WO2017208976A1 - 駐車支援装置及び駐車支援方法 - Google Patents

駐車支援装置及び駐車支援方法 Download PDF

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Publication number
WO2017208976A1
WO2017208976A1 PCT/JP2017/019617 JP2017019617W WO2017208976A1 WO 2017208976 A1 WO2017208976 A1 WO 2017208976A1 JP 2017019617 W JP2017019617 W JP 2017019617W WO 2017208976 A1 WO2017208976 A1 WO 2017208976A1
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WIPO (PCT)
Prior art keywords
parking
vehicle
parking space
corner position
corner
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2017/019617
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English (en)
French (fr)
Japanese (ja)
Inventor
前田　優
岳人 原田
充保 松浦
博彦 柳川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Priority to DE112017002743.8T priority Critical patent/DE112017002743B4/de
Priority to US16/305,230 priority patent/US10576967B2/en
Priority to CN201780033873.4A priority patent/CN109219546B/zh
Publication of WO2017208976A1 publication Critical patent/WO2017208976A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

Definitions

  • the present disclosure relates to a parking support device and a parking support method, and more particularly, to a parking support device and a parking support method applied to a vehicle equipped with a camera whose shooting area is the front of the vehicle.
  • a parking assistance device that recognizes an environment around a vehicle with a distance measuring sensor or a vehicle-mounted camera and recognizes a parking space or calculates a parking route based on the recognition result is known (for example, see Patent Document 1). .
  • the parking assistance apparatus of patent document 1 detects the empty space of the parking space formed in the parking lot, and predicts a plurality of patterns of the outgoing route when leaving from the detected empty space.
  • an exit route is selected from among a plurality of patterns based on the difficulty level of the plurality of patterns, and a parking method based on forward or backward is guided as a parking method for exiting on the selected exit route.
  • the path required for parking is shorter than in reverse parking in which the vehicle enters from the rear of the vehicle.
  • forward parking since it directly enters the parking space from the side passage of the parking space, it is necessary to start steering from the front of the parking space. At this time, if the recognition of the parking space is slow, the start of the steering for entering the parking space is also slowed down, and the vehicle is parked while repeating the steering and the forward and backward movements many times.
  • This indication is made in view of the above-mentioned subject, and it aims at providing a parking assistance device and a parking assistance method which can recognize parking space at an early stage, and can perform forward parking smoothly to a parking space. To do.
  • This disclosure employs the following means in order to solve the above problems.
  • the first aspect of the present disclosure relates to a parking support device that is applied to a vehicle equipped with a camera that captures the front of the vehicle and supports forward parking of the vehicle in a parking space.
  • the parking assist device is a front side of a vehicle entrance portion of the parking space based on an image captured by the camera in a situation where the vehicle is moving forward in a direction toward the parking space through a side passage of the parking space.
  • a position estimation unit that estimates at least one of a first corner position that is a side corner position and a second corner position that is a back corner position, and the position estimation unit estimates the vehicle before passing through the parking space.
  • a space recognizing unit that recognizes the parking space for forward parking based on the corner position.
  • the corner position of the entrance of the parking space where the vehicle is to park forward is estimated based on the image in front of the vehicle taken by the camera before the vehicle passes through the parking space. According to this configuration, since the parking space can be grasped at an early stage before the vehicle passes through the parking space, processing necessary to perform forward parking in the parking space can be started early. Therefore, according to the said structure, the advance parking to a parking space can be performed smoothly.
  • FIG. 1 is a block diagram showing a schematic configuration of a parking support system
  • FIG. 2 is a diagram showing a mounting position of the distance measuring sensor
  • FIG. 3 is a diagram showing a case where forward parking is performed using the second corner position obtained from the detection distance of the distance measuring sensor
  • FIG. 4 is a diagram illustrating a case where forward parking is performed using the second corner position estimated from the captured image.
  • FIG. 5 is a flowchart showing the parking assistance process.
  • FIG. 6 is a diagram for explaining a method of estimating the first corner position using the captured image.
  • FIG. 7 is a flowchart illustrating a processing procedure of parking support processing according to the second embodiment.
  • FIG. 8 is a flowchart illustrating a processing procedure of parking support processing according to another embodiment.
  • the parking assistance system of this embodiment is mounted on a vehicle (hereinafter referred to as “own vehicle”). As shown in FIG. 1, the parking assistance system includes an in-vehicle camera 21, a distance measuring sensor 22, and a parking assistance device 10.
