BR112018012312A2 - método e dispositivo de suporte para estacionar - Google Patents

método e dispositivo de suporte para estacionar

Info

Publication number
BR112018012312A2
BR112018012312A2 BR112018012312-9A BR112018012312A BR112018012312A2 BR 112018012312 A2 BR112018012312 A2 BR 112018012312A2 BR 112018012312 A BR112018012312 A BR 112018012312A BR 112018012312 A2 BR112018012312 A2 BR 112018012312A2
Authority
BR
Brazil
Prior art keywords
parking spaces
group
virtual
virtual parking
support method
Prior art date
Application number
BR112018012312-9A
Other languages
English (en)
Japanese (ja)
Other versions
BR112018012312B1 (pt
Inventor
Kojo Naoki
Kurotobi Tomoko
Original Assignee
Nissan Motor Co., Ltd.
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 Nissan Motor Co., Ltd. filed Critical Nissan Motor Co., Ltd.
Publication of BR112018012312A2 publication Critical patent/BR112018012312A2/pt
Publication of BR112018012312B1 publication Critical patent/BR112018012312B1/pt

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • 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
    • 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
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
    • 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
    • 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
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar 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
    • 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
    • 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
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B60R2021/01345—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems using mechanical sensing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid 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
    • 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
    • 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
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Image Analysis (AREA)

Abstract

um método é fornecido que compreende: adquirir informação de reconhecimento a respeito de veículos estacionados; definir um grupo de vagas de estacionamento virtual em que um grupo de vagas de estacionamento é virtualizado, o grupo de vagas de estacionamento compreendendo uma pluralidade de vagas de estacionamento; alinhar o grupo de vagas de estacionamento virtual em relação aos veículos estacionados reconhecidos; e determinar o grupo de vagas de estacionamento virtual alinhado como o grupo de vagas de estacionamento compreendendo a pluralidade de vagas de estacionamento. o grupo de vagas de estacionamento virtual compreende uma pluralidade de vagas de estacionamento virtual que têm o mesmo tamanho e são arranjadas lado a lado ou em paralelo ao longo de uma linha reta predeterminada.
BR112018012312-9A 2015-12-17 2016-08-01 Método e dispositivo de ajuda para estacionar BR112018012312B1 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015246111 2015-12-17
JP2015-246111 2015-12-17
PCT/JP2016/072494 WO2017104164A1 (ja) 2015-12-17 2016-08-01 駐車支援方法および装置

Publications (2)

Publication Number Publication Date
BR112018012312A2 true BR112018012312A2 (pt) 2018-12-04
BR112018012312B1 BR112018012312B1 (pt) 2023-02-14

Family

ID=59056077

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112018012312-9A BR112018012312B1 (pt) 2015-12-17 2016-08-01 Método e dispositivo de ajuda para estacionar

Country Status (10)

Country Link
US (1) US10435074B2 (pt)
EP (1) EP3392093B1 (pt)
JP (1) JP6741022B2 (pt)
KR (1) KR20180094055A (pt)
CN (1) CN108367722B (pt)
BR (1) BR112018012312B1 (pt)
CA (1) CA3008378A1 (pt)
MX (1) MX2018007134A (pt)
RU (1) RU2713958C2 (pt)
WO (1) WO2017104164A1 (pt)

