CN108140313A - Parking aid and parking assistance method - Google Patents
Parking aid and parking assistance method Download PDFInfo
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- CN108140313A CN108140313A CN201580083978.1A CN201580083978A CN108140313A CN 108140313 A CN108140313 A CN 108140313A CN 201580083978 A CN201580083978 A CN 201580083978A CN 108140313 A CN108140313 A CN 108140313A
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- parking stall
- parking
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- vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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Abstract
It is an object of the present invention in the parking auxiliary that most suitable parking stall is demonstrated to driver, it is most suitable reason to make parking stall determined by driver's understanding.The parking aid (101) of the present invention includes：The shooting image acquiring unit (11) of the shooting image around vehicle is obtained from the camera for being equipped on vehicle；According to shooting image determine can parking stall can parking stall determining section (13)；Calculate for by vehicle stop into can parking stall path of navigation path of navigation calculating part；Using according to path of navigation stop into can parking stall difficulty as the parking difficulty determination unit that judges of parking difficulty；From the recommendation parking stall determining section that can determine to recommend parking stall in parking stall；And recommendation parking stall is demonstrated to the parking stall demonstration portion of the driver of vehicle together with the parking difficulty obtained according to path of navigation.
Description
Technical field
The present invention relates to the technologies assisted the parking of vehicle.
Background technology
In recent years, the parking aid operated using aid parking, so as to unskilled driving beginner of stopping
Also shut-down operation can securely be carried out.Parking aid can select most suitable parking stall in parking stall and be demonstrated to from multiple
Driver demonstrates the path of navigation for entering most suitable parking stall.
For example, in patent document 1, following parking aid is disclosed, which is directed to respectively can parking stall
Calculating has contactless and turns to number, and it is minimum parking stall to be not in contact with audio to driver's demonstration and turn to number.
In addition, in patent document 2, the side for being calculated in the parking aid of patent document 1 and whetheing there is contact and turning to number is disclosed
Method.
Existing technical literature
Patent document
Patent document 1：Japanese Patent Laid-Open 6-187596 bulletins
Patent document 2：Japanese Patent Laid-Open 5-2422 bulletins
Invention content
The technical problems to be solved by the invention
Due to processing constantly complication and the High Level of parking aid, properly its processing is demonstrated to driver
Content is for the appropriate cooperation between parking assistance system and driver and then very heavy for realizing the parking with reassurance
It will.
Current parking auxiliary is mostly used for following semi-automatic drivings, i.e.,：Based on parking aid demonstrated into
Enter the stopping guide on most suitable parking stall, driver implements shut-down operation.Therefore, expect with enough information content and with easy
The mode of understanding is demonstrated to driver is judged as most suitable reason by the parking stall indicated by parking aid.
Which however, in patent document 1, should only be stopped into parking stall with audio presentation, therefore do not filled to driver
Why point convey should stop into the parking stall, and being difficult to judge whether there are driver can be according to the intention of parking aid
Come the problem of implementing parking.
The present invention is to complete in view of the above problems, it is intended that demonstrating most suitable parking to driver
In the parking auxiliary of position, it is most suitable reason to make parking stall determined by driver's understanding.
Technical scheme applied to solve the technical problem
Parking aid according to the present invention includes：The bat around vehicle is obtained from the camera for being equipped on vehicle
Take the photograph the shooting image acquiring unit of image；According to shooting image determine can parking stall can parking stall determining section；It calculates for by vehicle
Stop into can parking stall path of navigation path of navigation calculating part；By according to path of navigation stop into can parking stall difficulty make
The parking difficulty determination unit judged for parking difficulty；From the recommendation parking stall that can determine to recommend parking stall in parking stall
Determining section；And the driver that parking stall will be recommended to be demonstrated to vehicle together with the parking difficulty obtained according to path of navigation
Parking stall demonstration portion.
