WO2013002037A1 - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
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- WO2013002037A1 WO2013002037A1 PCT/JP2012/065221 JP2012065221W WO2013002037A1 WO 2013002037 A1 WO2013002037 A1 WO 2013002037A1 JP 2012065221 W JP2012065221 W JP 2012065221W WO 2013002037 A1 WO2013002037 A1 WO 2013002037A1
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- viewpoint
- overhead
- bird
- vehicle
- image
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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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
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- 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
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- 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
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- 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
Definitions
- the present invention relates to a parking support apparatus capable of providing driving support for a user who performs parking processing by showing a state around a parking position of a vehicle with a bird's-eye view image (overhead view image).
- the user can see the situation between the vehicle and the parking space and other surrounding objects based on the video as if the situation around the vehicle was taken from the sky.
- the positional relationship can be grasped, and the state of the vehicle can be grasped intuitively.
- the parking space display position may move greatly according to the turning operation, or the parking space may not be displayed outside the overhead view image. There was a problem.
- Patent Document 2 when an overhead image is generated based on a video taken immediately before entering the parking operation and parking processing is started, the overhead image is stopped while updating the overhead image is stopped.
- a bird's-eye view video of a display form that changes the display position of the own vehicle CG (Computer graphics) superimposed on the vehicle to a position corresponding to the moving direction and the moving amount of the own vehicle is generated and provided to the user.
- the position of the host vehicle CG does not move as the host vehicle moves, but the position of the host vehicle CG changes, so that the display position of the parking space changes greatly. It can be avoided that the parking space disappears from the screen.
- Patent Document 2 when generating a bird's-eye view video, instead of using a fixed bird's-eye view image, a conversion algorithm that dynamically changes as the host vehicle moves, for example, Generates a special bird's-eye view image (vehicle surrounding image) where the display position of the parking space on the screen does not move even if the host vehicle moves, using a conversion formula that uses a variable whose value changes according to the direction and amount of movement. A method to do this has also been proposed.
- the present invention has been made in view of the above problems, and provides an overhead video in which the display position of the parking space is displayed on the display screen in real time even when the host vehicle moves without using an advanced video conversion processing system. It is an object to provide a parking assistance device that can be provided to a user.
- the parking assist device is a first overhead view video that virtually looks down on the situation around the vehicle from above the vehicle based on camera images taken by a plurality of cameras installed in the vehicle.
- a first bird's-eye view image generation unit that generates a parking target position for detecting the parking target position for parking the vehicle from the first bird's-eye view image, and the parking target detected by the parking target position detection unit.
- a viewpoint position determination unit that determines a viewpoint position based on a positional relationship between a position and a vehicle position in the first bird's-eye image; and a positional relationship between the parking target position and the vehicle position in the first bird's-eye image
- a rotation amount determination unit that determines a rotation amount in the first bird's-eye view image and a center position in the first bird's-eye view image are moved to the viewpoint position determined by the viewpoint position determination unit.
- a viewpoint conversion table generating unit that generates a viewpoint conversion table for rotating the first overhead view video with reference to the viewpoint position based on the rotation amount determined by the rotation amount determining unit, and the viewpoint conversion table generating unit
- the first bird's-eye view image is subjected to image conversion processing based on the obtained viewpoint conversion table, so that the viewpoint position becomes the center position of the bird's-eye view image, and is rotated by the rotation amount determined by the rotation amount determination unit. It has the 2nd bird's-eye view image production
- the first overhead view video is converted using the viewpoint conversion table created by the viewpoint conversion table creation unit based on the first overhead view video generated by the first overhead view video generation unit.
- the second overhead view video in which the viewpoint position and the vertical and horizontal directions (rotation amount) are changed is generated.
- the first overhead view video generation unit performs processing of the boundary portion of the camera video in advance when the first overhead view video is generated. Therefore, it is not necessary to process the boundary portion in the second overhead view video generation unit. For this reason, it becomes easy to eliminate the processing burden in the boundary portion processing and generate the second overhead view video in real time.
- the vehicle user can grasp the surrounding situation in real time from the second bird's-eye view video, and can improve the safety during the parking process.
- the viewpoint conversion table simply moves the first bird's-eye view image vertically and horizontally based on the viewpoint position determined by the viewpoint position determination unit, and rotates the first bird's-eye view image based on the rotation amount determined by the rotation amount determination unit. Therefore, the viewpoint conversion table generation unit can easily generate the viewpoint conversion table, and the processing load on the viewpoint conversion table generation unit can be reduced. For this reason, it becomes possible to perform the production
- the second bird's-eye view video is easily generated from the first bird's-eye view video using the viewpoint conversion table, and the viewpoint conversion table also performs a simple process of simply moving the first bird's-eye view video up and down, left and right, and rotating. Therefore, it is not necessary to use an advanced conversion algorithm or the like to generate the second overhead view video. For this reason, an advanced arithmetic processing system for generating the second bird's-eye view video is not required, and the processing cost can be reduced.
- the viewpoint position determined by the viewpoint position determination unit is determined based on the positional relationship between the parking target position detected by the parking target position detection unit and the vehicle position in the first overhead view video. For this reason, the second bird's-eye view video is not the bird's-eye view image in which the vehicle is centered like the conventional bird's-eye view image (first bird's-eye view image), but the viewpoint position considering the positional relationship between the parking target position and the vehicle position is the center. Therefore, it is possible to prevent the parking target position from becoming invisible from the overhead view image by the switching operation.
- the rotation amount determination unit determines the rotation amount in the first overhead view image, and the second overhead view image is subjected to conversion processing in the vertical and horizontal directions of the image based on the rotation amount. For this reason, the direction of the screen can be changed according to the direction of the parking target position with respect to the vehicle position, and the display direction of the screen during parking can be made more suitable for the actual parking situation.
