WO2018097356A1 - Dispositif d'aide au stationnement d'un véhicule et procédé associé - Google Patents

Dispositif d'aide au stationnement d'un véhicule et procédé associé Download PDF

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Publication number
WO2018097356A1
WO2018097356A1 PCT/KR2016/013633 KR2016013633W WO2018097356A1 WO 2018097356 A1 WO2018097356 A1 WO 2018097356A1 KR 2016013633 W KR2016013633 W KR 2016013633W WO 2018097356 A1 WO2018097356 A1 WO 2018097356A1
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WIPO (PCT)
Prior art keywords
parking
vehicle
line
avm
image
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PCT/KR2016/013633
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English (en)
Korean (ko)
Inventor
기석철
이재설
윤희상
Original Assignee
충북대학교 산학협력단
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Priority to PCT/KR2016/013633 priority Critical patent/WO2018097356A1/fr
Publication of WO2018097356A1 publication Critical patent/WO2018097356A1/fr

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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
    • 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
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Definitions

  • the present embodiment relates to a vehicle parking assist apparatus and a method thereof. More specifically, by using the AVM image to generate and output a parking space located in the surrounding area of the vehicle and a parking map indicating the current position of the vehicle to assist the driver to park the vehicle more efficiently.
  • a vehicle parking assist device and a method thereof by using the AVM image to generate and output a parking space located in the surrounding area of the vehicle and a parking map indicating the current position of the vehicle to assist the driver to park the vehicle more efficiently.
  • Figure 1 (a) is a view showing a parking assistance system using an ultrasonic sensor.
  • the parking assist system scans a space to park using an ultrasonic sensor mounted on a vehicle, and determines whether parking is possible by checking an obstacle located in a corresponding area.
  • both sides of the parking space must be blocked at all times so that the space can be recognized as a parking space.
  • the distance of the parking space can be accurately recognized.
  • FIG. 1B is a diagram illustrating an around view system using a camera.
  • the around view system is provided to support a driver's parking by installing a plurality of cameras photographing the surroundings of the vehicle and providing the driver with omnidirectional images of the surroundings of the vehicle photographed through the plurality of cameras.
  • the surround view system has difficulty in providing automatic parking assistance as the omnidirectional image provided through the monitor provides only a small area around the vehicle, and furthermore, parking is blocked when the parking line is blocked by the surrounding obstacle. The disadvantage is that it doesn't help much.
  • the present embodiment generates and outputs a parking map indicating the current location of the parking space and the parking space located in the surrounding area by using the AVM image to assist the driver to park the vehicle more efficiently. It is a main object to provide a parking assist device and a method thereof.
  • a vehicle parking assist device for assisting parking of a vehicle by using an AVM image, an image obtained by synthesizing the captured images collected from a plurality of cameras provided in the vehicle to obtain an AVM (Around View Monitoring) image Acquisition unit;
  • a calculator configured to calculate at least one image feature point associated with parking of the vehicle from the AVM image;
  • a controller for matching the image feature points to a plurality of sequentially obtained AVM images, and generating and outputting a parking space located in a peripheral area of the vehicle and a parking map indicating a current position of the vehicle according to a matching result. It provides a vehicle parking assistance device comprising a.
  • the vehicle parking assist apparatus acquires an AVM image by synthesizing captured images collected from a plurality of cameras provided in the vehicle. Process of doing; Calculating at least one image feature point associated with parking of the vehicle from the AVM image; And matching the image feature points to a plurality of sequentially obtained AVM images, and generating and outputting a parking space located in a peripheral area of the vehicle and a parking map indicating a current position of the vehicle according to a matching result. It provides a vehicle parking assistance method comprising a.
  • the conventional vehicle assistance system generates and outputs a parking map indicating the current location of the parking space and the parking space located in the surrounding area of the vehicle using the AVM image.
  • Overcoming the disadvantages of the driver has the effect of allowing the driver to park the vehicle more efficiently.
  • FIG. 1 is a view schematically showing a conventional parking assistance system.
  • FIG. 2 is a view for explaining the operation of the vehicle parking assisting apparatus according to the present embodiment.
  • FIG. 3 is a block diagram schematically illustrating a vehicle parking assisting apparatus according to the present embodiment.
  • FIG. 4 is a flowchart illustrating a parking assisting method of the vehicle runner assisting apparatus according to the present embodiment.
  • FIG. 5 is an exemplary diagram illustrating an implementation form of a parking map according to the present embodiment.
  • FIG. 6 is an exemplary diagram illustrating a process of generating a parking map according to the present embodiment.
