CN105835795A - Parking assistant device - Google Patents

Parking assistant device Download PDF

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Publication number
CN105835795A
CN105835795A CN201610055008.7A CN201610055008A CN105835795A CN 105835795 A CN105835795 A CN 105835795A CN 201610055008 A CN201610055008 A CN 201610055008A CN 105835795 A CN105835795 A CN 105835795A
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China
Prior art keywords
parking
parking space
vehicle
image sensing
line
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Granted
Application number
CN201610055008.7A
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Chinese (zh)
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CN105835795B (en
Inventor
李庸周
魏民焕
尹壮烈
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Hyundai Mobis Co Ltd
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Hyundai Mobis Co Ltd
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Publication of CN105835795A publication Critical patent/CN105835795A/en
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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
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention relates to a parking assistant device. The parking assistant device comprises an ultrasonic sensing part, which can recognize the objects around a vehicle by emitting ultrasonic signals and outputs first standby parking space according to the recognized objects; an image sensing part, which can recognize the parking line according to the surrounding images and outputs second standby parking space according to the recognized parking line; a parking space detection part, which can combine the first standby parking space and the second standby parking space and outputs target parking space; and a parking assistant part, which controls an electronic controlled steering wheel to park the vehicle into the target parking space. The parking assistant device can prominently improve the safety and accuracy of parking.

Description

EPH
Technical field
The present invention relates to EPH, particularly relate to one and utilize ultrasonic sensor and image sensor detection to stay The EPH in car space.
Background technology
Current parking space is gradually reduced along with vehicle increasing fast.Driver in order to by vehicle parking to narrow and small Parking space and suffer untold misery.Therefore, calculate parking driving trace and utilize electronic control type after detection vehicle parking space Steering wheel by vehicle parking to parking space.
But owing to situation during vehicle parking is not quite similar, a lot of in the case of need to consider the parking feelings of parking vehicle Condition.In the case of utilizing the steering wheel parking of electronic control type, drive it some times happens that collide etc. with wall or other vehicles The accident that the person of sailing is unexpected.
Accordingly, it would be desirable to a kind of other surrounding enviroment such as vehicle or wall considering parking detect optimal parking space also The technology of parking.
Summary of the invention
Technical problem
It is an object of the invention to provide a kind of barrier utilizing ultrasonic sensor identification vehicle-surroundings and utilize shadow As sensor identification parking line, and detect parking space according to barrier and parking line recognition result, it is possible to ratio is merely with ultrasonic The mode of wave sensor significantly improves the EPH of safety and accuracy.
The purpose of the present invention is not limited to above-mentioned purpose, and those skilled in the art can be expressly understood that by set forth below Other purposes do not recorded.
Technical scheme
For reaching above-mentioned purpose, EPH according to embodiments of the present invention includes: ultrasound wave detecting part, and it passes through Launch the object of ultrasonic signal identification vehicle-surroundings, and mend parking space according to after the described object output first identified；Shadow As detecting part, it is from vehicle-surroundings image identification parking line and empty according to mending parking after the described parking line output second identified Between；Parking space probe portion, it is combined exporting to mending parking space after mending parking space and described second after described first Target parking space；And, parking assisted parts, its by control electronic control type steering wheel by described vehicle parking to described Target parking space.
Further, described ultrasound wave detecting part can calculate that the angle of reflection between described object and described vehicle is to extract State the edge of object, and mend parking space according to after the described edge output described first extracted.
Further, described parking space probe portion can give predetermined weighted value to the described edge extracted and export described mesh Mark parking space.
Further, described image sensing portion can identify multiple parking line from described vehicle-surroundings image, extracts identification Intersection point between the plurality of parking line, mends parking space according to after the described intersection point output described second extracted.
Further, described parking space probe portion can give predetermined weighted value to the described intersection point extracted and export described mesh Mark parking space.
Further, described image sensing portion can extract the direction vector of the parking line being connected to described intersection point, and according to institute The slope of parking space is mended after stating direction vector output described second.
Further, the starting point of vehicle mobile route can be set to initial point by described image sensing portion, is moved by described vehicle Path is set to X-axis, the vertical line of the described vehicle mobile route through described starting point is set to Y-axis, and exports described direction Vector.
The particular content of other embodiments sees and illustrates and accompanying drawing.
