KR20160112676A - Method and apparatus for parking assist system - Google Patents
Method and apparatus for parking assist system Download PDFInfo
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- KR20160112676A KR20160112676A KR1020150038829A KR20150038829A KR20160112676A KR 20160112676 A KR20160112676 A KR 20160112676A KR 1020150038829 A KR1020150038829 A KR 1020150038829A KR 20150038829 A KR20150038829 A KR 20150038829A KR 20160112676 A KR20160112676 A KR 20160112676A
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- parking
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- obstacle
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000009466 transformation Effects 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000001131 transforming effect Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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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
- 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
-
- 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
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- B60W2050/14—
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
The present invention relates to a parking assisting apparatus and method, and more particularly, to a parking assisting apparatus and method, which can provide information of an obstacle located in a traveling direction of a vehicle and relative position information of the vehicle to an obstacle, The present invention relates to a parking assisting apparatus and method.
As the vehicle occupies more and more parts in real life, various control systems are being developed to facilitate the driver's convenience.
In particular, in recent years, when the vehicle is parked, the vehicle is controlled by the operation of the vehicle ECU, not the operation of the driver, based on the information about the object sensed through the ultrasonic sensor and the image sensor installed on the front and rear of the vehicle, Technologies have been developed, some of which are being applied to real vehicles.
As such, research and development on a parking assist system (PAS) using various IT equipments mounted on an automobile have been actively conducted as described above.
R & D on the above-mentioned parking assist system can be linked to the development of a vehicle capable of unmanned parking and autonomous driving in the long term. Therefore, active research and development is being carried out not only for automobile manufacturers but also for automobile parts companies, IT- .
An example of such a conventional parking assist system is to check whether a parking area is empty by searching a parking area using a camera installed in the vehicle, and when the parking area is empty as a result of confirmation, the corner of the parking line is detected, A method of acquiring the coordinates of an edge using an ultrasonic sensor that can be used, comparing the size of the parking space with the size of the vehicle to determine whether or not the vehicle can be parked, and displaying the related information on a monitor installed in the vehicle.
However, when using only the information detected through the ultrasonic sensor and the image sensor, there is a limit in that the driver can not perform satisfactory parking assistance because he can not sufficiently recognize obstacles existing around the vehicle.
SUMMARY OF THE INVENTION The present invention has been made to solve the above problems of the prior art and it is an object of the present invention to provide a vehicle parking method and a vehicle parking method which can provide a driver's parking process more easily by providing information on an obstacle located in a traveling direction of the vehicle, An auxiliary device and a method.
In order to achieve the above object, the present invention can be achieved as follows.
The parking assisting apparatus according to an embodiment of the present invention includes an image acquiring unit that acquires images from a plurality of image sensors installed in a vehicle; An inverse perspective transform unit for inverse perspective transforming each of the acquired images; An ego motion estimating unit estimating an ego-motion of the vehicle using each acquired image; A parking assistant image generating unit for generating a parking assistant image including at least one of road marking and obstacle based on the inverse-perspective conversion and the ego-motion estimation result; A parking assist information display unit for recognizing a parking space in the parking assistant image and calculating a relative position of the vehicle with respect to the parking space, and displaying a predicted moving path of the vehicle with respect to the parking space; . ≪ / RTI >
In the parking assist device according to the embodiment of the present invention, the image sensor may be configured to have the same coordinate axes as the vehicle.
In the parking assisting device according to the embodiment of the present invention, the image acquiring unit may be configured to acquire an image synchronized at a specific time interval from each image sensor.
In the parking assisting device according to the embodiment of the present invention, the ego motion estimation unit may be configured to recognize the posture and the position of the vehicle by comparing the difference between the previous image frame and the following image frame in the acquired image, and to estimate the predicted movement path.
The parking assistant image generating unit in the parking assistant apparatus according to the embodiment of the present invention may be configured to generate a parking assistant image in the form of a top view in which the vehicle and the periphery of the vehicle are viewed from above.