In parking assistance method according to the present invention, the shooting around vehicle is obtained from the camera for being equipped on vehicle
Image, according to shooting image determine can parking stall, and calculate for by vehicle stop into can parking stall path of navigation, will be according to drawing
Guiding path stop into can the difficulty on parking stall judged as parking difficulty, from can determine in parking stall to recommend parking stall,
And the driver that parking stall will be recommended to be demonstrated to vehicle together with the parking difficulty obtained according to path of navigation.
Invention effect
Parking aid according to the present invention includes：The bat around vehicle is obtained from the camera for being equipped on vehicle
Take the photograph the shooting image acquiring unit of image；According to shooting image determine can parking stall can parking stall determining section；It calculates for by vehicle
Stop into can parking stall path of navigation path of navigation calculating part；By according to path of navigation stop into can parking stall difficulty make
The parking difficulty determination unit judged for parking difficulty；From the recommendation parking stall that can determine to recommend parking stall in parking stall
Determining section；And the driver that parking stall will be recommended to be demonstrated to vehicle together with the parking difficulty obtained according to path of navigation
Parking stall demonstration portion.Therefore, driver can be using difficulty of stopping as reference, to determine whether stopping into recommendation parking stall.
In parking assistance method according to the present invention, the shooting around vehicle is obtained from the camera for being equipped on vehicle
Image, according to shooting image determine can parking stall, and calculate for by vehicle stop into can parking stall path of navigation, will be according to drawing
Guiding path stop into can the difficulty on parking stall judged as parking difficulty, from can determine in parking stall to recommend parking stall,
And the driver that parking stall will be recommended to be demonstrated to vehicle together with the parking difficulty obtained according to path of navigation.Therefore, it drives
The person of sailing can be using difficulty of stopping as reference, to determine whether stopping into recommendation parking stall.
The purpose of the present invention, feature, form and advantage can become to become apparent by following detailed description of and attached drawing.
Description of the drawings
Fig. 1 is the block diagram for showing parking aid and its peripheral structure involved by embodiment 1.
Fig. 2 is the flow chart for the molar behavior for showing parking aid.
Fig. 3 is the figure for the hardware configuration for showing parking aid.
Fig. 4 be pair can parking stall the figure that illustrates of detection method.
Fig. 5 be pair can parking stall the figure that illustrates of detection method.
Fig. 6 be pair can parking stall the figure that illustrates of detection method.
Fig. 7 be show can parking stall evaluation processing flow chart.
Fig. 8 be to enter can parking stall path of navigation the figure that illustrates of computational methods.
Fig. 9 is the figure illustrated to the computational methods for turning to number.
Figure 10 is the definition graph of parking difficulty.
Figure 11 is the flow chart for showing to recommend the determining processing on parking stall.
Figure 12 is the figure for showing master unit (head unit) and instrument board (instrument panel).
Figure 13 is to show to recommend the aobvious exemplary figure on parking stall.
Figure 14 is the figure for showing to be shown in the generation method of the birds-eye view of instrument board.
Figure 15 be show driver selected other can parking stall when show exemplary figure.
The block diagram of parking aid that Figure 16 shows the combination with car-mounted device and server and formed.
Figure 17 is the block diagram for showing parking aid and its peripheral structure involved by embodiment 2.
Figure 18 is the figure for the image for showing preference database.
Figure 19 is the flow chart for the molar behavior for showing parking aid.
Figure 20 is the flow chart for the acquisition processing for showing the preference information of driver that personal authentication portion is carried out.
Figure 21 is the figure for the registration picture for showing the preference information of driver.
Figure 22 is the figure for the registration picture for showing the preference information of driver.
Figure 23 is to show the flow chart of the calculation processing of preference consistent degree that preference consistent degree calculating part is carried out.
Figure 24 is the flow chart for the summary that the recommendation parking stall for showing that parking stall determining section is recommended to be carried out determines processing.
Figure 25 is the flow chart for showing to recommend the selection processing of the 1st candidate of parking stall.
Figure 26 is the flow chart for showing to recommend the selection processing of the 2nd candidate of parking stall.
Figure 27 is the flow chart for showing to recommend the selection processing on parking stall.
Figure 28 be recommendation parking stall in the demonstration portion of parking stall is shown drill exemplary figure.
