WO2009157298A1 - Dispositif d’aide au stationnement et appareil de guidage de stationnement l’utilisant - Google Patents

Dispositif d’aide au stationnement et appareil de guidage de stationnement l’utilisant Download PDF

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Publication number
WO2009157298A1
WO2009157298A1 PCT/JP2009/060441 JP2009060441W WO2009157298A1 WO 2009157298 A1 WO2009157298 A1 WO 2009157298A1 JP 2009060441 W JP2009060441 W JP 2009060441W WO 2009157298 A1 WO2009157298 A1 WO 2009157298A1
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WO
WIPO (PCT)
Prior art keywords
parking
vehicle
distance
feature
distance image
Prior art date
Application number
PCT/JP2009/060441
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English (en)
Japanese (ja)
Inventor
柿並俊明
里中久志
Original Assignee
アイシン精機株式会社
トヨタ自動車株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by アイシン精機株式会社, トヨタ自動車株式会社 filed Critical アイシン精機株式会社
Publication of WO2009157298A1 publication Critical patent/WO2009157298A1/fr

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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
    • 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
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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

Definitions

  • the present invention relates to a parking support device that supports parking of a vehicle and a parking guidance device that uses the parking support device.
  • parking assistance that assists the driver to smoothly park the vehicle in the target vehicle space when a driver with insufficient vehicle parking technology parks the vehicle or parks the vehicle in the first parking space.
  • devices for example, Patent Documents 1-4).
  • the parking type determination device described in Patent Document 1 automatically determines the parking type without depending on detailed instructions from the driver.
  • a signal indicating that the parking operation is being performed is sent from the parking intention acquisition unit to the surrounding state acquisition unit, and the surrounding state acquisition unit outputs a signal related to the surrounding state to the parking type determination unit.
  • the signal related to the surrounding situation includes a signal indicating whether or not the position of the own vehicle is on the road, a signal indicating the direction of the road edge or the angle between the road direction and the own vehicle direction (and the distance between the own vehicle and the road edge). ), And at least one of signals indicating the angle between the parking frame direction and the host vehicle direction (and the distance between the host vehicle and the parking frame center line).
  • the parking type determination means determines the parking type (parallel parking or parallel parking) based on the signal related to the surrounding situation output by the surrounding situation acquisition means, and outputs the parking type to a parking assistance system such as a voice guide.
  • the parking assist device described in Patent Document 2 recognizes an accurate parking area and parks the vehicle in the parking area.
  • the parking assist device uses a length detection device composed of an ultrasonic sensor to determine the total length of a parked vehicle that is already parked along the roadside and the length of a parking area that is formed behind the parked vehicle.
  • the full width of the parked vehicle is estimated from the detected total length of the parked vehicle. Based on the detected length of the parkable area, the total length of the parked vehicle, and the estimated full width of the parked vehicle, a driving operation necessary to park the vehicle in the parkable space is calculated and notified.
  • the obstacle detection device described in Patent Document 3 determines the distance between an obstacle such as a curb and the vehicle body and informs the driver so that the vehicle can clearly perform guidance such as side-by-side parking. Described for the device.
  • the obstacle detection device uses an ultrasonic distance sensor mounted near the left front wheel and the left rear wheel of the vehicle to determine the approach distance between the vehicle body and the curb in three stages: “safety”, “caution”, and “danger”. Judge with.
  • the vehicle retraction support apparatus described in Patent Document 4 is described with respect to a vehicle retraction support apparatus at the time of parallel parking, in which a driver grasps the timing and amount of steering when parallel parking is performed.
  • the vehicle reverse assist device operates the seesaw switch until the vertical guide line overlaps the target point that is the corner of the parking space frame on the screen at the stop position of the vehicle, and holds the handle until the vehicle space mark overlaps the parking space. Turn the vehicle backward while maintaining the steering angle of the steering wheel. Then, when the eye mark overlaps the parking space, the vehicle is stopped, and the vehicle is moved backward by maximizing the steering angle of the steering wheel in the opposite direction.
  • the parking type determination apparatus it is determined whether or not the vehicle is on the road by using information such as map data, gyroscope, and traveling locus, and the parking frame is automatically recognized by some method ( The content of automatic recognition is not disclosed at all). For example, if the vehicle is on the road and is within a predetermined angle with the direction of the road, the driver determines that parallel parking is desired, so the type of parking can be determined. However, since the structure of the road is not directly measured on an actual road, and the parking frame detection method is not disclosed at all, the direction of the own vehicle is accurately aligned with the direction of the road, and the cars are parked in an orderly manner. There is a problem that can not be.
