WO2014156166A1 - 駐車支援システムおよび駐車支援方法 - Google Patents
駐車支援システムおよび駐車支援方法 Download PDFInfo
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- WO2014156166A1 WO2014156166A1 PCT/JP2014/001772 JP2014001772W WO2014156166A1 WO 2014156166 A1 WO2014156166 A1 WO 2014156166A1 JP 2014001772 W JP2014001772 W JP 2014001772W WO 2014156166 A1 WO2014156166 A1 WO 2014156166A1
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- 239000003550 marker Substances 0.000 claims abstract description 280
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Images
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Definitions
- the present invention relates to a parking support system and a parking support method for supporting parking of a vehicle based on image information displayed on a display device in the vehicle.
- a parking support device that performs parking support based on image information displayed on a display device (for example, a car navigation system) installed in the vehicle is known.
- the image information has been subjected to image processing based on a camera image taken by a vehicle-mounted camera installed at the rear of the vehicle.
- This image processing includes, for example, image conversion processing for converting a camera image into an overhead image, and image recognition processing for recognizing a marker indicating a parking area in the overhead image (see, for example, Patent Document 1).
- the parking assist device of Patent Document 1 requires a high-performance image processing processor, which is expensive. There is.
- a method of recognizing the marker based on the IR component of the infrared night-vision image or the specific color of the color image can be considered.
- the marker recognition method based on the IR component or the specific color may erroneously recognize an object having the same IR component as the marker or an object having the same color as the marker as a marker in the camera image.
- An object of the present invention is to provide a parking support system and a parking support method that can suppress image recognition at a low cost and prevent erroneous recognition of a marker.
- a parking assistance system captures a plurality of markers indicating a parking area, calculates a route based on the positions of the plurality of markers and the current position of the vehicle, and the vehicle moves along the route.
- a parking assistance system that assists parking of the vehicle in the parking area by instructing a steering angle for the color component or the intensity of an IR component in a camera image captured by the camera exceeds a threshold value
- a marker candidate detecting unit for detecting a plurality of regions as marker candidates, a marker position calculating unit for calculating the positions of the plurality of marker candidates in the camera image, and the positions of the plurality of marker candidates,
- a validity verification unit that determines whether the plurality of marker candidates are valid as the plurality of markers based on a positional relationship between the plurality of markers; A configuration with a.
- a parking assist method captures a plurality of markers indicating a parking area, calculates a route based on the positions of the plurality of markers and the current position of the vehicle, and the vehicle moves along the route.
- a step of detecting a plurality of regions as marker candidates, a step of calculating positions of the plurality of marker candidates in the camera image, a position of the plurality of marker candidates, and a predetermined positional relationship between the plurality of markers And verifying whether or not the plurality of marker candidates are valid as the plurality of markers.
- the present invention can prevent erroneous marker recognition while suppressing image processing at low cost.
- the figure which each shows the example of the camera image which concerns on Embodiment 1 of this invention The block diagram which shows the structural example of the parking assistance system which concerns on Embodiment 2 of this invention.
- FIG. 1 is a block diagram illustrating a configuration example of a parking assistance system according to the present embodiment.
- the parking support system is a system that is mounted on a vehicle and supports parking of the vehicle.
- the parking assistance system includes a camera 200 and a parking assistance device 100.
- the camera 200 includes a lens 20, an image sensor 21, and a color / IR detection unit 22.
- Lens 20 captures incident light.
- the image sensor 21 has a photonic color filter corresponding to colors (Red, Green, Blue) and IR.
- the image sensor 21 passes incident light from the lens 20 through the filter and extracts a color component or an IR component. Then, the image sensor 21 outputs an image signal including the extracted color component or IR component to the color / IR detection unit 22.
- the color / IR detection unit 22 performs signal processing based on the image signal from the image sensor 21 to generate a color image or an infrared night vision image (hereinafter referred to as “camera image”).
- the camera image is a real-time image taken by the camera 200.
- a color image is generated in the daytime
- an infrared night-vision image is generated in the nighttime.