  • the in-vehicle camera 21 is composed of, for example, a CCD camera, a CMOS image sensor, a near infrared camera, and the like.
  • the in-vehicle camera 21 is attached to a predetermined height (for example, a position above the front bumper) at the center in the vehicle width direction at the front portion of the host vehicle 40, and has a region extending in a predetermined angle range toward the front of the vehicle. Shoot from a bird's eye view.
  • the in-vehicle camera 21 may be a monocular camera or a stereo camera.
  • the distance measuring sensor 22 is a sensor that detects a distance to an obstacle existing around the host vehicle 40.
  • the distance measuring sensor 22 transmits an exploration wave at every predetermined control period, and receives a reflected wave reflected by an obstacle existing around the host vehicle 40. Based on the reflected wave time, which is the time from the transmission to the reception, the distance from the host vehicle 40 to an obstacle existing around the host vehicle 40 is calculated.
  • an ultrasonic sensor such as sonar is provided as the distance measuring sensor 22.
  • the distance measuring sensor 22 is not limited to the ultrasonic sensor, and may be a sensor such as a laser sensor or a millimeter wave sensor.
  • FIG. 2 is a diagram showing the mounting position of the distance measuring sensor 22 in the host vehicle 40.
  • the distance measuring sensor 22 is mounted at a plurality of locations of the host vehicle 40.
  • a plurality of distance measuring sensors 22 having different detection areas are attached to the front bumper portion, the rear bumper portion, and the vehicle body side portion of the host vehicle 40 at predetermined intervals. ing.
  • the distance measuring sensor 22 is attached to a center sensor 26 attached to a position symmetrical to the center axis 41 in the vicinity of the center axis 41 of the vehicle width, and to the left corner and the right corner of the host vehicle 40, respectively.
  • the side sensors 28 attached to the left side and the right side of the host vehicle 40, respectively.
  • the center sensor 26 has areas 92 and 93 extending toward the front of the vehicle as detection areas
  • the corner sensor 27 has areas 94 and 95 extending in the oblique direction of the vehicle as detection areas
  • the side sensor 28 has vehicle lateral directions.
  • the areas 96 and 97 that expand toward the detection area are set as detection areas.
  • Reference numeral 91 represents a shooting area of the in-vehicle camera 21. As shown in FIG. 2, the in-vehicle camera 21 can capture an area farther than the detection area of the distance measuring sensor 22.
  • the host vehicle 40 includes a vehicle speed sensor 23 that detects a vehicle speed, a steering angle sensor 24 that detects a steering angle, and a forward for a driver to instruct automatic parking by forward parking.
  • Various sensors and switches such as a parking switch 25 are provided.
  • the parking assistance device 10 is a computer that includes a CPU, ROM, RAM, I / O, and the like, and various types for the parking assistance of the host vehicle 40 by the CPU executing a program installed in the ROM. Realize the function.
  • the ROM corresponds to a computer-readable recording medium that functions as a non-transitional physical recording medium.
  • the parking assist device 10 receives various information from various sensors and switches provided in the host vehicle 40 and recognizes a parking space existing around the host vehicle 40 based on the input various information. Execute.
  • the parking assist device 10 calculates a parking route for automatically parking the host vehicle 40 in the recognized parking space, and automatically steers the host vehicle 40 according to the calculated parking route. 31, the driving device 32, and the braking device 33 are controlled.
  • the parking assist device 10 has a first corner position that is a corner position on the near side of the parking space in a situation where the host vehicle 40 is moving forward in a direction toward the parking space through the side passage of the parking space. And the 2nd corner position which is the back corner position is calculated, and the space between the 1st corner position and the 2nd corner position is recognized as a parking space.
  • the first corner position is also the corner position of an obstacle on the near side adjacent to the parking space (hereinafter also referred to as “front side obstacle”), and the second corner position is the back side adjacent to the parking space. This is also the corner position of the obstacle (hereinafter also referred to as “backside obstacle”).
  • the contour points of the near-side obstacle and the back-side obstacle are detected, and based on the detection history of the contour point.
  • a method for specifying the corner position can be mentioned.
  • the reflection point on the obstacle of the search wave transmitted from the distance sensor 22 is outlined. It becomes a point.
  • a point sequence of reflection points is obtained, and an end point of the point sequence or a point offset by a predetermined distance from the end point of the point sequence is specified as a corner position.