  • the length of a parked vehicle and the parking possible area is measured using an ultrasonic sensor, The full width of the parked vehicle is estimated from the full length of the obtained parked vehicle, and parking space Is calculated.
  • the parked vehicles are not necessarily parked in order along the road, even if the parked vehicle is parked in the target parking position based on the position and direction of the parking space obtained here, orderly parking along the road There is a problem that can not be.
  • the distance between the left front wheel and the curb during forward driving and the left rear wheel and the curb during reverse travel The distance can be provided to the driver.
  • the road surface and curb are detected using an ultrasonic sensor, and the approaching distance to the obstacle is determined in three stages: “safety”, “caution”, and “danger”.
  • the azimuth resolution of an ultrasonic sensor is not high, the distance information can be used when an obstacle is approaching, but it is possible to detect the position and azimuth of a curb that is located several meters to 10 meters away. Can not. For this reason, there is a problem that it cannot be used as a sensor for orderly parking along the road.
  • the target parking frame on the screen is operated with a seesaw switch so that the parking space displayed on the image is matched with the position where parking is desired.
  • this system assumes that the vehicle is stopped parallel to the direction of the road. For this reason, when the stopped vehicle is not parallel to the road, the target parking position is not parallel to the direction of the road, and there is a problem that orderly parking cannot be performed along the road.
  • the objective is to provide the parking assistance apparatus which can park orderly in a parking space by using the sensor which can acquire a distance image.
  • a characteristic configuration of a parking assist device is to detect a distance between an edge of an object attached to a road surface on which the vehicle is located and the vehicle in order to assist parking of the vehicle. Based on the distance detection unit mounted on the vehicle and the distance between the object edge detected by the distance detection unit and the vehicle, whether the feature is a linear feature or a long feature And a feature specifying unit that creates feature information indicating the feature and a parking target specifying unit that specifies a parking target based on the feature information.
  • the distance detection unit is a distance image sensor that acquires a distance image including at least distance information from the vehicle to the edge.
  • the distance image sensor acquires a distance image including distance information, so that the distance from the vehicle to the edge can be easily detected. Therefore, the parking target can be easily identified based on the distance image.
  • the parking target specifying unit sets the parking target to be positioned in parallel to the feature based on the feature information.
  • the parking target can be parked in an orderly manner.
  • the feature is at least one of a curbstone, a gutter, a guard rail, a wheel stop block, and a structure.
  • the parking target can be easily specified.
  • the characteristic configuration of the empty vehicle guidance device according to the present invention is that the parking support device according to the present invention and parking guidance means for guiding the vehicle to the specified parking target are provided.
  • parking in the parking space can be performed easily and appropriately.
  • FIG. 1 is a block diagram schematically showing a schematic configuration of a parking guide device 2 provided with a parking assistance device 1 according to the present invention.
  • the parking assist device 1 has a function of assisting in orderly parking the vehicle 100 in the parking space when the vehicle 100 is parked in the parking space.
  • the parking guidance device 2 has a function of appropriately guiding the vehicle 100 to the parking space based on the result obtained by the parking assistance device 1. This embodiment demonstrates as an example in case the parking guidance apparatus 2 provided with the parking assistance apparatus 1 is provided in the vehicle 100.
  • FIG. 1 is a block diagram schematically showing a schematic configuration of a parking guide device 2 provided with a parking assistance device 1 according to the present invention.
  • the parking assist device 1 has a function of assisting in orderly parking the vehicle 100 in the parking space when the vehicle 100 is parked in the parking space.
  • the parking guidance device 2 has a function of appropriately guiding the vehicle 100 to the parking space based on the result obtained by the parking assistance device 1.
  • This embodiment demonstrates as an example in
  • the parking assistance device 1 includes a distance detection unit 10, a vehicle position detection unit 11, a series distance image generation unit 12, a road surface estimation unit 13, a feature determination unit 14, a feature specification unit 15, and a parking target specification unit 16.
  • the parking guide device 2 includes the parking support device 1 and the parking guide means 20 described above.
  • the parking assistance device 1 and the parking guidance device 2 are constructed with hardware or software or both of the functional units for performing various processes related to parking assistance and parking guidance with the CPU as a core member.
  • the structure of each part of the parking guidance apparatus 2 provided with this parking assistance apparatus 1 is demonstrated.
  • the distance detection unit 10 is mounted on the vehicle 100 so as to detect the distance between the edge E of the object attached to the road surface on which the vehicle 100 is located and the vehicle 100.
  • the road surface on which the vehicle 100 is located is the road surface on which the tire of the vehicle 100 is located.