- the color / IR detection unit 22 determines whether or not the intensity (luminance) of a specific color component or IR component exceeds a predetermined threshold in the camera image.
- the threshold here is, for example, a value determined in advance based on the average luminance of the camera image.
- the color / IR detection unit 22 detects an area exceeding the threshold in the camera image as a marker candidate.
- a plurality of marker candidates are detected.
- a marker candidate is an area considered to be a marker image in a camera image.
- the color / IR detection unit 22 also functions as a marker candidate detection unit.
- the marker is a mark that can identify the parking area of the vehicle, and is provided on the ground surface.
- the two markers are provided at a predetermined distance.
- the marker has a predetermined color.
- a marker comprises a reflector with a high reflectance, and a near-infrared film. Thereby, a marker is detected regardless of day and night.
- the color / IR detection unit 22 outputs a camera image indicating a plurality of marker candidates to the marker position calculation unit 10 of the parking support apparatus 100.
- the camera image is displayed on a display device (not shown) such as a car navigation.
- the parking assist device 100 includes a marker position calculation unit 10, a validity verification unit 11, a vehicle position calculation unit 12, a parking route calculation unit 13, and a steering angle instruction unit 14.
- the marker position calculation unit 10 calculates the position (coordinates) of each marker candidate in the camera image from the color / IR detection unit 22 and notifies the validity verification unit 11 of it.
- the validity verification unit 11 notifies the notified marker based on the position of each marker candidate notified from the marker position calculation unit 10 and the positional relationship between two predetermined markers (for example, the distance between the markers). It is verified (determined) whether the candidate is valid as a marker. An example of this verification will be described below.
- the validity verification unit 11 selects one of the plurality of marker candidates as the first marker candidate. Next, the validity verification unit 11 is based on a predetermined positional relationship between two markers, and an area in which there is a possibility that a second marker candidate paired with the first marker candidate (hereinafter, “ The marker candidate existence area ”is calculated. Next, the validity verification unit 11 determines whether there is a marker candidate different from the first marker candidate in the marker candidate existence region. If another marker candidate exists in the marker candidate existence region as a result of the determination, the validity verification unit 11 determines that the marker candidate is the second marker candidate and determines that it is paired with the first marker candidate. . Then, the validity verification unit 11 recognizes that the first marker candidate and the second marker candidate are valid as two predetermined markers. Next, the validity verification unit 11 notifies the parking route calculation unit 13 of the positions of the two markers (the coordinates of the first marker candidate and the coordinates of the second marker candidate).
- the own vehicle position calculation unit 12 calculates the movement amount from the initial position of the vehicle based on the vehicle speed pulse and the steering angle, and calculates the own vehicle position (the current position of the vehicle) based on the movement amount.
- the vehicle position calculation unit 12 may acquire the vehicle position from GPS or the like. Then, the own vehicle position calculation unit 12 notifies the parking route calculation unit 13 of the own vehicle position.
- the parking route calculation unit 13 determines the route on which the vehicle should travel based on the positions of the two markers notified from the validity verification unit 11 and the vehicle position notified from the vehicle position calculation unit 12 (hereinafter, “ Parking route "). For example, when the two markers indicate the lateral width (vehicle width) of the parking area, the parking route is calculated so that the vehicle travels vertically with respect to a line connecting the centers of the two markers. The parking route calculation unit 13 notifies the steering angle instruction unit 14 of the parking route.
- the steering angle instructing unit 14 instructs the driver what kind of steering wheel operation should be performed as the vehicle moves on the parking route notified from the parking route calculating unit 13 (that is, the steering angle).
- FIG. 2 is a flowchart showing an operation example of the parking assistance system according to the present embodiment.
- step S10 for example, when the gear is put in the back, the trigger of the parking support system is turned on, and the camera 200 starts imaging.
- the trigger is turned ON.
- a vehicle 400 has a camera 200 mounted on its rear part.
- two markers 301 and 302 are installed on the front left and right of the parking area 300. In the present embodiment, the case where there are two markers will be described as an example, but there may be three or more markers.