- the first overhead view video is converted using the viewpoint conversion table created by the viewpoint conversion table creation unit based on the first overhead view video generated by the first overhead view video generation unit.
- the second overhead view video generation process can be easily generated using the viewpoint conversion table, a desired overhead view video can be generated in real time. Become.
- FIG. 1 It is a block diagram which shows an example of schematic structure of the hardware in the car navigation system which concerns on embodiment of this invention. It is a figure which shows an example of the installation position of the camera installed in the vehicle which concerns on embodiment of this invention. It is a block diagram which shows an example of schematic structure of the functional block in the car navigation system which concerns on embodiment of this invention. It is the figure which illustrated the whole bird's-eye view image (overhead image) generated based on the camera image concerning an embodiment of the invention, and the image range of the bird's-eye view image (head view image) extracted based on table data .
- bird's-eye view image which illustrated the viewpoint position in the bird's-eye view image (overhead view image) which concerns on embodiment of this invention
- An example of a bird's-eye view video (bird's-eye view image) is shown, and (b) shows an example of a bird's-eye view image (overhead image) when the viewpoint position is determined as the parking target position.
- (A) shows an example of the bird's-eye view image (overhead image) before the rotation process is performed on the bird's-eye view image (bird's-eye view image), and (b) shows the bird's-eye view image (bird's-eye view image) after the rotation process is performed.
- FIG. 1 is a block diagram illustrating an example of a schematic configuration of hardware in the car navigation system 1.
- the car navigation system 1 includes a current position detection unit 10, a VICS (Vehicle Information and Communication System) (registered trademark) information reception unit 11, an input operation unit 12, an image memory unit 13, a display A monitor (display unit) 14, a touch panel unit (input unit) 15, a map data recording unit (viewpoint conversion table recording unit) 16, a speaker 17, and a control unit (first overhead view video generation unit, parking target position detection unit) , Viewpoint position determination unit, rotation amount determination unit, viewpoint conversion table creation unit, second overhead view video generation unit) 18, RAM (Random Access Memory: viewpoint conversion table recording unit) 19, ROM (Read Only Memory) 20 And a camera 21.
- VICS Vehicle Information and Communication System
- the current position detection unit 10 has a role of detecting the current position of the vehicle on which the car navigation system 1 is mounted.
- the current position detection unit 10 includes a vibration gyro 10a, a vehicle speed sensor 10b, and a GPS (Global Positioning System) sensor 10c.
- the vibrating gyroscope 10a has a function of detecting the traveling direction of the vehicle (direction in the traveling direction).
- the vehicle speed sensor 10b has a role of detecting the vehicle speed by detecting a pulse generated according to the travel distance of the vehicle from a pulse generator installed in the vehicle.
- the GPS sensor 10c has a role of detecting a GPS signal from a GPS satellite, and the control unit 18 uses the received GPS signal to determine the current position of the vehicle based on the coordinate position (for example, latitude based on the world geodetic system (WGS84)). It is possible to detect based on (longitude information).
- the coordinate position for example, latitude based on the world geodetic system (WGS84)
- the VICS information receiving unit 11 has a role of receiving VICS information.
- the VICS information is information supplied by a VICS information center (not shown), and is information indicating road conditions such as the latest traffic jam information.
- the VICS information receiving unit 11 can reliably acquire traffic information by receiving VICS information supplied by radio wave beacons, optical beacons, and FM multiplex broadcasting.
- the VICS information received by the VICS information receiving unit 11 is output to the control unit 18.
- the input operation unit 12 is used when performing various operations in the car navigation system 1 by an operation method other than a method of performing a touch operation using the touch panel unit 15. Specifically, a physical switch / button, a remote controller, or the like provided in the casing of the car navigation system 1 corresponds to the input operation unit 12.
- the image memory unit 13 has a role of temporarily storing image data to be displayed on the display monitor 14.
- the image data is extracted from the map data recording unit 16 based on the current position information of the vehicle acquired by the control unit 18 from the current position detection unit 10 and the destination information set by the user. It is generated appropriately by combining various image information.
- the control unit 18 records the generated image data in the image memory unit 13, and the image data recorded in the image memory unit 13 is sequentially displayed as a map display or the like on the display monitor 14 of the car navigation system 1. Become. As described above, the image data recorded in the image memory unit 13 is sequentially displayed on the display monitor 14, whereby a video based on the image data (for example, an overhead image based on the overhead image) is displayed on the display monitor 14 in real time. It becomes possible to make it.
- the image memory unit 13 displays on the display monitor 14 an overhead video generated by an overhead video generation unit 30 (see FIG. 3) to be described later and a viewpoint converted video generated by a viewpoint converted video generation unit 36 to be described later. Has a role to record. Detailed descriptions of the overhead view video generation unit 30 and the viewpoint conversion video generation unit 36 will be described later.
- the display monitor 14 has a role of displaying various information such as a road map near the vehicle position on the screen based on various information such as map data.
- a liquid crystal monitor or a CRT monitor can be specifically used as the display monitor 14.
- the display monitor 14 virtually looks down on the situation around the vehicle from above the vehicle or the parking space. It can be displayed as a video (overhead video). The description regarding the process of displaying the overhead view video on the display monitor 14 will be described later.
- the touch panel unit 15 plays a role of determining whether or not the user has touched the surface of the display monitor 14 with a finger and determining input processing by the user based on the touch position.
- the touch panel unit 15 includes a touch detection unit 15a and a touch control unit 15b.
- the touch detection unit 15a is configured by a transparent sheet-like touch switch or the like laminated on the surface of the display monitor 14.