  • FIG. 7 is an exemplary view illustrating predefined parking line pattern information for each type of parking line according to the present embodiment.
  • FIG. 8 is an exemplary view for explaining a parking assist method by the vehicle parking assist apparatus according to the present embodiment.
  • FIG. 9 is an exemplary view for explaining a parking state notification method by the vehicle parking assisting apparatus according to the present embodiment.
  • FIG. 2 is a view for explaining the operation of the vehicle parking assisting apparatus according to the present embodiment.
  • the vehicle parking assistance apparatus 200 refers to a device that provides a parking assistance service for a driver of a vehicle.
  • the vehicle parking assistance apparatus 200 is preferably implemented in the form of vehicle infotainment (IVI) that provides various functions related to the vehicle, but is not necessarily limited thereto.
  • IVI vehicle infotainment
  • the implementation form of the vehicle parking assist apparatus 200 is not limited to a specific form.
  • the vehicle parking assist device 200 is interlocked with various devices provided in the vehicle to provide parking assistance service.
  • the vehicle parking assisting apparatus 200 may collect related images required for generating an AVM image by interworking with an around view monitoring (AVM) camera system implemented in a vehicle.
  • AVM around view monitoring
  • the vehicle parking assisting device 200 may be interlocked with an ultrasonic sensor mounted on the vehicle to receive sensing information measured by the ultrasonic sensor.
  • the vehicle parking assist device 200 may receive vehicle driving information in association with each sensor provided in the vehicle, and the steering system may be used. It may be linked with the transmission and reception of steering information for controlling the movement of the vehicle.
  • the vehicle parking assisting apparatus 200 generates and provides a parking map for assisting the parking of the vehicle by using the AVM image. That is, the vehicle parking assisting apparatus 200 calculates image feature points of the plurality of AVM images obtained sequentially, and compares the calculated image feature points with each other. Subsequently, the vehicle parking assisting apparatus 200 generates a parking space (eg, a dotted line region) located in the peripheral area of the vehicle and a parking map indicating the current position of the vehicle according to a matching result of matching the feature points of the plurality of AVM images. To provide.
  • a parking space eg, a dotted line region
  • the parking map generated by the vehicle parking assisting apparatus 200 is generated by matching the plurality of AVM images based on a matching result of matching the feature points of the plurality of AVM images. That is, the vehicle parking assistance apparatus 200 generates a parking map indicating the current location of the parking space located in the peripheral area of the vehicle by continuously matching the AVM images according to the movement of the vehicle.
  • Such a parking map according to the present embodiment has an effect of providing an image covering a wider area than an omnidirectional image provided through a conventional around view system.
  • the current position of the vehicle is additionally calculated based on a matching result of matching the feature points of the plurality of AVM images, and provided together on the parking map, thereby accurately positioning the vehicle in the conventional parking assistance system.
  • the method for generating a parking map by the vehicle parking assist apparatus 200 according to the present embodiment will be described in detail later in the process of describing the operation of each component of the vehicle parking assist apparatus 200 in FIG. 2.
  • the vehicle parking assistance apparatus 200 searches for a parking space available for parking of an actual vehicle in a parking space located in a peripheral area of the vehicle based on the generated parking map, displays the information on the parking map, and provides the driver's parking. Can support
  • the vehicle parking assist apparatus 200 may calculate and provide a vehicle movement trajectory, that is, a parking path, from the current vehicle position to the parking available space based on the found available parking space and the parking map.
  • the vehicle parking assist apparatus 200 may provide a control signal for controlling the steering means of the vehicle based on the calculated parking path and the parking map when the vehicle having the vehicle parking assist apparatus 200 provides the automatic parking assistance function. By creating and providing a vehicle, the vehicle can be automatically parked in a parking space.
  • FIG. 3 is a block diagram schematically illustrating a vehicle parking assisting apparatus according to the present embodiment.
  • the vehicle parking assisting apparatus 200 includes a communication unit 300, an image acquisition unit 310, a calculation unit 320, a control unit 330, a storage unit 340, and a search unit.
  • the components included in the vehicle parking assist apparatus 200 are not necessarily limited thereto.
  • the communication unit 300 communicates with various devices provided in the vehicle, and thereby transmits and receives data necessary for the vehicle parking assist device 200 to provide a parking assistance service.
  • Data transmitted and received by the vehicle parking assisting apparatus 200 according to the present embodiment using the communication unit 300 may include photographed images captured by a plurality of cameras included in the AVM camera system, sensing information measured by an ultrasonic sensor, and a steering system. Steering information of the vehicle may be collected.