- step S11 the image sensor 21 extracts a color component or an IR component from the incident light of the lens 20.
- color components R, G, B
- IR components are extracted in the nighttime.
- the color / IR detection unit 22 generates either a color image or an infrared night-vision image, and detects a marker candidate in the camera image. That is, an area where a specific color component or IR component exceeds a threshold in the camera image is detected as a marker candidate.
- the specific color is a predetermined color and is the color of the marker.
- FIG. 4A shows an example of the camera image generated at the position a in FIG. In the camera image shown in FIG. 4A, in addition to the bumper 401 of the vehicle 400, a marker candidate 301a and a marker candidate 302a are shown.
- step S13 the marker position calculation unit 10 calculates the position of the marker candidate in the camera image. For example, when the camera image is FIG. 4A, the marker position calculation unit 10 calculates the positions of the marker candidate 301a and the marker candidate 302a in the camera image.
- step S14 the validity verification unit 11 verifies whether the marker candidate is valid as a marker based on the calculated position of the marker candidate and the predetermined positional relationship between the two markers.
- the positional relationship between the two markers is, for example, a relationship in which the marker 301 and the marker 302 are separated by a certain distance.
- the validity verification unit 11 selects the marker candidate 301a (first marker candidate), and based on the position and the predetermined positional relationship between two markers, the marker candidate existence region Is calculated.
- the validity verification unit 11 determines whether another marker candidate (second marker candidate) exists in the marker candidate existence region.
- the validity verification unit 11 determines that the marker candidate 301a and the marker candidate 302a are a pair, and these are two markers that are determined in advance. Recognize.
- the validity verification unit 11 selects the marker candidate 301a as the first marker candidate, but may select the marker candidate 302a.
- step S15 the vehicle position calculation unit 12 calculates the vehicle position.
- the vehicle position is the coordinates of the position a.
- step S16 the parking route calculation unit 13 calculates a parking route based on the vehicle position and the positions of the two markers.
- This parking route is calculated, for example, so that the vehicle travels perpendicularly to a line connecting the centers of the marker 301 and the marker 302. That is, the parking path is a path along which the vehicle 400 moves from the position a to the parking area 300 in FIG.
- step S17 the driver is instructed about the steering angle for the vehicle to move on the parking route.
- the steering wheel is operated in accordance with this instruction, for example, as shown in FIG. 3, the vehicle 400 can be moved from the position a to the position b.
- An example of the camera image at the position b is shown in FIG. 4B.
- the driver can park the vehicle 400 in the parking area 300 by linearly backing the vehicle 400 at the position b.
- the parking support system detects a marker candidate in a camera image based on a color component or an IR component, and determines in advance whether or not the marker candidate is valid as a marker.
- the verification is based on the positional relationship between the markers. That is, the parking support system according to the present embodiment detects marker candidates based on color components or IR components, and therefore performs image processing (image conversion processing and image recognition processing) that has been performed by conventional parking support devices. There is no need.
- the parking assistance system of this Embodiment verifies the validity of a marker with respect to the detected marker candidate, even if it is a detection based on a color component or IR component, it can recognize a marker accurately. Therefore, the parking assistance system of the present embodiment can prevent erroneous recognition of the marker while suppressing image processing at low cost.
- FIG. 5 is a block diagram illustrating a configuration example of the parking support system according to the present embodiment.
- the parking support system includes a camera 200 and a parking support device 101.
- the same components as those in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted here.
- the parking support device according to the first embodiment is that the parking support device 101 includes a marker pair presentation unit 15 (an example of a marker combination presentation unit) and a marker pair storage unit 16 (an example of a marker combination storage unit). Different from 100.
- the marker pair presenting unit 15 receives a notification of a plurality of marker pairs determined by the validity verifying unit 11 to be valid.
- the plurality of marker pairs are, for example, a first marker candidate and second marker candidate pair (first marker pair), and a first marker candidate and third marker candidate pair (second marker pair). .