The parking assistant information display unit in the parking assistant apparatus according to the embodiment of the present invention may be configured to display one or more of the obstacles and the parking allowable spaces in the parking assistant image in a specific color.
In the parking assist device according to the embodiment of the present invention, the parking assist information display unit may be configured to display an obstacle located within a specific range based on the predicted travel route as one or more of the specific color and alarm.
In the parking assist device according to the embodiment of the present invention, the parking assist information display unit may further include information sensed from the ultrasonic sensor to recognize the obstacle.
According to another aspect of the present invention, there is provided a parking assisting method including: (a) acquiring an image from a plurality of image sensors installed in a vehicle; (b) inverse perspective transforming each acquired image; (c) estimating an ego-motion for the vehicle using each acquired image; (d) generating a parking assistant image including at least one of road marking and obstacles based on the inverse-perspective transform and the ego motion estimation result; And (e) recognizing a parking space in the parking assistant image and calculating a relative position of the vehicle with respect to the parking space, thereby displaying a predicted movement path of the vehicle with respect to the parking space; The method comprising the steps of:
In the parking assisting method according to another embodiment of the present invention, the step (c) may be performed to recognize the posture and the position of the vehicle by comparing the difference between the previous image frame and the following image frame in the acquired image, .
In the parking assisting method according to another embodiment of the present invention, the step (e) further includes sensing information from the ultrasonic sensor to recognize the obstacle, detecting an obstacle located within a specific range based on the predicted moving path, May be made to display one or more.
According to an embodiment of the present invention, when the vehicle enters the parking space, information on the obstacle located in the traveling direction of the vehicle and relative position information of the vehicle with respect to the obstacle are provided so that the driver can easily park the vehicle .
It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.
1 is a block diagram showing the configuration of a parking assisting device according to an embodiment of the present invention;
2 is a flow chart illustrating a parking assistance process according to an embodiment of the present invention;
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a parking assisting apparatus and method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a block diagram showing a configuration of a parking assisting device according to an embodiment of the present invention.
The
The
Here, each of the image sensors may be installed to have the same coordinate axis as the vehicle, and images received from the respective image sensors may be controlled to be synchronized at specific time intervals.
In addition, a plurality of ultrasonic sensors may be installed in the
Meanwhile, the inverse-perspective transform
This is because the image received from each image sensor has a perspective effect, and it is difficult to intuitively grasp the parking space (parking slot), the obstacle, and the relative position of the vehicle.
The synchronized images in which the perspective effect is removed by the inverse-
The ego-
To this end, the
For reference, since the vehicle has the same coordinate axis as each image sensor, the change of the image taken by each image sensor represents the movement path of the vehicle, and the horizontal and vertical paths of the movement may correspond to the x axis and the y axis, respectively .
Specifically, the ego
For example, when processing image frames at 30 frames per second (fps), the time interval between consecutive image frames is approximately 0.06 seconds (2 frames / 30 frames = 0.06s), and the
On the other hand, the speed of the vehicle can be obtained through CAN (Control Area Network) communication for a vehicle, and the maximum moving distance of the vehicle can be represented by pixels.
Assuming that the speed of the vehicle at the time of parking is 10 to 20 km / h or less and the ego-
Therefore, the maximum travel distance of the vehicle between a pair of the before / after image frames can be expressed by the maximum translation vector (Tx, Ty) including the maximum horizontal component (Tx) and the maximum vertical component (Ty).
In addition, the angle of rotation of the vehicle between a pair of the front / rear image frames can be calculated using the arc tangent inverse angle function for the maximum translation vector (Tx, Ty).
The ego-motion estimating
On the other hand, the parking assistant
Here, the 'parking assistant image' may include images synchronized with the perspective effect removed by the inverse-
For reference, the parking assistant
In general, the differential operator has a tendency to make the noise noticeable, but the Sobel operator has a smoothing effect as well as making the brightness difference of the image itself.
In addition, the parking assistant
This creates a histogram with a constant distribution, which makes the dark image brighter and the brighter image darker, so that it maintains the appropriate brightness value.