  • the reflection point of the obstacle for example, based on the vehicle speed detected by the vehicle speed sensor 23 and the steering angle detected by the steering angle sensor 24, the sensor position for each obstacle detection is calculated, and the obtained sensor position It is calculated by the principle of triangulation based on the history and the history of distance information to the obstacle.
  • the host vehicle 40 in the case of forward parking, if the distance measuring sensor 22 detects the corner position of the rear obstacle adjacent to the parking space, that is, the second corner position, the host vehicle 40 once passes in front of the parking space. Then, after recognizing the environment behind the parking space, it is necessary to move backward, calculate a path for forward parking, and perform automatic parking.
  • FIG. 3 is a diagram showing a route of the host vehicle 40 when the first corner position and the second corner position are detected by the distance measuring sensor 22 and automatically parked when the vehicle is parked forward in the parking space 50.
  • the host vehicle 40 is parked forward from the side passage 51 of the parking space 50 in the parking space 50 sandwiched between the two parked vehicles 61 and 62 that are parked in parallel.
  • the parked vehicle 61 corresponds to the near-side obstacle
  • the parked vehicle 62 corresponds to the back-side obstacle.
  • the distance to the parked vehicle 61 is sequentially detected by the distance measuring sensor 22 (mainly the side sensor 28). Is done. Thereby, the point sequence of the reflection points 70 on the parked vehicle 61 is obtained. From this point sequence, the back corner point 63 of the parked vehicle 61 is calculated as the first corner position. Thereafter, the host vehicle 40 passes once in front of the parking space 50 and proceeds to the front of the parked vehicle 62 that is an obstacle on the back side adjacent to the parking space 50.
  • the distance sensor 22 obtains a point sequence of the reflection points 71 on the parked vehicle 62, and the front corner point 64 of the parked vehicle 62 is calculated as the second corner position from the point sequence.
  • the “front corner point” is located on the near side when the host vehicle 40 is moving forward in the direction toward the parking space 50 among corner positions (corner points) of obstacles adjacent to the parking space 50.
  • the “back side corner point” is a corner point located on the back side.
  • the corner position of the parking space 50 is estimated based on the image captured by the in-vehicle camera 21, and the parking space 50 for forward parking is recognized using the estimated corner position.
  • the first corner position is calculated based on distance information acquired by the distance measuring sensor 22, and the second corner position is estimated based on an image photographed by the in-vehicle camera 21.
  • FIG. 4 is a diagram illustrating a route of the host vehicle 40 when the vehicle is parked forward using an image captured by the in-vehicle camera 21.
  • FIG. 4 as in FIG. 3, it is assumed that the host vehicle 40 is parked forward from the side passage 51 in the parking space 50 sandwiched between the two parked vehicles 61 and 62 that are parked in parallel.
  • the parking assistance device 10 detects the reflection point 70 on the parked vehicle 61 detected by the distance measuring sensor 22. From the point sequence, the rear corner point 63 of the parked vehicle 61 is calculated as the first corner position. Moreover, the near corner point 64 of the back side parked vehicle 62 is estimated as a 2nd corner position by acquiring the positional information on the parked vehicle 62 which is a back side obstruction from an image.
  • the parking space 50 is recognized from the first corner position and the second corner position thus grasped, and automatic parking for forward parking is performed toward the recognized parking space 50 as shown in FIG. Do.
  • the parking space 50 can be recognized when the host vehicle 40 passes the side of the front obstacle, it is not necessary to draw a recognition route for the parking space 50.
  • the parking space 50 can be recognized when passing the side of the front obstacle, and early steering is possible. Thereby, it becomes possible to park directly in the parking space 50 at one time without performing multiple turns.
  • the parking assistance device 10 includes a corner position calculation unit 11, a parking space recognition unit 12, and a route calculation unit 13, as shown in FIG.
  • the corner position calculation unit 11 inputs a captured image of the in-vehicle camera 21 and a detection distance of the distance measuring sensor 22. Moreover, the 1st corner position of the parking space 50 is calculated using the input detection distance of the distance measuring sensor 22, and the 2nd corner position is estimated using the picked-up image of the vehicle-mounted camera 21.
  • FIG. The corner position calculation unit 11 functions as a “position estimation unit” and a “position detection unit”.
  • the corner position calculation unit 11 first extracts an edge point as a feature point indicating the presence of the target in the captured image, so that the rear side of the parking space 50
  • the boundary edge of the obstacle (parked vehicle 62 in FIG. 4) is detected.
  • the area where the rear obstacle exists is estimated from the detected boundary edge, and the parking space 50 in the rear obstacle is obtained from the estimated existence area and the distance information of the target with respect to the host vehicle 40 obtained from the image.