- the marker pair presenting unit 15 collates a plurality of marker pairs notified from the validity verifying unit 11 with marker pairs stored in the marker pair storage unit 16 (hereinafter referred to as “learned marker pairs”).
- the marker pair presenting unit 15 presents the marker pair to the user on the display device.
- the presented marker pair is adopted, and the positions of two markers constituting the marker pair are notified to the parking route calculation unit 13.
- the marker pair presenting unit 15 presents another marker pair to the user among the notified marker pairs.
- the marker pair presenting unit 15 selects a predetermined marker pair from the plurality of notified marker pairs, and the display device Present to the user.
- the marker pair presenting unit 15 stores the presented marker pair in the marker pair storage unit 16.
- the marker pair presenting unit 15 adopts the presented marker pair, and notifies the parking route calculating unit 13 of the positions of the two markers constituting the marker pair.
- the marker pair presenting unit 15 presents another marker pair to the user among the notified marker pairs.
- the marker pair storage unit 16 stores a marker pair that has been approved by the user, that is, a learned marker pair.
- the information about the learned marker pair stored here is, for example, position information (latitude, longitude) of the marker pair and / or luminance information of the entire camera image.
- FIG. 6 is a flowchart showing an operation example of the marker pair presenting unit 15 according to the present embodiment. The operation shown in FIG. 6 is performed between the validity verification (step S14) and the vehicle position calculation (step S15) described in FIG.
- step S21 the marker pair presenting unit 15 determines whether or not a plurality of marker pairs are notified from the validity verifying unit 11. As a result of the determination, if the notification of a plurality of marker pairs has not been received (step S21: NO), the flow ends. In this case, the marker pair presentation unit 15 notifies the parking route calculation unit 13 of the positions of the two markers constituting one marker pair notified from the validity verification unit 11. On the other hand, when the notification of a plurality of marker pairs is received as a result of the determination (step S21: YES), the flow proceeds to step S22.
- step S ⁇ b> 22 the marker pair presenting unit 15 collates the notified marker pairs with the learned marker pairs stored in the marker pair storage unit 16. If there is a matching marker pair as a result of the collation (step S22: YES), the flow proceeds to step S23. On the other hand, if there is no matching marker pair as a result of the collation (step S22: NO), the flow proceeds to step S26.
- the marker pair presentation unit 15 presents the marker pair that matches the learned marker pair to the user on the display device.
- a presentation example at this time is shown in FIG. 7A.
- the marker pair presenting unit 15 presents a marker pair (first marker pair) by displaying a thick circle 51 so as to surround each of the marker candidate 301a and the marker candidate 302a.
- a display 61 and a display 62 for prompting the user to select are superimposed on the camera image.
- the user wants to approve the presented marker pair the user performs an operation of selecting the display 61.
- the user wants to approve other than the presented marker pair the user performs an operation of selecting the display 62.
- step S24 the marker pair presenting unit 15 determines whether or not the approval of the user has been accepted for the presented marker pair. As described above, the user approves the presented marker pair by performing an operation of selecting the display 61. If the user's approval is accepted as a result of the determination (step S24: YES), the flow ends. In this case, the marker pair presenting unit 15 adopts the presented marker pair and notifies the parking route calculating unit 13 of the positions of the two markers constituting the marker pair. On the other hand, if the user's approval is not accepted as a result of the determination (step S24: NO), the flow proceeds to step S25.
- step S25 the marker pair presenting unit 15 presents another marker pair to the user among the notified plurality of marker pairs.
- An example of presentation at this time is shown in FIG. 7B.
- FIG. 7B three marker candidates 301a, 302a, and 303a are displayed in the camera image.
- the marker pair presenting unit 15 presents a marker pair (second marker pair) by displaying a thick circle 52 so as to surround each of the marker candidate 302a and the marker candidate 303a.
- FIG. 7B as in FIG. 7A, the display 61 and the display 62 are displayed superimposed on the camera image. Thereafter, the flow returns to step S24.
- step S26 the marker pair presenting unit 15 selects a predetermined marker pair from the notified plurality of marker pairs and presents it to the user on the display device.