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JP6677474B2 (ja) * 2015-09-29 2020-04-08 日立オートモティブシステムズ株式会社 周辺認識装置
CN109074743A (zh) * 2016-04-28 2018-12-21 日产自动车株式会社 停车辅助方法及装置
JP6854095B2 (ja) * 2016-07-01 2021-04-07 フォルシアクラリオン・エレクトロニクス株式会社 駐車支援装置
JP6761708B2 (ja) * 2016-09-05 2020-09-30 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 駐車位置特定方法、駐車位置学習方法、駐車位置特定システム、駐車位置学習装置およびプログラム
US11275957B2 (en) * 2017-07-11 2022-03-15 Hitachi Astemo, Ltd. Parking assistance apparatus
JP7116613B2 (ja) * 2018-07-20 2022-08-10 株式会社デンソーテン 画像処理装置および画像処理方法
DE102018217390A1 (de) * 2018-10-11 2020-04-16 Robert Bosch Gmbh Verfahren zur Bestimmung eines Belegungszustands eines Stellplatzes
US11364992B2 (en) * 2018-10-23 2022-06-21 The Boeing Company Aligning aircraft with runway centerline during takeoff
JP7398196B2 (ja) * 2019-03-11 2023-12-14 フォルシアクラリオン・エレクトロニクス株式会社 駐車支援装置及び駐車支援方法
KR20200130883A (ko) * 2019-04-26 2020-11-23 현대모비스 주식회사 주차 지원 장치 및 방법
WO2020230193A1 (ja) * 2019-05-10 2020-11-19 三菱電機株式会社 駐車形態判定装置
KR20210008259A (ko) * 2019-07-12 2021-01-21 현대자동차주식회사 주차 제어 장치, 그를 포함한 시스템 및 그 방법
JP7298435B2 (ja) * 2019-10-11 2023-06-27 株式会社デンソー 車両用周辺監視装置及び車両用周辺監視方法
JP7212317B2 (ja) * 2019-10-11 2023-01-25 トヨタ自動車株式会社 車両駐車支援装置
DE102019216363A1 (de) * 2019-10-24 2021-04-29 Robert Bosch Gmbh Verfahren zum Bereitstellen eines Signals zur Ansteuerung eines zumindest teilautomatisierten Fahrzeugs
JP6975766B2 (ja) * 2019-12-13 2021-12-01 本田技研工業株式会社 駐車支援装置、駐車支援方法及びプログラム
CN111951603A (zh) * 2020-08-20 2020-11-17 华人运通(上海)自动驾驶科技有限公司 空闲车位获取方法、共享方法、车辆及服务器
JP2023017466A (ja) * 2021-07-26 2023-02-07 株式会社Subaru 駐車支援装置
US20230169781A1 (en) * 2021-11-30 2023-06-01 Texas Instruments Incorporated Free space detection and park-able free space detection for occupancy grids using sensor measurements
JP2023097021A (ja) * 2021-12-27 2023-07-07 本田技研工業株式会社 制御装置、及び移動体
DE102022203973A1 (de) 2022-04-25 2023-10-26 Continental Autonomous Mobility Germany GmbH Verfahren zur Bestimmung von Parklückeneigenschaften
CN116758775B (zh) * 2023-04-13 2024-06-18 湖南易联达科技有限公司 一种车位状态判定方法及***

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JP4759878B2 (ja) * 2001-08-10 2011-08-31 日産自動車株式会社 車両用駐車支援装置
JP3991731B2 (ja) * 2002-03-14 2007-10-17 日産自動車株式会社 車両用駐車方向設定装置
US7085634B2 (en) * 2003-04-11 2006-08-01 Toyota Jidosha Kabushiki Kaisha Parking assist apparatus and parking assist method for vehicle
JP4461920B2 (ja) * 2004-06-23 2010-05-12 株式会社デンソー 駐車支援装置
JP4428390B2 (ja) * 2007-02-15 2010-03-10 トヨタ自動車株式会社 駐車支援装置及び駐車支援方法
JP2009096306A (ja) 2007-10-16 2009-05-07 Hiroshima Industrial Promotion Organization 駐車支援方法
JP4530060B2 (ja) * 2008-02-19 2010-08-25 トヨタ自動車株式会社 駐車支援装置及び方法
JP5440867B2 (ja) * 2010-06-18 2014-03-12 アイシン精機株式会社 駐車支援装置
JP2012119755A (ja) * 2010-11-29 2012-06-21 Panasonic Corp 運転支援表示装置
JP5660073B2 (ja) 2012-04-19 2015-01-28 トヨタ自動車株式会社 駐車支援装置、駐車支援方法、及び駐車支援プログラム
CN102938064B (zh) * 2012-11-23 2015-06-17 南京大学 基于LiDAR数据与正射影像的停车场结构提取方法
JP6031973B2 (ja) * 2012-11-27 2016-11-24 日産自動車株式会社 車両用加速抑制装置
US8957786B2 (en) * 2013-05-21 2015-02-17 Ford Global Technologies, Llc Enhanced alignment method for park assist

Also Published As

Publication number Publication date
WO2017104164A1 (ja) 2017-06-22
EP3392093A4 (en) 2019-04-17
CN108367722B (zh) 2020-08-18
BR112018012312B1 (pt) 2023-02-14
CN108367722A (zh) 2018-08-03
KR20180094055A (ko) 2018-08-22
JPWO2017104164A1 (ja) 2018-11-08
US20180370566A1 (en) 2018-12-27
EP3392093A1 (en) 2018-10-24
EP3392093B1 (en) 2021-07-21
US10435074B2 (en) 2019-10-08
RU2713958C2 (ru) 2020-02-11
JP6741022B2 (ja) 2020-08-19
RU2018124452A (ru) 2020-01-21
MX2018007134A (es) 2018-08-15
CA3008378A1 (en) 2017-06-22
RU2018124452A3 (pt) 2020-01-21

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Legal Events

Date Code Title Description
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 01/08/2016, OBSERVADAS AS CONDICOES LEGAIS