  • the object attached to the road surface corresponds not only to an object that forms irregularities on the road surface (for example, curbstones or side grooves), but also to an object (for example, a guard rail) that is positioned along the road surface without contacting the road surface. Therefore, the edge E indicates an intersection formed by the road surface and the object or an end of the object.
  • the distance detection unit 10 is preferably a distance image sensor that acquires a distance image including at least distance information from the vehicle 100 to the edge E.
  • the distance image sensor of the active optical system will be described.
  • the distance image sensor measures, for each pixel, the time from when the light is irradiated from the distance image sensor until the light hits an object existing in the detection range and is reflected back. Based on this measurement result, it is possible to display each pixel constituting the image of the object by including distance information indicating the distance to the object. That is, the distance image that is output from the distance image sensor is an image obtained by arranging distance information as pixels.
  • the distance detection unit 10 will be described as the distance image sensor 10.
  • the distance image includes distance information. If there is an area in the distance image that has distance information that makes the distance away from the vehicle 100 at a certain rate, the area is identified as a plane. On the other hand, if there is a part having distance information in which the ratio changes in the area having distance information whose distance increases at a certain ratio, it is specified that the part has unevenness due to the object. In particular, the part that suddenly changes from the one in which the distance increasing distance is constant is identified as the edge E of the object.
  • the distance image sensor 10 acquires such a distance image. The acquired distance image is transmitted to a series of distance image generation unit 12 described later.
  • the distance image sensor 10 is provided in the vehicle 100 in order to detect a parking space for parking the vehicle 100.
  • This embodiment demonstrates as an example in the case of parking the vehicle 100 in parallel. Therefore, the distance image sensor 10 is provided on the side surface of the vehicle 100 as shown in FIG.
  • the distance image sensor 10 is provided on the side surface of the front bumper or the front fender. Further, the detection region R detected by the distance image sensor 10 has a surface spread of a predetermined angle ⁇ .
  • FIG. 2 an example in which the distance image sensor 10 is provided on the side surface of the front bumper of the vehicle 100 and a parking space in which the vehicle 100 is parked in parallel is detected.
  • FIG. 3A shows that the vehicle A and the vehicle B are parked on the end of the road L formed adjacent to the sidewalk W. Further, it is shown that the vehicle 100 is traveling along the arrow direction in order to detect a parking space where parallel parking is performed.
  • the distance image sensor 10 detects the side surface portion of the vehicle A as shown in FIG.
  • the detection region R has a surface spread of a predetermined angle ⁇ as described above, but also has a height spread of a predetermined angle ⁇ as shown in FIG. Therefore, the distance image sensor 10 acquires a distance image in the detection region R having a surface spread formed by the angle ⁇ and a height spread formed by the angle ⁇ .
  • the distance image sensor 10 detects the road L and the sidewalk W in the detection region R as shown in FIG.
  • the distance image includes the edge E of the curb C formed at the boundary between the road L and the sidewalk W.
  • the detection region R includes a side groove M located at the boundary between the road L and the sidewalk W
  • the distance image obtained by the distance image sensor 10 includes the road L and the sidewalk W. And an edge E of the side groove M formed at the boundary.
  • the distance image obtained by the distance image sensor 10 used in the present embodiment is not a continuous continuous image, but a set of still images acquired every predetermined time according to the movement of the vehicle 100. . That is, the distance image is acquired when the vehicle 100 is positioned at the position y and the distance image S at the acquisition time t1 acquired when the vehicle 100 is positioned at the position x, as shown in FIG. It consists of a distance image T at time t2 and a distance image U at acquisition time t3 acquired when it was located at position z. Each distance image includes a time stamp indicating an acquisition time, and is transmitted to a series of distance image generation unit 12 described later.
  • the own vehicle position detection unit 11 detects a position coordinate and an azimuth indicating the current position of the vehicle 100 every time the vehicle 100 moves a predetermined distance.
  • the own vehicle position detection unit 11 includes, for example, a GPS receiver 11a, a distance sensor 11b, and an orientation sensor 11c, and detects position information and orientation based on these output signals.
  • the GPS receiver 11 a is a device that receives a GPS signal from an artificial satellite every predetermined time, and the received signal is output to the vehicle position detection unit 11.
  • the own vehicle position detection unit 11 analyzes the GPS signal and calculates the latitude and longitude where the vehicle 100 exists.
  • the own vehicle position detection unit 11 can also detect the moving speed from the latitude and longitude before the predetermined time and the newly calculated latitude and longitude.
  • the distance sensor 11b includes, for example, a vehicle speed pulse sensor that outputs a pulse signal each time a drive shaft or wheel of the vehicle 100 rotates by a certain amount, a G sensor that detects acceleration received by the vehicle, an integration circuit, and the like.