Technique effect
The EPH of the present invention has one or more following effect:
First, by the obstacle recognition result of ultrasonic sensor is entered with the parking line recognition result of image sensor Row combined detection goes out parking space, reduces the danger that the barriers such as other vehicles with parking collide；
Second, according between vehicle and barrier angle of reflection extract barrier edge, therefore, it is possible to detect not with The parking space that barrier is overlapping；
3rd, the shape of parking space is judged according to the slope of the parking line utilizing image sensor identification, therefore, it is possible to The parking space of detection various shape.
The effect of the present invention is not limited to the effect of above record, and those skilled in the art can be bright by the record of technical scheme Other effects that really understanding is not recorded.
Accompanying drawing explanation
Fig. 1 is the pie graph showing EPH according to an embodiment of the invention；
Fig. 2 is to show vehicle and other vehicles by mending parking space after the output of ultrasound wave detecting part shown in Fig. 1 first The vehicle figure of parked state；
Fig. 3 is that image sensing portion shown in display Fig. 1 extracts the intersection point of parking line and extracts the parking line chart of intersection point vector；
Fig. 4 is to show that the intersection point that the edge extracting ultrasound wave detecting part shown in Fig. 1 and image sensing portion extract gives to add The signal detection figure of the state of weights；
Fig. 5 is that the intersection point of the edge extracted to ultrasound wave detecting part shown in Fig. 1 and the extraction of image sensing portion gives weighted value To export the vehicle parking figure of the state of final parking space.
Description of reference numerals
100: ultrasound wave detecting part 200: image sensing portion
300: parking space probe portion 400: vehicle sensed signal output part
500: parking assisted parts
Detailed description of the invention
Referring to the drawings and the embodiment of detailed description below just can specify advantages of the present invention, feature and implementation method.But It is that the present invention is not limited to embodiments disclosed below, but realizes with different variforms, and the present embodiment simply makes this Disclosure of the invention is more complete, makes the category of general technical staff of the technical field of the invention's invention easy to understand, this Bright defined by the category of technical scheme.In description full text, identical reference represents same element.
The present invention is specifically described by the accompanying drawing referring to embodiments of the invention and explanation EPH.
Fig. 1 is the pie graph showing EPH according to an embodiment of the invention, and Fig. 2 is that Fig. 1 is passed through in display Shown ultrasound wave detecting part 100 exports the vehicle figure of the vehicle mending parking space after first and the parked state of other vehicles.
The EPH of one embodiment of the invention includes ultrasound wave detecting part 100, image sensing portion 200, parking Space exploration portion 300 and parking assisted parts 500.
Ultrasound wave detecting part 100 includes at least one ultrasonic sensor.Ultrasound wave detecting part 100 passes through supersonic sensing The object of ultrasonic signal identification vehicle-surroundings launched by device, mends parking space according to after the object output first recognized.Ultrasonic Ripple detecting part 100 can calculate the position of object, shape, size etc. according to being reflected by the object the ultrasonic signal returned.Such as, Ultrasound wave detecting part 100 according to the ultrasonic signal that ultrasonic sensor is obtained by predetermined way carry out process extrapolate object with Angle of reflection RD between vehicle, and the edge of object is extracted according to the angle of reflection RD extrapolated.Herein, angle of reflection RD can be equal to The slope of ultrasonic signal.In the case of the bumper face of vehicle is curve shape, the angle of reflection of ultrasound wave detecting part 100 output RD is from the initial knee of curve lighting output body of curve shape.Ultrasound wave detecting part 100 can turn causing curve of output The object identification of point is other vehicles.Ultrasound wave detecting part 100 adds up to predetermined when identifying other vehicles curve of output flex point Distance value and export the edge UE of object.
The ultrasound wave detecting part 100 being arranged on vehicular sideview in Fig. 2 can be returned according to launching ultrasonic signal back reflection Ultrasonic signal, the same object detection being pointed to vehicle-surroundings goes out multiple distance value.Ultrasound wave detecting part 100 calculates to survey Fixed distance value is the intersection point of each circle of radius.The angle of reflection RD of ultrasound wave detecting part 100 output be connect the intersection point that calculates with The angle that the imaginary line of ultrasound wave detecting part 100 and the line being perpendicular to vehicle running rail are constituted.Ultrasound wave detecting part 100 is by calculating Go out angle of reflection RD and extract the edge UE of other vehicles close to the place of vehicle running rail.