- the touch detection unit 15a is a detection unit different from a physical switch such as the input operation unit 12, and the presence or absence of a touch operation on the display screen of the display monitor 14 is set as a detection method such as an electrostatic method or a pressure sensitive method. Detect based on. Since the touch detection unit 15a is configured by a transparent touch switch or the like, the user can display a video (image) displayed on the display monitor 14 via the touch detection unit 15a, for example, a white frame showing a parking space described later. It is possible to visually recognize the video (image) and the like.
- the touch control unit 15 b is interposed between the touch detection unit 15 a and the control unit 18.
- the touch control unit 15b calculates a touch position based on a signal (signal by a touch operation) detected by the touch detection unit 15a, and outputs the calculated touch position to the control unit 18.
- the camera 21 has a role of photographing the situation around the vehicle.
- four cameras are provided. Specifically, a front camera 41c that is installed in a front portion 41a (for example, a front bumper or a front grill) of the vehicle 40 and photographs a front range 41b of the vehicle 40, and a rear portion 42a of the vehicle 40 (for example, a rear bumper or a rear bumper).
- a rear camera 42c that is installed in the vicinity of the window and the like to capture the rear range 42b of the vehicle 40, and a left side 43a of the vehicle 40 that is installed in the left side 43a of the vehicle 40 (for example, in the vicinity of the left door mirror or the left pillar position).
- the video shot by each of the cameras 41c to 44c is used for the overhead view video generation process in the control unit 18. Details of the overhead view generation processing in the control unit 18 will be described later.
- the number of cameras installed in the vehicle 40 is the same. Is not limited to four units, and any number may be used as long as it is possible to photograph the situation around the entire vehicle 40.
- the number of installed cameras 21 may be three or less, or may be five or more.
- the installation position of the camera 21 is not limited to the installation position shown in FIG. 2, and the installation position is limited to the above-described position as long as it is an installation position capable of photographing the situation around the vehicle. It is not something.
- the map data recording unit 16 is composed of a general auxiliary storage device capable of recording map data, such as a hard disk, SSD (Solid State Drive), DVD-ROM, CD-ROM, and SD card.
- the map data includes map display data, route search data, and the like.
- the map display data and the route search data include road link information and node information stored in the map data.
- map display data map data of a plurality of scales from wide areas to details are prepared. By using this map display data, it is possible to change the scale of the display map according to the user's request. Become.
- the map data recording unit 16 records table data used when generating a bird's-eye view image based on the surrounding image of the vehicle taken by the camera 21 (41c to 44c).
- the control unit 18 extracts optimal table data from a plurality of table data recorded in the map data recording unit 16 based on the vehicle and the parking space at the time of the parking process, and shoots by using the extracted table data.
- a process for generating an optimal overhead view video (overhead view image) from the video of the camera 21 thus performed is performed.
- the speaker 17 has a role of outputting voice guidance for performing route guidance during navigation to the user and outputting voice guidance accompanying various input operations in the car navigation system 1.
- the control unit 18 has a role of performing various processes in the car navigation system 1 such as a route search to a destination set by the user, an image generation process based on the searched route, and a voice guidance output process. .
- the control unit 18 is constituted by, for example, a CPU (Central Processing Unit).
- the RAM 19 serves as a work area for the control unit 18.
- table data recorded in the map data recording unit 16 is temporarily recorded in the RAM 19 in the overhead-view video generation process described later. In this way, by reading the table data recorded in the RAM 19 as needed and performing the overhead view video generation process, it is possible to suppress a delay in the overhead view video generation process.
- the ROM 20 stores various programs executed by the control unit 18.
- the control unit 18 can perform various control processes by reading a program from the ROM 20 and executing the program.
- the ROM 20 stores a program for generating an overhead video as shown in FIG.
- the control unit 18 reads out and executes various programs from the ROM 20 to execute the route guidance processing in the car navigation system 1 and uses it for the guidance route along with the route guidance processing to be executed.
- the map information to be generated is generated and displayed on the display monitor 14. Further, the control unit 18 generates a bird's-eye view image showing the situation around the vehicle based on the images taken by the cameras 41c to 44c in accordance with the program recorded in the ROM 20, and displays it on the display monitor 14. Process.
- FIG. 3 is a schematic functional block diagram showing functional units for realizing processing for the control unit 18 to generate a bird's-eye view video and display it on the display monitor 14 in accordance with a program recorded in the ROM 20. is there.
- the car navigation system 1 includes a functional unit (functional block) as shown in FIG.
- the car navigation system 1 includes, as each functional unit, an overhead video generation unit (first overhead video generation unit) 30, an overhead video generation table data recording unit 31, a frame buffer unit 32, a parking space extraction unit 33, A viewpoint position determination unit (parking target position detection unit, viewpoint position determination unit, rotation amount determination unit) 34, a viewpoint conversion image generation table data generation unit (viewpoint conversion table generation unit) 35, and a viewpoint conversion image generation unit (first 2 overhead image generation unit) 36.
- the overhead view video generation unit 30, the parking space extraction unit 33, the viewpoint position determination unit 34, the viewpoint conversion video generation table data creation unit 35, and the viewpoint conversion video generation unit 36 are controlled by the control unit 18 in the ROM 20. By executing the recorded program, it is possible to perform the role as the functional unit. Therefore, the overhead view video generation unit 30, the parking space extraction unit 33, the viewpoint position determination unit 34, the viewpoint conversion video generation table data generation unit 35, and the viewpoint conversion video generation unit 36 are substantially realized by processing in the control unit 18. Will be.
- map data recording unit 16 or the RAM 19 corresponds to the table data recording unit 31 and the frame buffer unit 32 for generating the overhead image.
- the bird's-eye view video generation unit 30 generates a bird's-eye view video (first bird's-eye view video) based on videos taken by the four cameras 21 (41c, 42c, 43c, 44c) (specifically, It has the role of generating overhead images by continuously generating overhead images in real time.