  • the corner position on the side that is, the front corner point 64 of the parked vehicle 62 is estimated.
  • FIG. 4 shows the edge point 80 of the parked vehicle 62 extracted from the photographed image and bird's-eye converted. From the surface information of the obstacle obtained from the plurality of edge points 80, the corner position of the obstacle on the parking space 50 side, that is, the second corner position is estimated.
  • the method of detecting the obstacle adjacent to the parking space 50 using the vehicle-mounted camera 21 is not particularly limited. For example, you may perform by the solid-object detection based on the parallax information obtained from the several image image
  • the vehicle-mounted camera 21 is a monocular camera, it is based on the principle of moving stereo.
  • the obstacle detection by the in-vehicle camera 21 may identify the type of the target recognized by the in-vehicle camera 21 by performing pattern matching on the image target using a predetermined pattern.
  • distance information of the target with respect to the host vehicle 40 on the image is acquired based on parallax information obtained from a plurality of images taken from different positions.
  • parallax information for each pixel is acquired from images simultaneously captured by a plurality of cameras, and target distance information is acquired using the parallax information.
  • the principle of moving stereo is used. Specifically, parallax information for each pixel is acquired from a plurality of frames taken at different timings and a moving distance between the frames, and target distance information is acquired using the parallax information.
  • the parking space recognition unit 12 inputs the position information of the first corner position and the second corner position acquired by the corner position calculation unit 11, and sets the space between the first corner position and the second corner position to the parking space 50. Set. At this time, based on the width of the space between the first corner position and the second corner position and the vehicle width of the host vehicle 40, it is determined whether or not the host vehicle 40 can be parked in the space. When it is determined that parking is possible, the space may be set as the parking space 50.
  • the route calculation unit 13 calculates a route for forward parking the host vehicle 40 in the parking space 50 recognized by the parking space recognition unit 12.
  • the steering assist device 31, the drive device 32, and the braking device 33 are controlled by the parking assist device 10 so that the host vehicle 40 is automatically parked forward in the parking space 50 according to the calculated route.
  • parking support processing executed by the parking support device 10 of the present embodiment will be described using the flowchart of FIG. This process is executed by the CPU of the parking assist device 10 when an ON signal is input from the forward parking switch 25.
  • step S11 the distance information acquired by the distance measuring sensor 22 is used to detect the point sequence of the reflection points on the near-side obstacle, and the first corner position is specified from the point sequence.
  • step S12 the position information of the rear obstacle (62) is acquired from the image photographed before passing through the parking space 50, and the second corner position is estimated.
  • step S ⁇ b> 13 the space between the first corner position and the second corner position is recognized as the parking space 50.
  • step S15 a drive command is output to the steering device 31, the drive device 32, and the brake device 33 so that forward parking is automatically performed based on the calculated route, and this process ends.
  • the corner position of the vehicle entrance 52 in the parking space 50 where the host vehicle 40 is to park forward is estimated before the host vehicle 40 passes through the parking space 50.
  • the configuration According to this configuration, since the parking space 50 can be grasped before the host vehicle 40 passes through the parking space 50, processing necessary for performing forward parking in the parking space 50, specifically, steering and route calculation are performed. Etc. can be started early. Thereby, forward parking to the parking space 50 can be performed smoothly.
  • the structure which estimates the 2nd corner position by acquiring the positional information on the back
  • FIG. More specifically, the presence area of the second corner position is estimated by extracting the edge point of the rear obstacle in the parking space 50 from the image, and the estimated existence area and the rear obstacle acquired from the image.
  • the second corner position is estimated based on the distance information. If it is going to grasp
  • the distance measurement sensor 22 grasps the corner position in the area where detection is difficult, from the image of the in-vehicle camera 21, the own vehicle 40 does not bother to reach the obstacle on the far side of the parking space 50.
  • the second corner position can be grasped before passing through the parking space 50.
  • the first corner position is detected based on the detection history of the contour point of the near-side obstacle detected by the distance measuring sensor 22, and the detected first corner position and the second corner position estimated using the photographed image are used. It is set as the structure which recognizes the space between as the parking space 50.
  • FIG. According to this configuration, in a situation where the host vehicle 40 is moving forward toward the parking space 50, the distance sensor 22 recognizes an obstacle on the near side of the parking space 50, while the rear side of the parking space 50. These obstacles can be recognized by the in-vehicle camera 21.