  • the communication unit 200 may include at least one communication module among a wired communication module and a wireless communication module according to a communication method supported by the vehicle.
  • the wireless communication module may support Wi-Fi, Zigbee, Bluetooth, WAVE and the like.
  • the image acquisition unit 310 generates an AVM image by synthesizing the captured images collected from the plurality of cameras provided in the vehicle.
  • the vehicle parking assistance apparatus 200 provides a parking assistance service using the AVM image.
  • an AVM camera system is mounted on a vehicle in which the vehicle parking assist apparatus 200 is implemented, and the vehicle parking assist apparatus 200 collects related images necessary for generating an AVM image through interworking with the AVM camera system. do.
  • the AVM camera system includes a plurality of cameras (not shown), so that the image acquisition unit 310 captures the captured images of the front, rear, left, and right rooms of the vehicle photographed using the plurality of cameras. It is provided as a related video.
  • the image acquisition unit 310 generates an AVM image by converting and synthesizing the captured images collected from the plurality of cameras into a top view, that is, Bird's Eye View.
  • the vehicle parking assist The apparatus 200 may be implemented to receive an AVM image directly from an AVM camera system mounted in a vehicle. In this case, the image acquisition unit 310 serves to deliver the AVM image provided from the AVM camera system to the calculation unit 320.
  • the calculator 320 calculates at least one image feature point associated with the parking of the vehicle from the AVM image provided by the image acquirer 310.
  • the image feature point calculated by the calculator 320 is illustrated as being a parking line in the AVM image, but is not necessarily limited thereto.
  • the calculator 320 may further calculate an object corresponding to the obstacle in the AVM image as an image feature point when there is an obstacle including a parking vehicle in the peripheral area of the vehicle.
  • the calculator 320 may calculate an image feature point in the AVM image by measuring a luminance average value and a luminance dispersion value of the AVM image, and may calculate an image feature point in the VM image by image processing the AVM image.
  • the method of calculating the image feature point in the AVM image is not limited to a specific method.
  • the controller 330 generates and provides a parking map for assisting the parking of the vehicle based on the AVM image generated using the image acquisition unit 310 and the image feature point calculated using the calculation unit 320.
  • the controller 330 matches and compares the image feature points with respect to each of a plurality of sequentially obtained AVM images.
  • the controller 330 may use a scan matching technique as a method for matching image feature points of a plurality of AVM images.
  • the scan matching technique compares an image of a current view with an image of a view immediately before the current view, and finds and matches matching points in overlapping portions according to a comparison result.
  • the control unit 330 uses the scan matching technique described above to normalize and compare two consecutive images changed by the movement of the vehicle.
  • the scan matching technique is a known technique and detailed description thereof will be omitted.
  • the controller 330 determines a moving trajectory of the image feature point according to the matching result of the image feature points of the plurality of AVM images, and generates a parking map by matching the plurality of AVM images according to the identified moving trajectory. Meanwhile, in the present embodiment, the parking line in the AVM image is extracted as the image feature point. Accordingly, the controller 330 may recognize a parking line located near the vehicle according to the matching result of the image feature points of the plurality of AVM images, and generate a parking map indicating the parking space based on the recognized parking line. .
  • the controller 330 further detects the movement trajectory of the vehicle through the movement trajectory of the image feature point, and estimates and provides the current position of the vehicle.
  • the controller 330 shows the estimated current position of the vehicle together on the parking map and provides the driver's parking more efficiently.
  • the controller 330 calculates parameter values for correcting displacement and angle differences between the plurality of AVM images according to image feature point matching results of the plurality of AVM images, and matches the plurality of AVM images based on the calculated parameter values. . This is to correct an error between two consecutive AVM images that may occur according to the moving position of the vehicle. Through this, the controller 330 according to the present embodiment may cause an error that may occur in the process of generating a parking map. There is an effect that can minimize the occurrence.
  • the controller 330 may additionally use predetermined parking line pattern information for each type of parking line in the process of generating the parking map.
  • the parking line pattern information is information defining a standard of the corresponding parking line so that the specific parking line can be distinguished from other parking lines, and may include a corner shape and a line shape of the parking line.
  • the parking line recognized by the controller 330 may not be recognized by a vehicle or an obstacle, and part of the parking line may be out of the field of view of the AVM camera system. Areas may also not be recognized.