- a specific overhead view video generation method is described in detail in Patent Document 1 (Japanese Patent Laid-Open No. 2001-339716), Patent Document 2 (Japanese Patent Laid-Open No. 2007-183877), and the like already described. The description in is omitted.
- the overhead view video generation unit 30 when generating the overhead view video (overhead image), creates an overall overhead view video (overhead image: first overhead view video) centered on the vehicle as the first process, As the next processing, it has a role of generating a bird's-eye view image (overhead view image) such that an intermediate point between the vehicle position and the parking target position is in the middle of the screen.
- the viewpoint conversion video generation unit 36 generates an overhead video (overhead image) such that the corresponding viewpoint position is the center of the video (image) based on the viewpoint position determined by the viewpoint position determination unit 34.
- the parking target position generally corresponds to a parking space partitioned by a pair of white line frames.
- an overhead view image (overhead image) in which the viewpoint position obtained by the viewpoint position determination unit 34 in the overhead view image generation unit 30 is located at the center of the image (image) is displayed.
- a plurality of types of table data to be generated are recorded.
- This table data is a partial range of the overall overhead view video (overhead image) after the overhead view video generation unit 30 generates the overall overhead view video (overhead view image), and the viewpoint position is at the center.
- This is table data for image conversion for generating such a bird's-eye view video (overhead view image).
- the overhead view video generation table data recording unit 31 extracts an overhead view video (overhead image) 51 in the upper left portion of the overall overhead view video (overhead image) 50 as shown in FIG. Table data for extracting, table data for extracting the overhead view video (overhead image) 55 in the lower right part, and table data for extracting the overhead view video (overhead image) 59 of the center part are recorded. .
- the overhead view image generation table data recording unit 31 is a table for extracting an overhead view image (overhead view image) of the middle upper portion of the overall overhead view image (overhead view image) 50.
- table data for extracting the overhead view video (overhead image) in the upper right part, table data for extracting the overhead view video (overhead image) in the middle right part, and the overhead view video (overhead image) in the middle lower part Is recorded, table data for extracting the overhead video (overhead image) in the lower left part, and table data for extracting the overhead video (overhead image) in the middle left part are recorded .
- the overhead view video generation unit 30 extracts the optimum table data from the overhead view video generation table data recording unit 31 based on the viewpoint position acquired from the viewpoint position determination unit 34, so that the viewpoint position is located at the center.
- a video (overhead image) is generated.
- the viewpoint position acquired from the viewpoint position determination unit 34 is set around the middle between the vehicle 40 and the parking target position. For this reason, the table data to be selected is determined depending on where the parking target position is located in the overall overhead view video (overhead view image) 50.
- the map data recording unit 16 or the RAM 19 described above corresponds to the table data recording unit 31 for generating the overhead view video. Therefore, the overhead image generation table data recording unit 31 may be a general auxiliary storage device, and a hard disk, flash memory, SSD (Solid State Drive), or the like can be used.
- a recording means having a high readout speed so that the process is not delayed due to a delay (bottleneck) in the reading speed of the table data. Therefore, a non-volatile memory or the like can be used for the table data recording unit 31 for generating the overhead view video, but the flash memory may not be able to obtain a desired reading speed. For example, it is possible to use a method in which table data is transferred to a RAM 19 or the like in advance and the data is read from the volatile memory as necessary.
- the frame buffer unit 32 is used for temporarily recording an overhead image (overhead video) generated by the overhead video generator 30 based on the table data recorded in the overhead video generation table data recording unit 31. .
- the overhead view image (overhead video) temporarily recorded in the frame buffer unit 32 is used as an image serving as a basis for viewpoint conversion in the viewpoint conversion video generation unit 36 described below.
- the frame buffer unit 32 also corresponds to the map data recording unit 16 or the RAM 19 described above, but it is desirable to use a recording means with a high reading speed.
- the parking space extraction unit 33 has a role of obtaining a parking space serving as a parking target position by image analysis based on the overhead view video (overhead view image) converted by the overhead view video generation unit 30.
- the parking target position is indicated by the white line (white frame) of the vehicle boundary. For this reason, when a white frame to be parked is shown on asphalt or the like, a parking space can be automatically obtained in a predetermined range by density analysis or white line detection in an overhead view image (overhead view image). Is possible. If the road surface is a bright color (for example, white) and the boundary of the parking target position is also a bright color (for example, yellow), it may be difficult to accurately detect the parking space by image analysis processing. Although it exists, since the determination of a parking target position (parking space) is determined by touch panel operation so that it may mention later, a problem does not arise in the detection of a parking target position.
- the viewpoint position determination unit 34 has a role of determining a viewpoint position for generating an overhead view video (overhead image) to be displayed on the display monitor 14.
- the viewpoint position is determined by the following two points. First, when the vehicle 40 is away from the parking target position (in the first situation), for example, before a part of the vehicle 40 enters the parking space range (in the white frame) As shown in FIG. 5A, an intermediate position (point P0) between the center of the vehicle position (point P1) and the center of the parking target position (center of the parking space: point P2) is determined as the viewpoint position. Second, when the vehicle 40 enters the parking space range (in the white frame) (in the second situation), the center of the parking target position is shown in FIG. (P2 point) is determined as the viewpoint position.
- the viewpoint position determination unit 34 has a role of determining the rotation amount of the overhead view video (overhead view image). Specifically, when the vehicle 40 is away from the parking target position (in the first situation), the display position of the parking space is set lower than the vehicle position, and the vehicle in the parking space is The amount of rotation of the overhead view video (overhead view image) is determined so that the end portion on the approach direction side is on the upper side of the screen.
- the vehicle 40 is moved backward and parked in a parking space.