  • the first corner position is detected using the distance measuring sensor 22 with higher detection accuracy of the three-dimensional object, and thus the detection accuracy is higher. Therefore, according to the above configuration, it is possible to achieve both recognition and recognition accuracy at an earlier stage of the parking space.
  • the parking space 50 Based on the recognition result of the parking space 50, it was set as the structure applied to the system which implements the automatic parking control which automatically parks the own vehicle 40 in the parking space 50 by forward parking. According to the method for recognizing the parking space 50 of the present disclosure, since the parking space 50 can be recognized while the host vehicle 40 moves forward toward the parking space 50, the host vehicle 40 can be smoothly moved into the parking space 50 by combining with the automatic parking control. Can be parked forward.
  • the second embodiment will be described focusing on the differences from the first embodiment.
  • the first corner position is specified using distance information acquired by the distance measuring sensor, and the second corner position is estimated using a captured image, and the parking space 50 is recognized. did.
  • the parking space 50 is recognized by estimating the first corner position and the second corner position using the captured image.
  • FIG. 6 is a diagram for explaining a method of estimating the first corner position using the photographed image. Since the second corner position is estimated in the same manner as in the first embodiment, description thereof is omitted here.
  • FIG. 6 as in FIG. 4, it is assumed that the host vehicle 40 is parked forward from the side passage 51 of the parking space 50 in the parking space 50 sandwiched between the two parked vehicles 61 and 62 parked in parallel. ing. However, in FIG. 6, it is assumed that the host vehicle 40 has traveled only to a position in front of the parking space 50 and the first corner position is not detected by the distance measuring sensor 22.
  • the near corner point 65 that is the corner position on the opposite side of the parking space 50 and on the side passage 51 side is the reflection point 70 of the distance measuring sensor 22.
  • the back corner point 63 as the first corner position is not detected.
  • a position where the near corner point 65 of the parked vehicle 61 is offset by a predetermined amount in the direction in which the host vehicle 40 faces the parking space 50 is set to the first corner. Estimated as position.
  • the first corner position that is the rear corner point 63 of the parked vehicle 61 from the near corner point 65 of the parked vehicle 61 detected by the distance measuring sensor 22 and the symmetry of the parked vehicle 61 detected by the in-vehicle camera 21. Is estimated.
  • the corner position calculation unit 11 is symmetrical in the vehicle width direction of the host vehicle 40 by, for example, pattern matching or the like from an image captured by the in-vehicle camera 21 when parking in parallel with the parked vehicles 61 and 62.
  • the characteristic point for example, a front grill, a light, a license plate, a door mirror etc.
  • the vehicle center axis 66 of the parked vehicle 61 is estimated from the extracted feature points.
  • a position obtained by mirror-reversing the front corner point 65 detected by the distance measuring sensor 22 is estimated as the back corner point 63, that is, the first corner position.
  • the front corner point 65 of the parked vehicle 61 corresponds to the third corner position.
  • step S21 the first corner position and the second corner position are estimated using the captured image.
  • the first corner position is estimated from the near corner point 65 of the parked vehicle 61 detected by the distance measuring sensor 22 and the symmetry of the parked vehicle 61 detected by the in-vehicle camera 21.
  • the second corner position is estimated by acquiring position information of the rear-side obstacle in the parking space 50 from the image captured by the in-vehicle camera 21.
  • steps S22 to S24 processing similar to that in steps S13 to S15 in FIG. 5 is executed, and this processing is terminated.
  • the parking space 50 for forward parking is set at an earlier stage. Can be recognized.
  • the third corner position is detected, and the detected third corner position is based on an image captured by the in-vehicle camera 21.
  • the position where the host vehicle 40 is offset by a predetermined amount in the direction toward the parking space 50 is set as the first corner position.
  • the first corner position can be grasped before the first corner position is detected by the distance measuring sensor 22, that is, at an earlier stage when the host vehicle 40 passes the side obstacle on the side. it can.
  • the parking space 50 for forward parking can be recognized at an earlier stage.
  • the second corner position detected by the distance measuring sensor 22 and the second corner position estimated based on the image and the second corner position detected by the distance measuring sensor 22 are the same position. If the second corner position is not detected by the distance measuring sensor 22 when it is within a predetermined region that is considered to be in the range, the second corner position estimation accuracy by the image may be increased. Even before the host vehicle 40 passes through the parking space 50, the second corner position may be detected by the corner sensor 27, for example. In such a case, it can be said that the second corner position estimated using the captured image is more likely to exist at the estimated position. In view of this point, the above configuration makes it possible to implement parking support in a manner corresponding to the estimated accuracy of the second corner position.