And histogram smoothing can be performed effectively when the image has fine detail in the dark region.
The overall contrast balance of the image can be improved by modifying the distribution of brightness values of the image.
On the other hand, the parking assist
At this time, the parking assist
When an obstacle existing within a specific range exists based on the predicted moving route of the vehicle according to the result of the echocardiogram, the obstacle is displayed as at least one of a specific color and an alarm, The parking space can be more easily identified.
In addition, in the
2 is a flowchart illustrating a parking assistance process according to an embodiment of the present invention.
The flow chart shown in Fig. 2 can be performed by the
The
After S201, the
After S202, the
After S203, the
Here, the parking assistant image may be in the form of a top view such as looking down from the top of the vehicle and the vehicle.
After S204, the
It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.
100: Parking assist device
110:
120: reverse-perspective transform unit
130: ego motion estimation unit
140: parking assistant image generating unit
150: Parking assistance information display part
Claims (11)
An inverse perspective transform unit for inverse perspective transforming each of the obtained images;
An ego motion estimator estimating an ego-motion of the vehicle using each of the acquired images;
A parking assistant image generating unit for generating a parking assistant image including at least one of road marking and an obstacle based on the inverse-perspective conversion and the ego-motion estimation result; And
A parking assistant information display unit for recognizing a parking available space in the parking assistant image and calculating a relative position of the vehicle with respect to the parking allowable space to display a predicted moving route of the vehicle with respect to the parking allowable space; And a parking assist device for parking the vehicle.
Wherein the image sensor has the same coordinate axis as the vehicle.
The image acquiring unit may acquire,
And acquires a synchronized image at a specific time interval from each of the image sensors.
Wherein the ego-
Wherein the control unit recognizes the posture and the position of the vehicle by comparing the difference between the previous image frame and the following image frame in the obtained image, and estimates the predicted movement path.
Wherein the parking assistant image generating unit comprises:
And generates a parking assistant image in the form of a top view looking down from the periphery of the vehicle and the vehicle.
The parking assist information display unit displays,
And displays at least one of an obstacle and a parking space in the parking assistant image in a specific color.
The parking assist information display unit displays,
And displays an obstacle located within a specific range on the basis of the predicted movement route as at least one of the specific color and alarm.
The parking assist information display unit displays,
Further comprising information sensed from an ultrasonic sensor to recognize the obstacle.
(b) inverse perspective transforming each of the obtained images;
(c) estimating ego-motion for the vehicle using each of the obtained images;
(d) generating a parking assistant image including at least one of road marking and obstacles based on the inverse-perspective transformation and the ego-motion estimation result; And
(e) recognizing a parking space in the parking assistant image and calculating a relative position of the vehicle with respect to the parking space, and displaying a predicted movement path of the vehicle with respect to the parking space; And a parking assist device for parking the vehicle.
The step (c)
Comparing the difference between a previous image frame and a subsequent image frame in the acquired image to recognize the posture and the position of the vehicle, and estimating the predicted movement path.
The step (e)
Further comprising sensing information from an ultrasonic sensor to recognize the obstacle and displaying an obstacle located within a specific range based on the predicted moving route in at least one of a specific color and an alarm.
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KR1020150038829A KR101663292B1 (en) | 2015-03-20 | 2015-03-20 | Method and apparatus for parking assist system |
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KR1020150038829A KR101663292B1 (en) | 2015-03-20 | 2015-03-20 | Method and apparatus for parking assist system |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101876353B1 (en) * | 2016-11-09 | 2018-07-09 | 현대오트론 주식회사 | Apparatus and method for estimating movement |
CN111832377A (en) * | 2019-07-26 | 2020-10-27 | 北京骑胜科技有限公司 | Vehicle parking control method and device, vehicle and storage medium |
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CN111832377A (en) * | 2019-07-26 | 2020-10-27 | 北京骑胜科技有限公司 | Vehicle parking control method and device, vehicle and storage medium |
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