  • the distance sensor 11b calculates a vehicle speed and a moving distance based on information obtained from these various sensors.
  • the direction sensor 11c is a sensor that detects the traveling direction of the vehicle 100. For example, a gyro sensor, a geomagnetic sensor, a rotation sensor disposed in a rotating part of a handle, a rotary variable resistor, and a wheel part are disposed. Angle sensor or the like.
  • the direction sensor 11c calculates a traveling direction based on sensor signals obtained from these sensors.
  • the own vehicle position detection unit 11 specifies the current position coordinates and direction of the vehicle 100 based on the outputs from the GPS receiver 11a, the distance sensor 11b, and the direction sensor 11c described above.
  • the output is transmitted to the series distance image generation unit 12 as an output.
  • the series distance image generation unit 12 generates a series of distance images from the detection result transmitted from the distance image sensor 10.
  • the distance image sensor 10 acquires a distance image every time the vehicle 100 moves for a predetermined time as described above. Therefore, the distance image transmitted from the distance image sensor 10 is not a continuous image but a still image for every predetermined time. That is, as shown in FIG. 7, the distance image S at the acquisition time t ⁇ b> 1 acquired when it was located at the position x, the distance image T at the acquisition time t ⁇ b> 2 acquired when it was located at the position y, It consists of the distance image U at the acquisition time t3 acquired when it was located at the position z.
  • Such a still image may have overlapping portions (Z1 and Z2 portions) between the distance image S, the distance image T, and the distance image U as shown in FIG.
  • the portions of Z1 and Z2 are, for example, the portion of Z1
  • the distance information of the overlapping portions of the distance image S and the distance image T is averaged
  • the portion of Z2 is the portion of Z2
  • the distance image T It is preferable to average the distance information of overlapping portions of the distance image U.
  • the distance information of only one of the overlapping portions of the distance image S and the distance image T is used, and if it is a portion of Z2, the overlap of the distance image T and the distance image U is used.
  • the distance information of only one of the parts to be used may be used.
  • the series of distance image generation unit 12 generates a series of distance images such as a panoramic image from such a still image state distance image.
  • a series of distance images generated by the series distance image generation unit 12 is transmitted to a road surface estimation unit 13 and a feature determination unit 14 described later.
  • the road surface estimation unit 13 estimates a road surface from a series of distance images transmitted from the series distance image generation unit 12. For this estimation, for example, an area having distance information that moves away at a constant rate as described above may be estimated as a road surface, or a plane area is extracted from a series of images by applying a known plane equation. Then, the plane area may be estimated as the road surface. In this way, information regarding the road surface estimated from the series of distance images is transmitted to the later-described feature determination unit 14 as road surface information.
  • the feature determination unit 14 arranges the objects in a straight line based on the road surface included in the road surface information transmitted from the road surface estimation unit 13 and the edge E included in the distance image acquired by the distance image sensor 10. It is determined whether it is a feature that has been made or a long feature.
  • the object is an object attached to the road surface on which the vehicle is located, and the distance image sensor 10 detects the distance between the edge E of the object and the vehicle 100.
  • the feature arranged in a straight line indicates a feature in which a linear shape is formed by arranging the object regardless of the shape of each object. Specifically, for example, a plurality of ring-stopping blocks arranged in a straight line corresponds.
  • the long feature corresponds to a curbstone, a gutter, a guardrail, or a structure.
  • the feature determination unit 14 has a portion having distance information in which the ratio suddenly changes (or changes greatly) in the area having the distance information such that the distance is increased at a certain rate.
  • the part is determined to be the edge E of the object. And when such an edge E is arrange
  • the feature in the present embodiment is preferably at least one of curb C, gutter M, guardrail, wheel stop block, and structure.
  • Each of these features has predetermined characteristics.
  • the curb stone C is formed with a predetermined height or more and a predetermined length or more.
  • the side groove M is formed to have a predetermined depth or more and a predetermined length or more.
  • a guardrail it has a predetermined height or more and a predetermined shape.
  • it is a ring stop block, it has a height more than predetermined and the length more than predetermined.
  • it is a structure it has a predetermined area.
  • the feature determination unit 14 applies the feature of the feature stored in the feature storage unit to the edge E in the distance image indicating the road surface, and the feature is a feature in which the object is arranged in a straight line or a long length. Judge whether it is a scale-like feature. This determination result is transmitted to the feature specifying unit 15 described later.
  • the feature is described as a curb C for ease of explanation. Therefore, the edge E will be described as the edge E of the curb C.