  • the parking map must provide a parking space based on an incomplete parking line, which is a problem that the accuracy of the parking assistance function of the vehicle using the vehicle parking assistance device 200 may be degraded. do.
  • the controller 330 uses the parking line pattern information as described above when the parking line recognized according to the image feature point matching result of the plurality of AVM images is a partial parking line. Correct the line and generate a parking map based on the corrected parking line.
  • the incomplete parking line means a parking line in which only a part of the parking line recognized by the controller 330 is recognized, not the entire area.
  • the controller 330 calculates the characteristics of the parking line from the partial region of the recognized incomplete parking line.
  • the characteristic of the parking line is preferably the shape of the corner portion of the incomplete parking line, but is not necessarily limited thereto.
  • the controller 330 calculates parking line pattern information corresponding to the above-mentioned characteristic of the parking line from among the predetermined parking line pattern information for each type of parking line, and uses the calculated parking line pattern information to partially or all the remaining areas of the incomplete parking line. Predict.
  • the controller 330 corrects the incomplete parking line by merging the predicted remaining area into a partial area of the previously recognized incomplete parking line, and generates a parking map based on the corrected parking line.
  • the controller 330 may reflect information generated from other constituent means of the vehicle runner assisting device 200 on the parking map.
  • the storage unit 340 stores information necessary for the vehicle parking assistance apparatus 200 according to the present embodiment to perform the parking assistance function of the vehicle.
  • the storage unit 340 may store the predetermined parking line pattern information for each type of parking line.
  • the storage unit 340 may store the parking line pattern information in any one of a template and learning data.
  • Pre-defined vehicle type information for each type of vehicle in the storage unit 340 may be stored.
  • Vehicle shape information may include information about the shape and size of the vehicle.
  • the search unit 350 searches for and provides a parking available space of an actual vehicle among the parking spaces located in the peripheral area of the vehicle based on the parking map generated using the controller 330.
  • the search unit 350 checks the relative position between the current position of the vehicle and the parking space and the presence of obstacles in the parking space by using the parking map, and the parking space where the actual vehicle can be parked among the parking spaces according to the check result.
  • a method of searching for a parking space of a vehicle by the search unit 350 is not limited to a specific method.
  • the search unit 350 may search for a parking space of the vehicle by further utilizing ultrasonic sensing information collected from the ultrasonic sensor provided in the vehicle.
  • the search unit 350 assures the reliability of the searched parking space by searching for a parking space of the vehicle using a parking map whose accuracy is guaranteed through a calibration procedure using the parking line pattern information. It has the effect of making it possible.
  • the search unit 350 transmits the searched parking space to the controller 330 so that the parking space can be additionally displayed on the parking map. According to an exemplary embodiment, the search unit 350 may calculate an optimal parking path of the vehicle to the searched parking space and additionally provide the same.
  • the automatic parking support unit 360 serves to assist the automatic parking support function of the vehicle through linkage with the steering system of the vehicle.
  • the automatic parking support unit 360 controls a control signal for controlling the vehicle steering means based on the parking map generated using the controller 330 and the optimum parking path calculated using the search unit 350. Generates and transmits the generated control signal to the steering means.
  • the automatic parking assistance unit 360 may collect vehicle driving information from each sensor provided in the vehicle in advance.
  • the display 370 receives and displays the parking map generated from the controller 210.
  • the display unit 370 includes at least one display means for displaying a parking map.
  • the display means may be an audio visual navigation (AVN) mounted in a vehicle.
  • APN audio visual navigation
  • the parking state notification unit 380 checks the parking state of the vehicle based on the parking line displayed on the parking map and the current position of the vehicle, and recognizes the confirmed parking state of the vehicle in a form that can be recognized by the user. Output
  • the parking state notification unit 380 determines the parking state of the vehicle by using the parking map whose accuracy is guaranteed through the calibration procedure using the parking line pattern information, thereby allowing the driver to determine the exact parking state of the vehicle. It is effective to confirm.
  • FIG. 4 is a flowchart illustrating a parking assisting method of the vehicle runner assisting apparatus according to the present embodiment.
  • the vehicle parking assist apparatus 200 obtains an AVM image by synthesizing the captured images collected from the plurality of cameras provided in the vehicle (S402).
  • the vehicle parking assist apparatus 200 calculates at least one image feature point related to the parking of the vehicle from the AVM image acquired in step S402 (S404). In operation S404, the vehicle parking assisting apparatus 200 calculates a parking line in the AVM image as an image feature point.