The length of the point that ultrasound wave detecting part 100 can not reflected by the ultrasonic signal of mensuration range transmission, Distinguishing periphery object with this is other vehicles or column.Ultrasound wave detecting part 100 finds out the curve calculating the angle of reflection obtained Flex point output reflection angle RD are close to the place of vehicle running rail.Ultrasound wave detecting part 100 is detecting the feelings of other vehicles Preset distance value can be added under condition and extract the edge UE of other vehicles.Ultrasound wave detecting part 100 is by curve of output flex point Object identification is other vehicles being in parked state.In the case of ultrasound wave detecting part 100 detects column, knee of curve with The edge UE that actual object terminates is consistent, therefore need not be additionally carried out compensating.
Ultrasound wave detecting part 100 is arranged in vehicle left side and right side at least side, sequentially or simultaneously detects vehicle-surroundings At least one object.
Ultrasound wave detecting part 100 can identify the object being positioned on vehicle longitudinal direction and transverse direction and export object information. Further, ultrasound wave detecting part 100 can extract vehicle-surroundings according to the information (such as position, shape, size) about object Parking space is mended after spare area that is first.Ultrasound wave detecting part 100 can by object information i.e. vehicle and the object of output it Between distance value and the edge UE of vehicle that extrapolates at least any one is sent to parking space probe portion 300, vehicle sense Survey signal output unit 400 and parking assisted parts 500.
Image sensing portion 200 can include at least one photographic head.Image sensing portion 200 can utilize at least one photographic head to obtain Pick up the car a surrounding image.Image sensing portion 200 is from the vehicle-surroundings image identification parking line obtained, according to the parking line identified Parking space is mended after characteristic output second.Such as, image sensing portion 200 can from the vehicle-surroundings multiple parking line of image identification, And extract the intersection point AE between the multiple parking lines recognized.Further, image sensing portion 200 is connected with each other multiple friendships of extraction Point, more than mending parking space after region that is second of vehicle size in the region that output is formed by the intersection point connected.
Image sensing portion 200 may utilize top cap wave filter (Top-hat filter) from the Extraction of Image characteristic point obtained. Herein, characteristic point can be the place that brightness value has the change of more than predefined size.Image sensing portion 200 can be with the spy extracted Carry out omnirange detection on the basis of levying a little and identify the parking line of connection.Image sensing portion 200 checks the spy of the parking line calculated Levy seriality a little and export parking line.
The vertical view image identification parking line of vehicle can also be overlooked down from above by image sensing portion 200.Image sensing Portion 200 carries out gray scale (grey-scale) and processes vehicle-surroundings image.Image sensing portion 200 can be to through gray proces Image carries out two-value image processing and detects parking line.Image sensing portion 200 can also utilize Hough transformation (hough Transform) mend after extracting parking line and invigorating middle warmer finally detects parking line after the parking line extracted.
Image sensing portion 200 can set X-axis and Y-axis coordinate on vehicle-surroundings image and export the slope of parking line. Can there be the part of feature in image sensing portion 200 from vehicle-surroundings Image detection and calculate the coordinate of parking line, and utilization calculates Coordinate output voltage gradient.
Image sensing portion 200 can carry out coordinate transform to the vehicle-surroundings image obtained.Such as, image sensing portion 200 By vehicle-surroundings image from the coordinate system transformation on the basis of vehicle as global coordinate system (global coordinate).Image The global coordinate system that detecting part 200 utilizes is as shown in Figure 3.Image sensing portion 200 extracts the direction vector EV of the intersection point detected And export the slope mending parking space after second.The starting point of vehicle mobile route is set to initial point SP by image sensing portion 200, will Vehicle mobile route is set to X-axis, the vertical line of the vehicle mobile route through described starting point is set to Y-axis, and exports intersection point Direction vector EV.
Parking space probe portion 300 can give predetermined weighted value to export target to the intersection point AE of the parking line extracted Parking space.Parking space probe portion 300 is the most any one according to mending in parking space after mending parking space and second after first The target parking space of individual output vehicle.Parking space probe portion 300 can be stayed mending after mending parking space and second after first Car space is combined extracting target parking space.Such as, parking space probe portion 300 can mend parking sky after extracting first Between with second after mend the equitant overlapping region of parking space, shape and the area of the overlapping region of extraction meet predetermined condition In the case of (being greater than the size of vehicle), extract target parking space from the overlapping region extracted.