  • the feature specifying unit 15 specifies whether the feature is a linear feature or a long feature based on the distance between the object edge E detected by the distance image sensor 10 and the vehicle 100. To create (specify) feature information indicating the feature. The identification (determination) of whether or not it is a feature is determined by the above-described feature determination unit 14. Therefore, when the feature determination unit 14 determines that the object having the edge E in the distance image is the curb C, the feature information is specified.
  • the feature information is information including the position, size, and direction of the feature.
  • the feature is the curb C as described above. Therefore, the position is a position where the curb C exists on the road surface, and the size indicates the length, depth, and height of the curb C.
  • the direction indicates the direction in which the curb C is facing. This direction is shown as the direction in which the edge E in the longitudinal direction of the curb C faces.
  • the feature information is specified by the feature specifying unit 15 and transmitted to the parking target specifying unit 16 described later.
  • the feature determination unit 14 and the feature specification unit 15 are configured differently, but the feature specification unit 15 may perform a combination of the determination and specification.
  • the parking target specifying unit 16 specifies a parking target based on the feature information.
  • the feature information is transmitted from the feature specifying unit 15 described above.
  • the parking target is a target provided so that the vehicle 100 can be parked orderly when the vehicle 100 is parked in the parking space.
  • the feature is a curb C
  • a virtual reference line provided in parallel to the curb C can be used.
  • the parking target is a reference line provided in parallel to the curb C, as shown in FIG. 8, it has a predetermined distance margin (for example, 30 cm) from the curb C (the edge E of the curb C). And parallel to the curb C.
  • the curb C itself can be used as a parking target.
  • the parking target specifying unit 16 sets the parking target so as to be positioned in parallel with the feature based on the feature information. The parking target set in this way is transmitted to parking guidance means 20 described later.
  • Parking guidance means 20 guides vehicle 100 to the specified parking target.
  • the parking target is transmitted from the parking target specifying unit 16 described above, and has a predetermined distance margin from the curb C and is set in parallel with the curb C in the present embodiment.
  • the parking guide means 20 guides the vehicle 100 to park along the parking target.
  • Such parking guidance means 20 is configured using a known technique (for example, a technique for performing voice guidance or performing automatic operation). Therefore, detailed description is omitted.
  • a known technique for example, a technique for performing voice guidance or performing automatic operation. Therefore, detailed description is omitted.
  • parallel parking is described as an example of the parking mode of the vehicle 100.
  • the scope of application of the present invention is not limited to this. Even when the parking form is garage parking, it is naturally possible to apply the present invention. In such a case, it is preferable to provide the distance image sensor 10 with the rear of the vehicle facing the rear bumper of the vehicle. By providing the distance image sensor 10 in this manner, the vehicle 100 can be appropriately parked by setting a wheel stop block, a hedge, or the like parallel to the rear bumper of the vehicle 100 as a parking target.
  • the distance image sensor 10 described in the above embodiment need not always be operated. For example, it is naturally possible to adopt a configuration in which detection is started when the driver of the vehicle 100 presses the start switch.
  • the detection region R of the distance image sensor 10 has been described as having a surface spread formed by the predetermined angle ⁇ and a height spread formed by the predetermined angle ⁇ .
  • the predetermined angle ⁇ and the predetermined angle ⁇ can be appropriately changed.
  • the present invention can be preferably implemented by using a vehicle that can detect the positional relationship between the vehicle 100 and the road surface and the features of the road surface, and by setting the installation direction thereof.
  • the feature is described as the curb C.
  • the scope of application of the present invention is not limited to this.
  • the feature is a gutter M
  • the intersection of the road surface and the recess becomes the edge E
  • the feature is a guard rail
  • the end (upper end) of the guard rail becomes the edge E.
  • the feature is a ring stop block or a structure, an intersection formed by the road surface and these features is an edge E.
  • the parking support device 1 has been described as including the own vehicle position detection unit 11 and the series distance image generation unit 12.
  • the scope of application of the present invention is not limited to this.
  • the vehicle position detection unit 11 if the distance image sensor 10 is configured to acquire a distance image so that the distance image to be acquired is a continuous image or a still image even if it is a still image, the vehicle position detection unit 11
  • the series distance image generation unit 12 can be omitted.
  • the parking target specifying unit 16 has been described as setting a reference line as a parking target.
  • the scope of application of the present invention is not limited to this.
  • it may be a reference point. It is naturally possible to park the vehicle 100 in the parking space in an orderly manner based on such a reference point.
  • the distance detection unit 10 has been described as the distance image sensor 10.
  • the scope of application of the present invention is not limited to this.
  • the present invention can be used for a parking support device that supports parking of a vehicle and a parking guidance device using the parking support device.

