154 A JP 2019526154A JP 2019526154 A JP2019526154 A JP 2019526154A JP 6784840 B2 JP6784840 B2 JP 6784840B2
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- 238000004364 calculation method Methods 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 22
- 238000012790 confirmation Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 66
- 238000010586 diagram Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- 239000000284 extract Substances 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
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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
- B62D15/0285—Parking performed automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R99/00—Subject matter not provided for in other groups of this subclass
-
- 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
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/254—Fusion techniques of classification results, e.g. of results related to same input data
- G06F18/256—Fusion techniques of classification results, e.g. of results related to same input data of results relating to different input data, e.g. multimodal recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
- G06V10/809—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data
- G06V10/811—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data the classifiers operating on different input data, e.g. multi-modal recognition
-
- 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
-
- 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
-
- 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
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/16—Image acquisition using multiple overlapping images; Image stitching
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Transportation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Automation & Control Theory (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Combustion & Propulsion (AREA)
- Databases & Information Systems (AREA)
- Data Mining & Analysis (AREA)
- Chemical & Material Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Life Sciences & Earth Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- General Engineering & Computer Science (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
2:HMI装置
3:駐車スイッチ
4:外界センサ
5:駆動力制御装置
6:制動力制御装置
7:操舵制御装置
8:シフト制御装置
11:外界認識部
12:駐車位置探索部
13:駐車位置決定部
14:駐車経路算出部
15:駐車車両制御部
16:路面情報修正部
17:表示制御部
18:記憶部
Claims (6)
- 車両に設置された外界センサの検出情報に基づいて、前記車両の周囲の路面環境を認識する外界認識部と、
前記外界認識部により認識された前記路面環境に基づいて、前記車両の周囲の路面における障害物の存在を示す路面情報を前記車両の乗員に提示する情報提示部と、
前記路面情報を修正して前記障害物を無効化する路面情報修正部と、
前記路面情報修正部により修正された前記路面情報に基づいて、前記車両を駐車するための駐車経路を算出する駐車経路算出部と、を備え、
前記外界センサは、前記車両の周囲を平面的に検出可能な第1センサと、前記車両の周囲を立体的に検出可能な第2センサとを含み、
前記路面情報修正部は、
前記第1センサで検出されて前記第2センサでは検出されない前記障害物については、前記乗員が行う所定の操作に応じて前記路面情報の修正を実施することで、当該障害物を無効化し、
前記第2センサで検出された前記障害物については、前記乗員が前記所定の操作を行っても前記路面情報の修正を実施せずに、当該障害物の無効化を禁止する駐車支援装置。 - 請求項1に記載の駐車支援装置において、
前記情報提示部は、前記第1センサで検出されて前記第2センサでは検出されない前記障害物と、前記第2センサで検出された前記障害物とを、前記乗員がそれぞれ識別可能な表示形態で示した前記路面情報を、前記乗員に提示する駐車支援装置。 - 請求項1または2に記載の駐車支援装置において、
前記情報提示部は、無効化される前の前記障害物と、無効化された後の前記障害物とを、互いに異なる表示形態で示した前記路面情報を、前記乗員に提示する駐車支援装置。 - 請求項1から請求項3のいずれか一項に記載の駐車支援装置において、
前記乗員により所定の確認操作が行われた場合、前記路面情報の修正の禁止を解除する駐車支援装置。 - 請求項1から請求項4のいずれか一項に記載の駐車支援装置において、
前記路面情報の修正履歴を記憶する記憶部をさらに備える駐車支援装置。 - 請求項1から請求項5のいずれか一項に記載の駐車支援装置において、
前記障害物が複数検出された場合、前記情報提示部は、複数の前記障害物をリスト化した路面情報修正画面を表示装置に表示させ、
前記路面情報修正部は、前記路面情報修正画面において前記乗員が選択した前記障害物について、前記路面情報の修正を行う駐車支援装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017124021 | 2017-06-26 | ||
JP2017124021 | 2017-06-26 | ||
PCT/JP2018/013119 WO2019003533A1 (ja) | 2017-06-26 | 2018-03-29 | 駐車支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2019003533A1 JPWO2019003533A1 (ja) | 2019-12-12 |
JP6784840B2 true JP6784840B2 (ja) | 2020-11-11 |
Family