- the parking space for parking the vehicle 40 is located on the rear right side of the vehicle, and the entry direction side end 61 of the vehicle 40 is positioned on the left side of the parking space.
- the overhead view image (overhead view image) is rotated 90 degrees to the right, and the parking space is positioned below the vehicle 40 as shown in FIG.
- the top / bottom / left / right adjustment of the overhead view image (overhead view image) is performed so that the side end portion 61 is positioned above the parking space.
- the determination of the rotation amount in the viewpoint position determination unit 34 is determined by the rotation amount that is optimal when the viewpoint position is rotated with reference to the viewpoint position.
- the viewpoint position determination unit 34 includes the position data of the parking target position detected by the parking space extraction unit 33, the touch position information input from the touch panel unit 15, and the vehicle state information detected by the current position detection unit 10. Entered.
- the position data of the parking target position input from the parking space extraction unit 33 is data obtained based on the image analysis described above.
- the touch position information input from the touch panel unit 15 is detected by touching the parking target position (parking space) of the overhead view image displayed on the display monitor 14 when the parking process is started. It is.
- the viewpoint position determination unit 34 determines the parking target position in the overhead view video (overhead image) based on the relationship between the overhead view video displayed on the display monitor 14 and the touch position detected by the touch detection unit 15a of the touch panel unit 15. Coordinates can be obtained.
- the vehicle state information detected by the current position detection unit 10 includes information such as the traveling direction of the vehicle, the traveling speed, and the position of the vehicle on the GPS detected by the vibration gyro 10a, the vehicle speed sensor 10b, and the GPS sensor 10c. To do.
- the viewpoint position determination unit 34 can determine which direction the vehicle is facing, whether it is moving forward, or backward, and so on. It is possible to determine the optimum viewpoint position and the amount of rotation of the overhead view video (overhead image) in real time in accordance with the state of.
- the touch position information of the touch panel unit 15 and the vehicle state information of the current position detection unit 10 input to the viewpoint position determination unit 34 are output from the viewpoint position determination unit 34 to the parking space extraction unit 33. Is also possible. In the detection process of the parking target position in the parking space extraction unit 33, the parking space is detected using the touch position information and the vehicle state information instead of simply detecting the parking space using only the image analysis result. By doing so, it becomes possible to improve the detection accuracy of the parking target position.
- the viewpoint position information determined by the viewpoint position determination unit 34 is output to the overhead view video generation unit 30 and the viewpoint converted video generation table data creation unit 35.
- the overhead image generation unit 30 selects the optimum table data from the overhead image generation table data recording unit 31 based on the received viewpoint position information, and generates an overhead image (overhead image) suitable for the viewpoint position. I do.
- the viewpoint converted video generation table data creation unit 35 is based on the viewpoint position determined by the viewpoint position determination unit 34 and the amount of rotation of the overhead view video (overhead view image), and the overhead view image (overview video) recorded in the frame buffer unit 32. ) To generate table data for performing up / down / left / right movement processing, rotation processing, and enlargement / reduction processing.
- the overhead view image (overhead video) recorded in the frame buffer unit 32 is based on the table data selected from the overhead view video generation table data recording unit 31, and the overhead view image (overhead video) converted by the overhead view video generation unit 30. ) And an overhead image (overhead video) corresponding to the viewpoint position obtained by the viewpoint position determination unit 34.
- This bird's-eye view image is a bird's-eye view image (head-view image) whose size is determined in advance based on the table data, and the vehicle front determined by the camera image taken by the camera 21 is defined on the upper side. It is an image (video).
- the viewpoint position determination unit 34 determines not only the viewpoint position but also the vertical and horizontal directions (rotation amount) of the overhead video (overhead image) and the like, the overhead image recorded in the frame buffer unit 32 is also determined.
- the image (video) is such that the (overhead video) corresponds to the vertical and horizontal directions of the overhead video (overhead image) obtained from the relationship with the parking target position with the viewpoint position obtained by the viewpoint position determination unit 34 as the center. ) Needs to be changed.
- the user of the vehicle 40 it is preferable for the user of the vehicle 40 to enlarge the overhead view image displayed on the display monitor 14 so that the vehicle 40 and the parking target position are displayed. It is possible to provide effective information.
- the table data creation unit 35 for viewpoint conversion video generation generates a frame based on the viewpoint position information acquired from the viewpoint position determination unit 34, the rotation amount information of the overhead view video (overhead view image), the vehicle position, and the parking target position information.
- the viewpoint position is the center of the overhead view image (overhead video)
- the entry direction side end 61 of the vehicle 40 indicates the upper side with respect to the parking target position
- the overhead image Table data for transforming the vehicle 40 and the parking target position into a bird's-eye view image (overhead view image) that can be appropriately displayed on the bird's-eye view image
- the bird's-eye view image (head-view image) whose viewpoint is converted by the table data created by the table data creation unit 35 for viewpoint-converted image generation is an enlargement / reduction of the bird's-eye view image (head-view image) recorded in the frame buffer unit 32.
- This is realized by a basic conversion method of vertical and horizontal movement and rotation.
- the process of creating the table data in the viewpoint converted video generation table data creation unit 35 is also based on the conversion elements of enlargement, reduction, up / down / left / right movement, and rotation of the image (video), and the viewpoint position determination unit 34. Can be generated easily based on the information from
- the viewpoint conversion video generation table data creation unit 35 can easily create table data, and does not require a high processing load. For this reason, even when the table data creation process is performed in the table data creation unit 35 for generating the viewpoint-converted video, the overhead view video (overhead view image) created based on the real-time video captured by the camera 21 is displayed. This makes it possible to perform viewpoint conversion processing quickly.
- the viewpoint conversion video generation unit 36 generates an overhead image (overhead video) recorded in the frame buffer unit 32 based on the viewpoint conversion table data generated by the viewpoint conversion video generation table data generation unit 35, as a viewpoint position.