Parking space probe portion 300 can at least any one gives in the intersection point AE of the edge UE of object and parking line Weighted value is to export target parking space.Parking space probe portion 300 in the edge UE of object and the intersection point AE of parking line extremely Any one process giving weighted value few is illustrated by Fig. 4 subsequently.
Vehicle sensed signal output part 400 can export the velocity amplitude of vehicle, yaw velocity value (yaw rate), vehicle The steering angle value of steering wheel.It is auxiliary that the current location of vehicle can be exported parking according to gps signal by vehicle sensing signal portion 400 Help portion 500.
Parking assisted parts 500 by vehicle parking to target parking space.Parking assisted parts 500 can calculate the position of vehicle Put.Parking assisted parts 500 calculates the position of target parking space and the driving path of vehicle.Parking assisted parts 500 calculate for The steering angle of the Electronic Control steering wheel of vehicle parking.Parking assisted parts 500 can include Electronic Control steering wheel system.
Fig. 3 is that image sensing portion 200 shown in display Fig. 1 extracts the intersection point AE of parking line and extracts the direction vector of intersection point AE The parking line chart of EV.
Vehicle-surroundings video conversion can be gray scale (gray-scale) image by image sensing portion 200.Image sensing portion 200 can utilize top cap wave filter (Top-hat filter) to calculate the characteristic point of parking line.Image sensing portion 200 can be to stay The characteristic point that omnirange detection calculates the parking line of connection is carried out on the basis of the characteristic point of fare.Image sensing portion 200 checks closes In the seriality of characteristic point of the parking line calculated and export parking line.Image sensing portion 200 can extract the multiple of detection and stay Intersection point AE between fare.
As it is shown on figure 3, according to the image sensing portion 200 of an embodiment in the case of vehicle is kept straight on, by running rail C Starting point be set to initial point SP.The line including the running rail C of vehicle is set to X centered by initial point SP by image sensing portion 200 Axle.The vertical line of the running rail C of vehicle is set to Y-axis by image sensing portion 200.Image sensing portion 200 can be examined by extraction The slope of parking space is mended after the direction vector EV output second of the intersection point AE measured.Image sensing portion 200 is at the coordinate set Upper outbound course vector EV.
Image sensing portion 200 can calculate the slope of each parking line through intersection point AE according to direction vector EV.Through appointing In the case of angle between two parking lines of one intersection point of meaning is not right angle, image sensing portion 200 can export oblique line and stay Parking space is mended after second in car region (angled parking slot).
Parking space probe portion 300 according to mend after mending parking space and second after first in parking space at least any one Output target parking space.
Such as, parking space probe portion 300 can give predetermined weighted value with defeated to the intersection point AE of the parking line extracted Go out target parking space.Parking space probe portion 300 in the edge UE of object and the intersection point AE of parking line at least any one Give predetermined weighted value output target parking space.
Parking assisted parts 500 includes the steering wheel of electronic control type.Parking assisted parts 500 is by controlling electronic control type Electric power steering (Motor-Driven Power Steering；MDPS) system by vehicle parking to target parking space.Stay Car assisted parts 500 utilizes the velocity amplitude of vehicle that vehicle sensed signal output part 400 exports, yaw velocity value, Vehicular turn In the steering angle value of dish, at least any one calculates the parking driving trace from the current location of vehicle to target parking space.Stay Car assisted parts 500 controls steering wheel according to the parking driving trace calculated, by vehicle parking to target parking space.
Fig. 4 is the display parking space probe portion 300 intersection point AE that extracts ultrasound wave detecting part shown in Fig. 1 100 and image The edge UE that detecting part 200 extracts gives the signal detection figure of the state of weighted value.Fig. 4 shows that ultrasound wave detecting part 100 exports The edge UE of object and the intersection point AE of parking line of image sensing portion 200 output.Parking space probe portion 300 calculates sensing letter The standard deviation interval SI of number dead-reckoning point and meansigma methods, edge UE and the image sensing portion 200 to ultrasound wave detecting part 100 output The intersection point AE of output gives weighted value.Parking space probe portion 300 may utilize mathematical expression 1 and calculates weighted value (W).