  • FIG. 8 is a flowchart showing a processing procedure of parking support processing when the estimation accuracy of the second corner position is changed based on the detection result of the distance measuring sensor 22.
  • steps similar to those in FIG. 5 are given the step numbers in FIG.
  • steps S31 and S32 processing similar to that in steps S11 and S12 in FIG. 5 is executed.
  • steps S33 it is determined whether or not the second corner position is detected by the distance measuring sensor 22.
  • step S35 the process proceeds to step S35, and the estimated accuracy of the second corner position based on the image is set to “B” higher than “A”.
  • step S36 the parking space 50 is recognized from the first corner position and the second corner position.
  • step S37 a parking path for forward parking is calculated according to the estimated accuracy. At this time, when the estimated accuracy of the second corner position is A, the route is safer than in the case of B. Thereafter, this process is terminated.
  • a parking path for forward parking is calculated based on whether or not the presence of a rear-side obstacle adjacent to the parking space 50 is detected based on a captured image of the in-vehicle camera 21. It is good also as a structure. For example, when it is detected that there is no back-side obstacle, a route that is more reliable for forward parking at one time is calculated than when a back-side obstacle is detected.
  • the position of the estimated presence area of the second corner position based on the edge point of the back obstacle may be changed according to the direction of the back obstacle.
  • the actual position with respect to the estimated position of the second corner position differs depending on the direction of the rear obstacle.
  • the parking vehicle 62 as the rear obstacle is in front parking where the host vehicle 40 is parked in a direction perpendicular to the direction toward the parking space 50
  • the front of the vehicle 40 In the case of the oblique parking where the vehicle is tilted toward the vehicle, the estimated second corner position exists at a position farther from the side passage 51 than the former in the latter. Therefore, in the latter, the parking space 50 is recognized on the assumption that the actual second corner position exists on the side passage 51 side than the estimated second corner position. Thereby, the parking space 50 can be recognized more accurately.
  • the case where the host vehicle 40 is parked in parallel in the parking space 50 sandwiched between the two parked vehicles 61 and 62 parked in parallel has been described.
  • the configuration of the present disclosure may be applied when parking the host vehicle 40 in parallel in the parking space.
  • the parking space can be recognized at an earlier stage of the route of the host vehicle 40 toward the parking space, and one-time parallel parking is possible.
  • a parking place is not specifically limited, An outdoor parking lot, an indoor parking lot, a garage, etc. are mentioned.
  • the parking assistance device 10 may guide the route for parking, and the parking operation may be applied to a system performed by the driver.
  • the distance measuring sensor 22 is configured to include a sensor that transmits a search wave and receives a reflected wave reflected by an obstacle.
  • the vehicle-mounted camera 21 measures the distance to the obstacle.
  • the in-vehicle camera as the distance measuring sensor may be a monocular camera or a stereo camera. In the case of a monocular camera, it is possible to detect the distance to the obstacle by the principle of moving stereo.
  • the function of photographing the front of the vehicle and the function of measuring the distance to the obstacle may be performed by one camera.
  • each said component is conceptual and is not limited to the said embodiment.
  • the functions of one component may be realized by being distributed to a plurality of components, or the functions of a plurality of components may be realized by one component.

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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
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  • Theoretical Computer Science (AREA)
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  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Length Measuring Devices By Optical Means (AREA)
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PCT/JP2017/019617 2016-05-30 2017-05-25 駐車支援装置及び駐車支援方法 Ceased WO2017208976A1 (ja)

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DE112017002743.8T DE112017002743B4 (de) 2016-05-30 2017-05-25 Parkunterstützungsvorrichtung und Parkunterstützungsverfahren
US16/305,230 US10576967B2 (en) 2016-05-30 2017-05-25 Parking assistance device and parking assistance method
CN201780033873.4A CN109219546B (zh) 2016-05-30 2017-05-25 停车辅助装置以及停车辅助方法

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JP2016107623A JP6564346B2 (ja) 2016-05-30 2016-05-30 駐車支援装置及び駐車支援方法
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DE112017002743B4 (de) 2024-06-06
CN109219546A (zh) 2019-01-15
DE112017002743T5 (de) 2019-02-14
US10576967B2 (en) 2020-03-03
JP2017213943A (ja) 2017-12-07
JP6564346B2 (ja) 2019-08-21
CN109219546B (zh) 2021-04-23

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