Figure 29 be recommendation parking stall in the demonstration portion of parking stall is shown drill exemplary figure.
Figure 30 is the block diagram for showing parking aid and its peripheral structure involved by the variation of embodiment 2.
Figure 31 is the block diagram for showing parking aid and its peripheral structure involved by the variation of embodiment 2.
Specific embodiment
<A. embodiment 1>
<A-1. overall structure>
Fig. 1 is the block diagram for showing parking aid 101 and its peripheral structure involved by embodiment 1, and Fig. 2 is to show to stop
The flow chart of the molar behavior of auxiliary device 101.
Parking aid 101 include shooting image acquiring unit 11, apart from calculating part 12, can parking stall determining section 13, can
Parking stall evaluation section 14 recommends parking stall determining section 17 and parking stall demonstration portion 18.
The shooting image (step S11) that image acquiring unit 11 obtains image pickup section 41 is shot, and exports to distance and calculates
Portion 12.Here, image pickup section 41 is, for example, to have used the cameras of CCD area sensors etc., is equipped on vehicle 30 and right
The rear of vehicle 30 is shot.
It is calculated apart from calculating part 12 from the shooting image of image pickup section 41 and (includes the bat of the predetermined region including parking stall
Take the photograph image) to object range data and be sent to can parking stall determining section 13.
Can parking stall determining section 13 using by the range data calculated apart from calculating part 12 come determine can parking stall (step
S12), and will with can the relevant information in parking stall export to can parking stall evaluation section 14.
Can parking stall evaluation section 14 to respectively can parking stall evaluated (step S13), and evaluation result is exported to recommendation
Parking stall determining section 17.Can parking stall evaluation section 14 include to enter can parking stall the path of navigation that is calculated of path of navigation
Calculating part 15 and pair can parking stall the parking difficulty determination unit 16 that is judged of parking difficulty, evaluation here is
Guide the calculating of guiding path and the judgement for difficulty of stopping.
Recommend parking stall determining section 17 based on respectively can parking stall evaluation result come determine it is most suitable can parking stall, with make
To recommend parking stall (step S14), and will be with the relevant information in parking stall is recommended to export to parking stall demonstration portion 18.
Parking stall demonstration portion 18 is to recommending parking stall to be demonstrated (step S15).
Fig. 3 shows the hardware configuration of parking aid 101.As shown in figure 3, parking aid 101 passes through processing
Device 51, memory 52 and receiving part 53 are realized.The execution of processor 51 is stored in RAM (Random Access Memory：At random
Access memory) etc. memories 52 program, so as to fulfill apart from calculating part 12, can parking stall determining section 13, can parking stall comment
Parking stall determining section 17 and parking stall demonstration portion 18 are recommended by valency portion 14, using the function as the processor 51.Wherein, they
Such as it also can cooperate to realize by multiple processors 51.In addition, shooting image acquiring unit 11 is realized by receiving part 53.
<A-2. Each part>
It is calculated apart from calculating part 12 according to the image data of shooting image that shooting image acquiring unit 11 is got by each orientation
To the range data of object, and be sent to can parking stall determining section 13.The range data calculated is by distance R's and orientation θ
Data show.In addition, it is assumed that ECU is the equipment apart from calculating.
Can parking stall determining section 13 will be converted to x-y orthogonal coordinate systems from the range data received apart from calculating part 12.x
Axis is orthogonal with y-axis, and the origin of these axis is the visual angle center of CCD area sensors.
Fig. 4 to fig. 6 be pair can parking stall determining section 13 carried out can parking stall determining processing (the step S12 of Fig. 2)
The figure illustrated.As shown in figure 4, in the case of vehicle has been parked on some parking stalls in parking lot, can parking stall it is true
Determine portion 13 determine unappropriated seat in parking stall, can parking stall.The range data of x-y orthogonal coordinate systems show vehicle with
The distance between good vehicle of stop over.Can parking stall determining section 13 to the range data implement least square method, obtain x=
A1·y+B1.In addition, for meeting x ＜ A1·y+B1Range data implement the least square method of the 2nd time and obtain x=A2·y+
B2, and this is set as parking stall front boundary line.