[mathematical expression 1]
W = Σ ( x i - Σ i = 1 n x i n ) . ( y i - Σ i = 1 n y i n ) n · 1 SI x · SI y
The edge UE of n: the object collected and the intersection point AE number sum of parking line,
xi: the edge UE of the multiple objects collected,
yi: the intersection point AE of the multiple parking lines collected,
SIx: the standard deviation of the edge UE of object,
SIy: the standard deviation of the intersection point AE of parking line,
Fig. 5 is the edge UE to ultrasound wave detecting part shown in Fig. 1 100 output and the intersection point AE of image sensing portion 200 output Give weighted value (W) to export the vehicle parking figure of the state of target parking space.
The edge UE and the intersection point AE of image sensing portion 200 extraction of (a) display ultrasound wave detecting part 100 detection in Fig. 5.Its In the case of the parking line parking that image sensing portion 200 identifies crossed by his vehicle, if parking assisted parts 500 is with image sensing portion Mend parking on the basis of the intersection point AE of parking space after the second of 200 outputs, be now likely to result between vehicle and crash. The parking space probe portion 300 of EPH considers when detecting target parking space according to an embodiment of the invention The edge UE of parking space is mended after the first of ultrasound wave detecting part 100 extraction.
In Fig. 5, the vehicle of the intersection point AE that (b) mends parking space after showing in view of image sensing portion 200 extraction second is stayed Car region.And mend the vehicle parking of the edge UE of parking space after showing in view of ultrasound wave detecting part 100 extraction first Region.
Not overlapping with the region of other vehicles parking mesh of (c) display parking space probe portion 300 output in Fig. 5 Mark parking space.For ease of understanding, represent target parking space with oblique line.Parking space probe portion 300 is to give weighted value (W) And export target parking space on the basis of the edge that exports and intersection point.Parking space probe portion 300 is defeated to ultrasound wave detecting part 100 Mend parking space after mending parking space and the second of image sensing portion 200 output after first gone out to be combined exporting target parking Space.Such as it can be seen, target parking space can be include first after mend benefit parking space weight after parking space and second The space in folded region.
Parking assisted parts 500 is by the target parking space of vehicle parking to output.Parking assisted parts 500 utilizes vehicle to sense Signal output unit 400 output the velocity amplitude of vehicle, yaw velocity value, automobile turning wheel steering angle value in the most any one The individual parking driving trace calculating vehicle.Parking assisted parts 500 controls steering wheel according to the parking driving trace calculated, by vehicle Parking is to target parking space.
The preferred embodiments of the present invention illustrated above are also illustrated, but the present invention is not limited to above-mentioned particular implementation Example, it is real that general technical staff of the technical field of the invention can do various deformation on the premise of without departing from technical scheme scope Executing, these deformation implementations should be regarded as the technological thought without departing from the present invention or prospect.

Claims (7)

1. an EPH, it is characterised in that including:
Ultrasound wave detecting part, it is by launching the object of ultrasonic signal identification vehicle-surroundings, and according to the described object identified Parking space is mended after output first；
Image sensing portion, it is from vehicle-surroundings image identification parking line, and mends according to after the described parking line output second identified Parking space；
Parking space probe portion, it is combined exporting to mending parking space after mending parking space and described second after described first Target parking space；And
Parking assisted parts, its by control electronic control type steering wheel by described vehicle parking to described target parking space.
EPH the most according to claim 1, it is characterised in that:
Described ultrasound wave detecting part calculate the angle of reflection between described object and described vehicle to extract the edge of described object, And mend parking space according to after the described edge output described first extracted.
EPH the most according to claim 2, it is characterised in that:
The described parking space probe portion described edge to extracting gives predetermined weighted value and exports described target parking space.
EPH the most according to claim 1, it is characterised in that:
Described image sensing portion identifies multiple parking line from described vehicle-surroundings image, extracts the plurality of parking line identified Between intersection point, according to extract described intersection point output described second after mend parking space.
EPH the most according to claim 4, it is characterised in that:
The described parking space probe portion described intersection point to extracting gives predetermined weighted value and exports described target parking space.
EPH the most according to claim 4, it is characterised in that:
Described image sensing portion extracts the direction vector of the parking line being connected to described intersection point, and exports according to described direction vector The slope of parking space is mended after described second.
EPH the most according to claim 6, it is characterised in that:
The starting point of vehicle mobile route is set to initial point by described image sensing portion, and described vehicle mobile route is set to X-axis, will Vertical line through the described vehicle mobile route of described starting point is set to Y-axis, and exports described direction vector.
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KR1020150015245A KR102289477B1 (en) 2015-01-30 2015-01-30 Apparatus for Parking assistance

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