  • the vehicle parking assist apparatus 200 matches the image feature points calculated in step S404 with respect to the plurality of AVM images obtained sequentially (S406).
  • the vehicle parking assistance apparatus 200 generates and outputs a parking space indicating a parking space located in a peripheral area of the vehicle and a current map of the vehicle according to the matching result of step S406 (S408).
  • the vehicle parking assisting apparatus 200 may recognize a parking line located near the vehicle according to the matching result of step S406, and generate a parking map indicating the parking space based on the recognized parking line.
  • the vehicle parking assisting device 200 corrects the parking line using previously stored parking line pattern information when the parking line recognized according to the matching result of step S406 is an incomplete parking line, and based on the corrected parking line. Create a parking map.
  • the vehicle parking assist apparatus 200 searches for a parking available space of an actual vehicle in the parking space located in the surrounding area of the vehicle based on the parking map generated in step S408, and optimizes the search result and the available parking space.
  • the parking route is calculated and provided (S410).
  • the vehicle parking assist apparatus 200 checks whether the automatic parking function is selected in the vehicle (S412), and when the automatic parking function is selected, the vehicle parking assist apparatus 200 adjusts the steering means of the vehicle based on the parking map of step S408 and the optimal parking path of step S410.
  • a control signal for controlling is generated and output (S412).
  • each process is described as being sequentially executed, but is not necessarily limited thereto. In other words, since the process described in FIG. 4 may be applied by changing or executing one or more processes in parallel, FIG. 4 is not limited to the time series order.
  • FIG. 5 is an exemplary diagram illustrating an embodiment of a parking map according to the present embodiment
  • FIG. 6 is an exemplary diagram illustrating a process of generating a parking map according to the present embodiment.
  • the vehicle parking assisting apparatus 200 recognizes a parking line located near the vehicle according to a matching result of matching the feature points of the plurality of AVM images, and indicates a parking space based on the recognized parking line. Create and provide a parking map.
  • the vehicle parking assisting apparatus 200 corrects the parking line using previously stored parking line pattern information when the recognized parking line is an incomplete parking line, and based on the corrected parking line, the parking map.
  • the vehicle parking assist apparatus 200 generates and provides a parking map indicating a parking space based on the recognized parking line, but uses previously stored parking line pattern information for an incomplete parking line. To correct the shape (dotted line area).
  • FIG. 7 is an exemplary view illustrating predefined parking line pattern information for each type of parking line according to the present embodiment.
  • the vehicle parking assistance apparatus 200 when the parking line recognized in the process of generating the parking map is an incomplete parking line, the shape and size of the first half of the corresponding parking line using the predetermined parking line pattern information for each type of parking line Predict. Thereafter, the vehicle parking assistance apparatus 200 corrects the incomplete parking line based on the prediction result, and generates a parking map based on the corrected parking line.
  • the parking line pattern information defines and provides unique features, for example, a corner shape and a line shape, for the parking lines currently being used.
  • FIG. 8 is an exemplary view for explaining a parking assist method by the vehicle parking assist apparatus according to the present embodiment.
  • the vehicle parking assisting apparatus 200 searches for a parking available space of an actual vehicle in a parking space located in a peripheral area of the vehicle based on a parking map. By displaying this on the parking map, it can be confirmed that the driver supports the parking.
  • the vehicle parking assisting apparatus 200 may additionally calculate and provide the current position of the vehicle based on the parking map, by using the parking path of the vehicle to the previously available parking space using the same It can also calculate and provide.
  • the vehicle parking assistance apparatus 200 supports the vehicle to be parked automatically in the available parking space based on the calculated parking path and the parking map.
  • FIG. 9 is an exemplary view for explaining a parking state notification method by the vehicle parking assisting apparatus according to the present embodiment.
  • the vehicle parking assisting apparatus 200 in the case of the vehicle parking assisting apparatus 200 according to the present embodiment, it is possible to check the parking state of the vehicle based on the parking line displayed on the parking map and the current position of the vehicle when the parking of the vehicle is completed. Able to know. Furthermore, the vehicle parking assisting apparatus 200 according to the present embodiment operates to enable the driver to check the parking state of the vehicle by using the parking map whose accuracy is guaranteed through the correction procedure using the parking line pattern information. Reliability can also be ensured.
  • control unit 340 storage unit
  • search unit 360 automatic parking support unit

