JP7380058B2 - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
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- JP7380058B2 JP7380058B2 JP2019188203A JP2019188203A JP7380058B2 JP 7380058 B2 JP7380058 B2 JP 7380058B2 JP 2019188203 A JP2019188203 A JP 2019188203A JP 2019188203 A JP2019188203 A JP 2019188203A JP 7380058 B2 JP7380058 B2 JP 7380058B2
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- 238000001514 detection method Methods 0.000 claims description 54
- 238000003384 imaging method Methods 0.000 claims description 49
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Images
Classifications
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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
- 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
-
- 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
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- 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
- 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
- B60R2300/60—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
- B60R2300/806—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
- 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
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30264—Parking
Description
14 ECU
14a CPU
14b ROM
14c RAM
14f SSD
15 撮像部
141 データ取得部
142 区画線検出部
143 更新部
144 算出部
Claims (6)
- 車両に搭載される撮像部によって当該車両の周囲を撮像した画像データを取得する取得部と、
前記車両の駐車支援を実行する場合に、前記画像データが取得される度に、当該画像データから、駐車枠を検出する検出部と、
検出した前記駐車枠の認識端点に基づいて、前記駐車枠の端点として追跡する追跡端点を更新する更新部と、
前記追跡端点に基づいて、前記車両の駐車目標位置の位置情報を算出する算出部と、を備え、
前記更新部は、前記撮像部と前記認識端点との第1位置関係、および前記認識端点と前記車両の駐車支援が開始された際の前記追跡端点である基準点との第3位置関係の少なくとも1つに基づいて、前記認識端点が誤検出であるか否かを判定し、前記認識端点が誤検出であると判定した場合、前記追跡端点を更新しない、駐車支援装置。 - 前記第1位置関係は、前記撮像部と前記認識端点間のユークリッド距離であり、
前記更新部は、前記撮像部と前記認識端点間のユークリッド距離が第1閾値以上である場合、前記認識端点が誤検出であると判定する請求項1に記載の駐車支援装置。 - 前記更新部は、前記認識端点と更新前の前記追跡端点との第2位置関係に基づいて、前記認識端点が誤検出であるか否かを判定し、前記認識端点が誤検出であると判定した場合、前記追跡端点を更新せず、
前記第2位置関係は、更新前の前記追跡端点を端点とする前記駐車枠の幅方向および長さ方向をそれぞれをx,z軸とする直交座標系における、更新前の前記追跡端点と前記認識端点間のx座標の差である第1距離、更新前の前記追跡端点と前記認識端点間のz座標の差である第2距離、および、前記z軸と、前記認識端点を端点とする前記駐車枠の長さ方向と、がなす角度であり、
前記更新部は、前記第1距離が第2閾値以上である場合、前記第2距離が第3閾値以上である場合、または前記角度が第4閾値以上である場合、前記認識端点が誤検出であると判定する請求項1または2に記載の駐車支援装置。 - 前記第3位置関係は、前記認識端点と前記基準点間のユークリッド距離であり、
前記更新部は、前記認識端点と前記基準点間のユークリッド距離が第5閾値以上である場合、前記認識端点が誤検出であると判定する請求項1から3のいずれか一に記載の駐車支援装置。 - 前記認識端点は、前記駐車枠の角のうち前記駐車目標位置の入口側の角である請求項1から4のいずれか一に記載の駐車支援装置。
- 前記更新部は、過去に検出した複数の前記駐車枠の前記認識端点に基づいて、前記追跡端点を更新する請求項1から5のいずれか一に記載の駐車支援装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019188203A JP7380058B2 (ja) | 2019-10-11 | 2019-10-11 | 駐車支援装置 |
DE102020126526.3A DE102020126526A1 (de) | 2019-10-11 | 2020-10-09 | Parkassistenzvorrichtung |
Applications Claiming Priority (1)
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JP2019188203A JP7380058B2 (ja) | 2019-10-11 | 2019-10-11 | 駐車支援装置 |
Publications (2)
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JP2021064146A JP2021064146A (ja) | 2021-04-22 |
JP7380058B2 true JP7380058B2 (ja) | 2023-11-15 |
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DE (1) | DE102020126526A1 (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016124398A (ja) | 2014-12-26 | 2016-07-11 | アイシン精機株式会社 | 駐車支援装置 |
JP2019133580A (ja) | 2018-02-02 | 2019-08-08 | 株式会社デンソーテン | 区画線検出装置、区画線検出システム、及び区画線検出方法 |
JP2019133445A (ja) | 2018-01-31 | 2019-08-08 | 株式会社デンソーテン | 区画線検出装置、区画線検出システム、及び区画線検出方法 |
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2019
- 2019-10-11 JP JP2019188203A patent/JP7380058B2/ja active Active
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2020
- 2020-10-09 DE DE102020126526.3A patent/DE102020126526A1/de active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016124398A (ja) | 2014-12-26 | 2016-07-11 | アイシン精機株式会社 | 駐車支援装置 |
JP2019133445A (ja) | 2018-01-31 | 2019-08-08 | 株式会社デンソーテン | 区画線検出装置、区画線検出システム、及び区画線検出方法 |
JP2019133580A (ja) | 2018-02-02 | 2019-08-08 | 株式会社デンソーテン | 区画線検出装置、区画線検出システム、及び区画線検出方法 |
Non-Patent Citations (1)
Title |
---|
植中 裕史,駐車支援システム インテリジェントパーキングアシストの紹介,計測と制御,日本,公益社団法人計測自動制御学会,2015年11月10日,第54巻 第11号,P.836-840 |
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DE102020126526A1 (de) | 2021-04-15 |
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