- the presentation example at this time is the same as FIG. 7A.
- step S27 the marker pair presenting unit 15 determines whether or not the approval of the user has been accepted for the presented marker pair. If the user's approval is accepted as a result of the determination (step S27: YES), the flow proceeds to step S28. On the other hand, if the user's approval is not accepted as a result of the determination (step S27: NO), the flow proceeds to step S29.
- step S28 the marker pair presenting unit 15 stores the presented marker pair in the marker pair storage unit 16 as a learned marker pair.
- the marker pair presenting unit 15 adopts the presented marker pair and notifies the parking route calculating unit 13 of the positions of the two markers constituting the marker pair. Thereafter, the flow ends.
- step S29 the marker pair presenting unit 15 presents another marker pair to the user among the notified plurality of marker pairs.
- the presentation example at this time is the same as FIG. 7B. Thereafter, the flow returns to step S27.
- the parking support system according to the present embodiment is appropriate based on learned data when there are a plurality of validated marker pairs.
- the marker pair is presented to the user.
- the parking assistance system of this Embodiment is characterized by memorize
- the parking assistance system of this Embodiment learns the marker pair selected when it is unlearned, and uses it for presentation of the next marker pair, a user chooses an appropriate thing from several marker pairs next time. There is no need to perform an operation to select. Therefore, in addition to the effects of the parking support system of the first embodiment, the parking support system of the present embodiment can improve user convenience.
- the validity verification is performed based on a predetermined distance between markers.
- each of the two markers has a different color
- the validity verification unit 11 stores the positions and colors of the two markers in association with each other (for example, blue on the right and red on the left). And the validity verification part 11 recognizes these two marker candidates as a predetermined marker, when the two marker candidates detected in the camera image satisfy
- the color / IR detection unit 22 of the camera 20 detects the marker candidate based on the color component or the IR component.
- the present invention is not limited to this.
- the operation of the parking support system according to the first and second embodiments can be realized by software in cooperation with hardware.
- the present invention can be applied to, for example, a parking support system and a parking support method for supporting parking of a vehicle based on image information displayed on a display device in the vehicle.