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
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  • Human Computer Interaction (AREA)
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Abstract

Le présent mode de réalisation concerne : un dispositif d'aide au stationnement d'un véhicule, qui génère et délivre en sortie une carte de stationnement indiquant un espace de stationnement situé dans une zone environnante du véhicule par utilisation d'une image de surveillance panoramique(AVM), aidant ainsi un conducteur à stationner un véhicule de manière plus efficace ; ainsi qu'un procédé associé. L'invention concerne plus particulièrement un dispositif d'aide au stationnement d'un véhicule comprenant : une unité d'acquisition d'image destinée à acquérir une image AVM par synthèse d'images capturées collectées à partir d'une pluralité de caméras incluses dans le véhicule ; une unité de calcul destinée à calculer, à partir de l'image AVM, au moins un point de caractéristique d'image relatif au stationnement du véhicule ; et une unité de commande destinée à mettre en correspondance le point de caractéristique d'image par rapport à une pluralité d'images AVM acquises séquentiellement, et à générer et délivrer en sortie une carte de stationnement indiquant un espace de stationnement situé dans une zone environnante du véhicule et un emplacement actuel du véhicule conformément au résultat de la mise en correspondance.
PCT/KR2016/013633 2016-11-24 2016-11-24 Dispositif d'aide au stationnement d'un véhicule et procédé associé WO2018097356A1 (fr)

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Cited By (2)

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CN114111774A (zh) * 2021-12-06 2022-03-01 纵目科技（上海）股份有限公司 车辆的定位方法、系统、设备及计算机可读存储介质
CN115147805A (zh) * 2021-03-31 2022-10-04 欧特明电子股份有限公司 自动泊车建图与定位的系统及其方法

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KR101498976B1 (ko) * 2013-12-19 2015-03-05 현대모비스(주) 차량용 주차지원시스템 및 주차지원방법

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CN115147805A (zh) * 2021-03-31 2022-10-04 欧特明电子股份有限公司 自动泊车建图与定位的系统及其方法
CN114111774A (zh) * 2021-12-06 2022-03-01 纵目科技（上海）股份有限公司 车辆的定位方法、系统、设备及计算机可读存储介质
CN114111774B (zh) * 2021-12-06 2024-04-16 纵目科技（上海）股份有限公司 车辆的定位方法、系统、设备及计算机可读存储介质

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