- the viewpoint position determined by the determination unit 34 is the center position, and the optimal overhead view image (overhead image: second overhead view image) positioned below the overhead view image (overhead view image) displayed on the display monitor 14 is the parking target position. ) Is converted.
- the conversion process of the overhead view video (overhead image) in the viewpoint conversion video generation unit 36 is a video conversion process based on the table data, and thus can be realized quickly and with a low processing load.
- FIG. 7 is a flowchart showing an example of the overhead-view video generation process in the control unit 18.
- the control unit 18 first determines whether or not information indicating that the parking operation has started has been acquired (step S.1).
- the configuration may be such that it is determined that the information indicating that the parking operation has started has been acquired based on the fact that the select lever has been set at the reverse (reverse) operation position, and the parking operation start button is displayed on the display monitor 14.
- Such an icon may be displayed, and it may be determined that the information indicating that the parking operation is started is acquired based on the touch operation of the icon by the user.
- control unit 18 ends the process.
- the control unit 18 may be configured to repeatedly execute the same process after the process is completed.
- step S.1 When information indicating that the parking operation has been started is acquired (Yes in step S.1), the control unit 18 performs an overhead view video (overhead image: first overhead view video) based on the video imaged by the camera 21. ) To display an overhead video (overhead image) on the display monitor 14 via the image memory unit 13 (step S.2). In this process, the control unit 18 functions as an overhead video generation unit 30 and generates an overhead video (overhead image).
- This step S.I. 2 is an overall bird's-eye view image (overhead image) centered on the vehicle, and the generated bird's-eye view image (overhead image) is recorded in the frame buffer unit 32.
- the viewpoint conversion video generation unit 36 displays the image on the display monitor 14 without performing viewpoint conversion processing.
- this step S.I. the overhead view image (overview image) generated in 2 is uncomfortable by adjusting the brightness and the hue on the boundary portions of the images captured by the four cameras 41c, 42c, 43c, and 44c.
- the image (image) is subjected to a process that does not leave a sense of incongruity in the boundary part by adding an image having no image or by applying an ⁇ (alpha) blend process to the adjacent boundary part.
- control unit 18 determines whether or not information related to the parking target position has been acquired based on the touch position information input from the touch panel unit 15 (step S.3).
- the control unit 18 generates an overhead view video (overhead image: first overhead view video) based on the video taken by the camera 21.
- the process (step S.2) of displaying the overhead video on the display monitor 14 via the image memory unit 13 is repeatedly executed.
- step S.3 when the parking target position information is acquired (in the case of Yes in step S.3), the control unit 18 based on image processing based on the overhead view video (overhead image) in addition to the acquired parking position information, The parking target position in the whole bird's-eye view image (overhead image) generated by the four cameras is specified, and the parking target position is stored (step S.4). Thereafter, the viewpoint position is determined based on the parking target position and the vehicle position (the center position of the overhead view image (overhead view image)). In this process, the control unit 18 functions as the parking space extraction unit 33.
- control unit 18 performs step S.1. 4 and the parking target position specified in step 4;
- the viewpoint position is determined based on the vehicle position (center position) in the overhead view video (overhead image) generated in step 2 (step S.5).
- the control unit 18 functions as the viewpoint position determination unit 34.
- the viewpoint position is determined as an intermediate position between the vehicle 40 and the parking target position (see FIG. 5 (a) is determined as the viewpoint position.
- the parking target position (more specifically, the central position of the parking space, point P2 in FIG. 5B). ) Is determined as the viewpoint position.
- the control unit 18 creates a new viewpoint that considers the vehicle position and the parking target position based on the traveling direction information, GPS information, vehicle speed information, and the like acquired from the current position detection unit 10. Determine the position.
- step S.1 The white line portion (white frame) of the parking target position (parking space) specified in 4 is obtained by image analysis of the overhead view image (overhead image), and the parking target position is below the screen on the display monitor 14 with respect to the vehicle.
- the amount of rotation of the bird's-eye view video (bird's-eye view image) is determined in a direction in which the vehicle entrance direction side end 61 in the parking space faces upward (step S.6).
- the control unit 18 considers the vehicle position and the parking target position based on the traveling direction, GPS information, vehicle speed information, and the like acquired from the current position detection unit 10, and provides an overhead view image (overhead view). (Image) rotation amount is determined. Also in this process, the control unit 18 functions as the viewpoint position determination unit 34.
- the control unit 18 selects optimal table data from the overhead view video generation table data recording unit 31 based on the viewpoint position, and from the entire overhead view video (overhead image) generated by the four cameras, An overhead view video (overhead image) optimum for the viewpoint position is generated (step S.7).
- An overhead view video (overhead image) optimum for the viewpoint position is generated (step S.7).
- a bird's-eye view video (bird's-eye view image) optimal for the generated viewpoint position is recorded in the frame buffer unit 32 (the map data recording unit 16 or the RAM 19).
- the control unit 18 functions as the overhead view video generation unit 30.
- step S.1. 4 determines a conversion range (enlargement / reduction range) of the overhead view video (overhead view image) in the viewpoint conversion process based on the parking target position and the vehicle position specified in Step 4.
- the center of the overhead view video (overhead image) generated by the viewpoint conversion process is determined based on the viewpoint position determined in 5, and the vertical and horizontal movement distance of the overhead view video (overhead image) is determined.
- the control unit 18 performs step S.1. Based on the amount of rotation of the overhead view video (overhead image) determined in step 6, the rotation direction and angle of the overhead view video (overhead view image) are determined, and viewpoint conversion table data is created (step S.8). In this processing, the control unit 18 functions as the viewpoint conversion video generation table data creation unit 35.
