JP7448403B2 - 駐車枠認識システム、及び、駐車枠認識システムを備えた駐車支援システム - Google Patents
駐車枠認識システム、及び、駐車枠認識システムを備えた駐車支援システム Download PDFInfo
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
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Description
15 :制御装置
32 :タッチパネル(表示装置)
35 :選択操作子
52 :駐車枠
52X :仮駐車枠
53 :目標駐車枠
55 :駐車枠線
56 :車路(道路)
57 :仮想線
60 :駐車枠候補
61 :仮想線算出部
62 :角度算出部
63 :駐車種別決定部
64 :駐車枠候補設定部
θ :角度
S :駐車枠認識システム
Claims (6)
- 車両に搭載され、道路の側方に設けられた略平行な2つの駐車枠線の間に駐車枠を認識するための駐車枠認識システムであって、
前記駐車枠線の位置を取得する外界情報取得装置と、
前記駐車枠線の位置に基づいて、斜め駐車及び並列駐車を含む駐車種別と、駐車可能な領域の候補である駐車枠候補を検出する駐車枠候補検出装置とを有し、
前記駐車枠候補検出装置は、
隣接する前記駐車枠線の前記道路の側の先端を互いに接続する仮想線を算出する仮想線算出部と、
前記仮想線算出部によって算出された前記仮想線と前記駐車枠線とがなす角度を算出する角度算出部と、
前記仮想線と前記駐車枠線とがなす角度に基づいて、前記駐車種別を決定する駐車種別決定部と
前記駐車枠線の位置に基づいて、前記駐車枠線の間の領域に仮駐車枠を設定し、前記仮駐車枠の中から駐車可能な領域を前記駐車枠候補に設定する駐車枠候補設定部とを備え、
前記駐車枠候補設定部は、
隣接する2本の平行な前記駐車枠線の車路側の先端それぞれを通過し、且つ、前記駐車枠線の延在方向に直交する直交線を算出し、
前記駐車種別決定部によって決定された前記駐車種別が前記斜め駐車であるときには、前記車路よりも遠い方の前記直交線よりも前記車路から離れた位置に前記仮駐車枠を設定し、
前記駐車種別が前記並列駐車であるときには、前記車路よりも近い方の前記直交線に揃う位置に前記仮駐車枠を設定する駐車枠認識システム。 - 前記駐車種別決定部は、前記駐車枠線が3本以上認識されたときに、前記駐車種別を前記斜め駐車又は前記並列駐車に決定することを特徴とする請求項1に記載の駐車枠認識システム。
- 前記駐車種別決定部は、
前記角度算出部によって算出された前記角度が85度から95度の範囲として規定される第2角度範囲にあるときには前記駐車種別を前記並列駐車に決定し、
前記角度算出部によって算出された前記角度が前記第2角度範囲を除く0度より大きく180度未満の所定の第1角度範囲にあるとき前記駐車種別を前記斜め駐車に決定する請求項2に記載の駐車枠認識システム。 - 前記第1角度範囲は45度又は135度を含む所定の角度範囲と、60度又は120度を含む所定の角度範囲を含むことを特徴とする請求項3に記載の駐車枠認識システム。
- 前記駐車枠候補設定部は、前記駐車枠線が少なくとも2本認識された場合に、前記駐車枠線の間に前記仮駐車枠を設定することを特徴とする請求項1~請求項4のいずれか1つの項に記載の駐車枠認識システム。
- 請求項1~請求項5のいずれか1つの項に記載の前記駐車枠認識システムを備え、前記駐車枠に前記車両を駐車させるための駐車支援システムであって、
前記駐車枠候補を表示するための表示装置と、
前記表示装置に表示された少なくとも1つの前記駐車枠候補から、ユーザによる目標駐車枠の選択操作を受け付ける選択操作子と、
前記駐車枠候補検出装置の決定結果に基づいて、前記目標駐車枠内に前記車両を自律的に移動させる駆動処理を実行する制御装置と更に有することを特徴とする駐車支援システム。
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