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

La présente invention concerne un dispositif d’aide au stationnement utilisant un capteur capable de détecter des images distantes pour établir un emplacement de stationnement cible et permettre le stationnement de façon ordonnée le long d’un bord de trottoir côté rue. Ce dispositif d’aide au stationnement de véhicule comprend un détecteur de distance fixé dans le véhicule pour détecter la distance entre le véhicule et le bord des objets reposant sur la surface de la route où le véhicule est positionné, un identifiant de trait pour identifier les traits comme agencés selon une forme linéaire ou longitudinale, sur la base de la distance entre le véhicule et le bord de l’objet détecté par le détecteur de distance pour produire des informations de trait caractérisant ces traits, et un identifiant de cible de stationnement pour identifier une cible de stationnement sur la base de cette information de trait.
PCT/JP2009/060441 2008-06-26 2009-06-08 Dispositif d’aide au stationnement et appareil de guidage de stationnement l’utilisant WO2009157298A1 (fr)

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JP2008167808 2008-06-26

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
WO2014174676A1 (fr) * 2013-04-26 2014-10-30 トヨタ自動車 株式会社 Dispositif d'aide au stationnement
JP2019125131A (ja) * 2018-01-16 2019-07-25 株式会社豊田自動織機 無人搬送車およびその制御方法
CN110709910A (zh) * 2017-06-07 2020-01-17 三菱电机株式会社 空闲空间通知装置、空闲空间通知系统以及空闲空间通知方法

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JP2007322357A (ja) * 2006-06-05 2007-12-13 Fujitsu Ltd 距離測定プログラム、距離測定装置、距離測定方法
JP2008055958A (ja) * 2006-08-29 2008-03-13 Aisin Aw Co Ltd 駐車支援方法及び駐車支援装置

Cited By (6)

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WO2014174676A1 (fr) * 2013-04-26 2014-10-30 トヨタ自動車 株式会社 Dispositif d'aide au stationnement
CN105121231A (zh) * 2013-04-26 2015-12-02 丰田自动车株式会社 驻车支援装置
JP5975172B2 (ja) * 2013-04-26 2016-08-23 トヨタ自動車株式会社 駐車支援装置
CN110709910A (zh) * 2017-06-07 2020-01-17 三菱电机株式会社 空闲空间通知装置、空闲空间通知系统以及空闲空间通知方法
JP2019125131A (ja) * 2018-01-16 2019-07-25 株式会社豊田自動織機 無人搬送車およびその制御方法
JP7000870B2 (ja) 2018-01-16 2022-01-19 株式会社豊田自動織機 無人搬送車およびその制御方法

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