- the control unit 18 performs viewpoint conversion processing of the overhead view image (overhead video) recorded in the frame buffer unit 32 based on the created viewpoint conversion table data, and the viewpoint position is the overhead view video (overhead image).
- a bird's-eye view image (overhead image: second bird's-eye view image) in which the vehicle 40 and the parking target position are centered and fit in a good balance in the bird's-eye view image (overhead view image), and the parking target position is located below the vehicle 40 position. ) And displayed on the display monitor 14 via the image memory unit 13 (step S.9).
- the bird's-eye view video displayed on the display monitor 14 is displayed in step S.E. 2 is a bird's-eye view image that has been processed so as not to leave a sense of incongruity at the boundary portion by the camera. It is possible to generate a bird's-eye view video that does not feel uncomfortable in the portion, and it is possible to provide a bird's-eye view image that does not feel strange.
- control unit 18 determines whether or not information indicating that the parking operation has ended is acquired (step S.10). For example, it may be configured to determine that the information indicating that the parking operation has been completed is acquired based on the change of the select lever from the reverse (reverse) operation position to the parking (stop) operation position. An icon such as a parking operation end button may be displayed on the monitor 14, and it may be determined that information indicating that the parking operation has ended is acquired based on the user touching the icon.
- step S.10 When the information indicating that the parking operation has been completed is not acquired (No in step S.10), the control unit 18 displays the entire overhead view image (overhead view image) based on the camera images of the four cameras. Generated (step S.11), and the process proceeds to step S.11. The process described above is repeatedly executed.
- step S.11 the entire overhead view video (overhead view image) by the four cameras 21 is generated (step S.11), the viewpoint position is determined (step S.5), and determined.
- An overhead view video (overhead image) optimum for the viewpoint position is generated (step S.7), and the overhead view video subjected to the viewpoint conversion processing based on the generated overhead view image (overhead image) is output to the display monitor 14. (Step S.9) is repeatedly executed, and a bird's-eye view image around the vehicle can be generated and displayed in real time.
- viewpoint conversion processing processing in the viewpoint conversion video generation unit 36
- viewpoint conversion table data viewpoint conversion table data generated by the viewpoint conversion video generation table data generation unit 35.
- Step S.10 when information indicating that the parking operation has been completed is acquired (Yes in step S.10), the control unit 18 displays an image displayed on the display monitor 14 as a route guidance display in the car navigation system 1. (Step S.12), and the process ends.
- the car navigation system 1 is based on the whole overhead view video (overhead view image: first overhead view video) generated in real time based on the four camera images, for the overhead view video generation.
- Generating an optimal overhead view video (second overhead view video) by video conversion based on the table data recorded in the table data recording unit 31 and the viewpoint conversion table data created in the table data creation unit 35 for generating the viewpoint converted video. Therefore, it is possible to provide the user with a bird's-eye view image that has been converted from the viewpoint by reflecting the current surrounding situation in real time.
- the viewpoint conversion process is performed based on the table data, it is possible to reduce the processing load on the control unit 18 in the video conversion process (image conversion process), and it is easy to speed up the process. .
- the viewpoint conversion video generation table data generation unit 35 generates viewpoint conversion table data for performing viewpoint conversion processing in the viewpoint conversion video generation unit 36. Went.
- the viewpoint conversion table data is the viewpoint conversion table data based on the vertical and horizontal movement and rotation processing of the overhead view video (overhead image), and thus the viewpoint conversion table data is generated as the viewpoint conversion video data. Even if it is generated by the table data creation unit 35 (control unit 18), the processing load is light.
- viewpoint conversion table data instead of creating the viewpoint conversion table data in this way, a large number of viewpoint conversion table data is prepared in advance, and recording means (viewpoint conversion table recording unit, for example, the map data recording unit 16 according to the present embodiment
- the viewpoint conversion video generation unit 36 or the viewpoint position determination unit 34 selects the optimal viewpoint conversion table data based on the viewpoint position information, the rotation amount information of the overhead view video (overhead view image), and the like.
- the viewpoint conversion video generation unit 36 may perform a viewpoint conversion process of the overhead video (overhead image) recorded in the frame buffer unit 32.
- the control unit 18 is based on the program, the overhead view video generation unit 30, the parking space extraction unit 33, the viewpoint position determination unit 34, and the viewpoint conversion video generation table data creation unit. 35, the case of performing the roles of all the functional units of the viewpoint conversion video generation unit 36 has been described, but the control unit 18 is not necessarily limited to a configuration in which only one is provided in the car navigation system 1. For example, it is possible to provide a configuration in which a plurality of control units are provided and each control unit separates and plays the role of each functional unit. Further, a configuration may be adopted in which a control unit is provided according to each function unit, and each control unit individually executes each function.
- the case where the overhead view video (overhead view image) recorded in the frame buffer unit 32 is enlarged / reduced in the viewpoint converted video generation unit 36 has been described.
- the video (overhead image) is not necessarily limited to an image that requires enlargement / reduction.
- the configuration may be such that the overhead conversion video (overhead image) subjected to the viewpoint conversion processing in the viewpoint conversion video generation unit 36 is generated by performing only the vertical and horizontal movement and rotation processing of the overhead video (overhead image).
- the viewpoint conversion process is performed so that the parking target position (parking space) is located below the vehicle 40 in the viewpoint conversion process in the viewpoint conversion video generation unit 36.
- the parking target position (parking space) is not necessarily limited to the case where the parking target position (parking space) is located below the vehicle 40.
- the vehicle 40 is moved forward and parked at the parking target position (parking space)
- Can do for this reason, for example, on the condition that the parking target position (parking space) is touched by a touch panel operation, it is also possible not to perform the viewpoint conversion process by the rotation of the subsequent bird's-eye view image (head-view image).