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Application Number | Title | Priority Date | Filing Date |
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JP2019526154A Active JP6784840B2 (ja) | 2017-06-26 | 2018-03-29 | 駐車支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10974735B2 (ja) |
EP (1) | EP3647131B1 (ja) |
JP (1) | JP6784840B2 (ja) |
CN (1) | CN110753646B (ja) |
WO (1) | WO2019003533A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3293717B1 (en) * | 2016-09-08 | 2021-11-10 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | An electronically controlled braking system |
JP6771517B2 (ja) * | 2018-09-07 | 2020-10-21 | 本田技研工業株式会社 | 自動駐車装置及び自動駐車方法 |
KR20190084916A (ko) * | 2019-06-28 | 2019-07-17 | 엘지전자 주식회사 | 주차 위치 알림 장치 및 방법 |
JP7307170B2 (ja) * | 2019-07-10 | 2023-07-11 | 日立Astemo株式会社 | 外界認識センサのセンシング性能評価診断システム、および、センシング性能評価診断方法 |
KR102185743B1 (ko) * | 2019-08-12 | 2020-12-03 | 한국산업기술시험원 | 차량의 전방에 위치하는 객체의 실존 여부를 판단하는 방법 및 장치 |
JP7448394B2 (ja) * | 2020-03-26 | 2024-03-12 | 本田技研工業株式会社 | 駐車支援システム |
CN113060125B (zh) * | 2020-08-31 | 2022-08-30 | 惠州华阳通用电子有限公司 | 一种泊车辅助方法及装置 |
CN112572418A (zh) * | 2020-12-15 | 2021-03-30 | 北京百度网讯科技有限公司 | 一种无人驾驶车辆的控制方法、装置及电子设备 |
CN116386379B (zh) * | 2023-05-30 | 2023-09-22 | 湖南省通晓信息科技有限公司 | 基于物联网技术的智能停车场数据管理方法和系统 |
CN116495004A (zh) * | 2023-06-28 | 2023-07-28 | 杭州鸿泉物联网技术股份有限公司 | 车辆环境感知方法、装置、电子设备和存储介质 |
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JP4861574B2 (ja) * | 2001-03-28 | 2012-01-25 | パナソニック株式会社 | 運転支援装置 |
WO2006064544A1 (ja) * | 2004-12-14 | 2006-06-22 | Hitachi, Ltd. | 自動車庫入れ装置 |
JP4707109B2 (ja) * | 2006-03-02 | 2011-06-22 | アルパイン株式会社 | 複数カメラ撮影画像処理方法及び装置 |
US7741961B1 (en) * | 2006-09-29 | 2010-06-22 | Canesta, Inc. | Enhanced obstacle detection and tracking for three-dimensional imaging systems used in motor vehicles |
JP2009134685A (ja) * | 2007-09-03 | 2009-06-18 | Tauchi Sekkei:Kk | 建築物の施工管理システム |
JP2009070174A (ja) * | 2007-09-13 | 2009-04-02 | Kureo:Kk | 文書作成装置、文書作成方法、およびコンピュータが実行するためのプログラム |
CN202686359U (zh) * | 2011-11-30 | 2013-01-23 | 富士重工业株式会社 | 狭窄道路检测装置 |
JP2013241088A (ja) * | 2012-05-21 | 2013-12-05 | Toyota Motor Corp | 駐車支援装置 |
US9489635B1 (en) * | 2012-11-01 | 2016-11-08 | Google Inc. | Methods and systems for vehicle perception feedback to classify data representative of types of objects and to request feedback regarding such classifications |
DE102013010010B4 (de) * | 2013-06-14 | 2022-02-10 | Audi Ag | Verfahren zum Betrieb eines Fahrerassistenzsystems zum Rangieren und/oder Parken |
DE102013015348A1 (de) | 2013-09-17 | 2014-04-10 | Daimler Ag | Verfahren und Vorrichtung zum Betrieb eines Fahrzeugs |
JP6190758B2 (ja) * | 2014-05-21 | 2017-08-30 | 本田技研工業株式会社 | 物体認識装置及び車両 |
MY191966A (en) * | 2015-10-22 | 2022-07-21 | Nissan Motor | Parking support method and parking support device |
JP6724425B2 (ja) * | 2016-03-04 | 2020-07-15 | アイシン精機株式会社 | 駐車支援装置 |
DE102016013711A1 (de) | 2016-11-17 | 2017-05-24 | Daimler Ag | Verfahren zum Betreiben eines Kraftfahrzeugs, insbesondere eines Kraftwagens |
-
2018
- 2018-03-29 US US16/622,740 patent/US10974735B2/en active Active
- 2018-03-29 CN CN201880029841.1A patent/CN110753646B/zh active Active
- 2018-03-29 WO PCT/JP2018/013119 patent/WO2019003533A1/ja unknown
- 2018-03-29 JP JP2019526154A patent/JP6784840B2/ja active Active
- 2018-03-29 EP EP18825131.8A patent/EP3647131B1/en active Active
Also Published As
Publication number | Publication date |
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US10974735B2 (en) | 2021-04-13 |
WO2019003533A1 (ja) | 2019-01-03 |
US20200101984A1 (en) | 2020-04-02 |
CN110753646B (zh) | 2022-11-25 |
EP3647131A4 (en) | 2021-03-24 |
CN110753646A (zh) | 2020-02-04 |
JPWO2019003533A1 (ja) | 2019-12-12 |
EP3647131A1 (en) | 2020-05-06 |
EP3647131B1 (en) | 2023-11-08 |
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