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Abstract
Description
本発明の実施の形態1について、図面を参照して説明する。
まず、本発明の実施の形態に係る駐車支援システムの構成について説明する。図1は、本実施の形態に係る駐車支援システムの構成例を示すブロック図である。
カメラ200は、レンズ20、イメージセンサ21、および色/IR検出部22を有する。
駐車支援装置100は、マーカ位置算出部10、妥当性検証部11、自車位置算出部12、駐車経路算出部13、および操舵角指示部14を有する。
x=f・X/Z
y=f・Y/Z
次に、本発明の実施の形態に係る駐車支援システムの動作について説明する。図2は、本実施の形態に係る駐車支援システムの動作例を示すフロー図である。
本発明の実施の形態2について、図面を参照して説明する。本実施の形態では、妥当性検証部11がマーカとして妥当であると判定したマーカ候補の組合せが複数存在する場合に対処する。なお、本実施の形態では、マーカ候補の組合せが2つである場合(以下、「マーカペア」という)を例として説明するが、マーカ候補の組合せは3つ以上であってもよい。
まず、本発明の実施の形態に係る駐車支援システムの構成について説明する。図5は、本実施の形態に係る駐車支援システムの構成例を示すブロック図である。
次に、本発明の実施の形態に係るマーカペア提示部15の動作について説明する。図6は、本実施の形態に係るマーカペア提示部15の動作例を示すフロー図である。図6に示す動作は、図2で説明した妥当性検証(ステップS14)と自車位置算出(ステップS15)の間に行われる。
11 妥当性検証部
12 自車位置算出部
13 駐車経路算出部
14 操舵角指示部
15 マーカペア提示部
16 マーカペア記憶部
20 レンズ
21 イメージセンサ
22 色/IR検出部
100、101 駐車支援装置
200 カメラ
301、302、303 マーカ
400 車両
Claims (7)
- 駐車領域を示す複数のマーカを撮影し、前記複数のマーカの位置および車両の現在位置に基づいて経路を算出し、前記車両が前記経路を移動するための操舵角を指示することによって、前記車両の前記駐車領域への駐車を支援する駐車支援システムであって、
カメラにより撮影されたカメラ画像において、色成分またはIR成分の強度が閾値を超えた領域を、マーカ候補として複数検出するマーカ候補検出部と、
前記カメラ画像における前記複数のマーカ候補の位置をそれぞれ算出するマーカ位置算出部と、
前記複数のマーカ候補の位置と、予め定められた前記複数のマーカの位置関係とに基づいて、前記複数のマーカ候補が前記複数のマーカとして妥当であるか否かを判定する妥当性検証部と、を備える、
駐車支援システム。 - 前記妥当性検証部は、
前記複数のマーカ候補から第1のマーカ候補を選択し、
前記第1のマーカ候補の位置と、前記複数のマーカの位置関係とに基づいて、前記第1のマーカ候補とペアになる第2のマーカ候補が存在する可能性のある領域を算出し、
前記領域に存在するマーカ候補を前記第2のマーカ候補と判定し、前記第1のマーカ候補と前記第2のマーカ候補のペアが前記複数のマーカとして妥当であると判定する、
請求項1記載の駐車支援システム。 - 前記複数のマーカ候補により構成されるマーカ組合せが複数あり、前記複数のマーカ組合せを前記妥当性検証部が前記複数のマーカとして妥当であると判定した場合、前記複数のマーカ組合せから一のマーカ組合せをユーザに提示するマーカ組合せ提示部と、
ユーザにより承認されたマーカ組合せを学習済マーカ組合せとして記憶するマーカ組合せ記憶部と、をさらに備え、
前記マーカ組合せ提示部は、
前記複数のマーカ組合せと前記学習済マーカ組合せとの照合を行い、
前記照合の結果、前記学習済マーカ組合せと一致したマーカ組合せをユーザに提示する、
請求項1または2記載の駐車支援システム。 - 前記マーカ組合せ提示部は、
前記照合の結果、前記学習済マーカ組合せと一致するマーカ組合せが無い場合、前記複数のマーカ組合せのうち所定のマーカ組合せをユーザに提示する、
請求項3記載の駐車支援システム。 - 前記マーカ組合せ提示部は、
前記提示したマーカ組合せがユーザに承認された場合、前記提示したマーカ組合せを前記学習済マーカ組合せとして前記マーカ組合せ記憶部に記憶する、
請求項4記載の駐車支援システム。 - 前記マーカ組合せ提示部は、
前記提示したマーカ組合せがユーザに承認されなかった場合、前記複数のマーカ組合せのうち他のマーカ組合せをユーザに提示する、
請求項3または4記載の駐車支援システム。 - 駐車領域を示す複数のマーカを撮影し、前記複数のマーカの位置および車両の現在位置に基づいて経路を算出し、前記車両が前記経路を移動するための操舵角を指示することによって、前記車両の前記駐車領域への駐車を支援する駐車支援方法であって、
カメラにより撮影されたカメラ画像において、色成分またはIR成分の強度が閾値を超えた領域を、マーカ候補として複数検出するステップと、
前記カメラ画像における前記複数のマーカ候補の位置をそれぞれ算出するステップと、
前記複数のマーカ候補の位置と、予め定められた前記複数のマーカの位置関係とに基づいて、前記複数のマーカ候補が前記複数のマーカとして妥当であるか否かを検証するステップと、を備える、
駐車支援方法。
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CN110824188B (zh) * | 2019-10-17 | 2022-10-04 | 浙江大华技术股份有限公司 | 高速公路车辆的测速方法、装置、编解码器及存储装置 |
CN113212352B (zh) * | 2020-02-06 | 2023-05-05 | 佛吉亚歌乐电子有限公司 | 图像处理装置以及图像处理方法 |
CN113335442B (zh) * | 2021-07-22 | 2023-08-29 | 上海锐承通讯技术有限公司 | 用于自行车的上锁方法及自行车 |
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