- viewpoint position determination unit (parking target position detection unit, viewpoint position determination unit, rotation amount determination unit) 35 ... Table data creation unit for viewpoint conversion video generation (viewpoint conversion table creation unit) 36 ... viewpoint conversion image generation unit (second overhead image generation unit) 50, 51, 55, 59 ... overhead image 61 ... approach direction side end P1 ... center P2 of vehicle position ... center P0 of parking target position ... intermediate position
Abstract
Description
10 …現在位置検出部
13 …画像メモリ部
14 …表示モニタ(表示部)
15 …タッチパネル部(入力部)
16 …地図データ記録部(視点変換テーブル記録部)
18 …制御部(第1俯瞰映像生成部、駐車目標位置検出部、視点位置決定部、回転量決定部、視点変換テーブル作成部、第2俯瞰映像生成部)
19 …RAM(視点変換テーブル記録部)
20 …ROM
21 …カメラ
30 …俯瞰映像生成部(第1俯瞰映像生成部)
31 …俯瞰映像生成用テーブルデータ記録部
32 …フレームバッファ部
33 …駐車スペース抽出部
34 …視点位置決定部(駐車目標位置検出部、視点位置決定部、回転量決定部)
35 …視点変換映像生成用テーブルデータ作成部(視点変換テーブル作成部)
36 …視点変換映像生成部(第2俯瞰映像生成部)
50、51、55、59 …俯瞰画像
61 …進入方向側端部
P1 …車両位置の中心
P2 …駐車目標位置の中心
P0 …中間位置
Claims (5)
- 車両に設置された複数のカメラにより撮影されたカメラ映像に基づいて、前記車両を中心として車両周囲の状況を前記車両の上方より仮想的に見下ろす第1俯瞰映像を生成する第1俯瞰映像生成部と、
前記車両を駐車させるための駐車目標位置を前記第1俯瞰映像より検出する駐車目標位置検出部と、
該駐車目標位置検出部により検出された前記駐車目標位置と前記第1俯瞰映像における車両位置との位置関係に基づいて視点位置を決定する視点位置決定部と、
前記駐車目標位置と前記第1俯瞰映像における車両位置との位置関係に基づいて、前記第1俯瞰映像における回転量を決定する回転量決定部と、
前記第1俯瞰映像における中心位置を前記視点位置決定部により決定された視点位置に移動させると共に、前記回転量決定部により決定された回転量に基づいて前記視点位置を基準として前記第1俯瞰映像を回転させる視点変換テーブルを作成する視点変換テーブル作成部と、
該視点変換テーブル作成部により作成された視点変換テーブルに基づいて前記第1俯瞰映像を映像変換処理することにより、前記視点位置が俯瞰映像の中心位置となり、前記回転量決定部により決定された回転量だけ回転された第2俯瞰映像を生成する第2俯瞰映像生成部と
を有することを特徴とする駐車支援装置。 - 車両に設置された複数のカメラにより撮影されたカメラ映像に基づいて、前記車両を中心として車両周囲の状況を前記車両の上方より仮想的に見下ろす第1俯瞰映像を生成する第1俯瞰映像生成部と、
前記車両を駐車させるための駐車目標位置を前記第1俯瞰映像より検出する駐車目標位置検出部と、
該駐車目標位置検出部により検出された前記駐車目標位置と前記第1俯瞰映像における車両位置との位置関係に基づいて視点位置を決定する視点位置決定部と、
前記駐車目標位置と前記第1俯瞰映像における車両位置との位置関係に基づいて、前記第1俯瞰映像における回転量を決定する回転量決定部と、
前記第1俯瞰映像における中心位置を前記視点位置に基づいて移動させると共に、前記第1俯瞰映像を前記回転量に基づいて前記視点位置を基準として回転させるための複数の視点変換テーブルが記録される視点変換テーブル記録部と、
該視点変換テーブル記録部に記録される複数の前記視点変換テーブルより、前記視点位置決定部により決定された視点位置に前記第1俯瞰映像における中心位置を移動させると共に、前記回転量決定部により決定された前記回転量だけ前記第1俯瞰映像を回転させるための視点変換テーブルを抽出し、抽出された視点変換テーブルに基づいて前記第1俯瞰映像を映像変換処理することにより、第2俯瞰映像を生成する第2俯瞰映像生成部と
を有することを特徴とする駐車支援装置。 - 前記視点位置決定部は、前記駐車目標位置と前記第1俯瞰映像における車両位置との中間位置を前記視点位置として決定すること
を特徴とする請求項1又は請求項2に記載の駐車支援装置。 - 前記第1俯瞰映像を表示可能な表示部と、
該表示部に表示された前記第1俯瞰映像における前記駐車目標位置を、ユーザが特定するための入力部とを有し、
前記駐車目標位置検出部は、前記入力部を介してユーザにより特定された前記駐車目標位置に基づいて、前記第1俯瞰映像における前記駐車目標位置の検出を行うこと
を特徴とする請求項1又は請求項2に記載の駐車支援装置。 - 前記回転量決定部は、前記車両位置に対して前記駐車目標位置が下側に位置する前記第1俯瞰映像の回転角度を前記回転量として決定すること
を特徴とする請求項1又は請求項2に記載の駐車支援装置。
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Also Published As
Publication number | Publication date |
---|---|
EP2724896B1 (en) | 2017-03-01 |
CN103596812A (zh) | 2014-02-19 |
CN103596812B (zh) | 2016-03-16 |
US20140354452A1 (en) | 2014-12-04 |
EP2724896A1 (en) | 2014-04-30 |
JP2013006548A (ja) | 2013-01-10 |
EP2724896A4 (en) | 2015-05-06 |
JP5798392B2 (ja) | 2015-10-21 |
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