Then, for the positive boundary line on parking stall, left and right edges are detected in method shown in fig. 5.Specifically, describe
The distance between the range data gone out and parking stall front boundary line Δ xiIt is represented by formula (1).
【Mathematical expression 1】
Δxi=| xi-(A2·yi+B2)| …(1)
Here, xi=Ri·cos(θi)、yi=Ri·sin(θi).Then, threshold value Th is for example set as 0.6m, and adjusted the distance
Data are scanned, if Δ xI-1＞ Th and Δ xiI-th of coordinate measurement is then right hand edge coordinate, if Δ x by≤ThI-1≤Th
And Δ xiI-th of coordinate measurement is then left hand edge coordinate by ＞ Th.
Then, the left and right edges on parking stall are projected to parking stall front boundary line, is sat to calculate the center on empty parking stall
Mark and width (with reference to Fig. 6).If the right hand edge coordinate after projection is set as (Gx1(i)、GY1(i)) the left hand edge coordinate after, projecting
It is set as (Gx2(i)、GY2(i)), then centre coordinate GX (i), GY (i) and the width W (i) on each empty parking stall can by formula (2)~
(4) it calculates.
【Mathematical expression 2】
Then, the width W (i) on empty parking stall and overall width WC are compared, if W (i) ＞ WC+ β, by the sky parking stall
Being detected as can parking stall.If in addition, W (i)≤WC+ β, being judged as that the sky parking stall is not can parking stall.In addition, β is gap.
Can parking stall evaluation section 14 include to enter respectively can the path of navigation that is calculated of path of navigation on parking stall calculate
Portion 15 and to respectively can parking stall the parking difficulty determination unit 16 that is judged of parking difficulty.Then, for by that can stop
Parking stall determining section 13 determine it is each can parking stall evaluated.
Fig. 7 is the flow chart for showing evaluation processing (the step S13 of Fig. 2).First, can parking stall evaluation section 14 judgement be
It is no to it is all can parking stall complete evaluation (step S131), if do not complete, for it is unrated can parking stall calculate guiding
Path (step S132), and calculate until the steering number (step S133) until completing that stops.
Path of navigation calculating part 15 using the equation of state of formula (5) come calculate into respectively can parking stall path of navigation.
【Mathematical expression 3】
Wherein, α shows the steering angle of vehicle, and L shows the wheelbase of vehicle 30, and (x, y) shows the position of vehicle, and θ shows vehicle
Attitude angle (with reference to Fig. 8).In addition, in the formula, from the update times of α of the original state until completion status is guided
It is equivalent to and turns to number (with reference to Fig. 9).
Then, parking difficulty determination unit 16 calculate respectively can parking stall parking difficulty (step S134).Figure 10 is to stop
The definition graph of vehicle difficulty.In Figure 10 (a), Figure 10 (b), show stop into can parking stall when path of navigation, Figure 10 (a),
In all examples shown in Figure 10 (b), number is turned to by 3 times and complete parking.However, the situation of Figure 10 (a) and Figure 10 (b)
Situation compare, it is each turn between displacement distance it is shorter, therefore it is required that more fine shut-down operation.Specifically, because of throttle
Trample excessively or the trampling delay of brake and the error between causing and simulate becomes larger, as a result, the possibility to fail of stopping
It is higher, therefore it is higher to be properly termed as parking difficulty.
Then, parking difficulty determination unit 16 calculates parking difficulty by the summation reciprocal of the displacement distance between each steering
Easily degree evaluation of estimate C (formula (6)).
【Mathematical expression 4】
In addition, N shows steering number, dist (i) shows the movement being redirect to from ith until i+1 time turns to
Distance.Displacement distance between each steering is shorter, then difficulty of stopping evaluation of estimate C shows bigger value.It it is 3 times turning to number
In the case of, become C=1/ (displacement distance of the 1st time → the 2nd time)+1/ (displacement distance of the 2nd time → the 3rd time).
Here, vehicle stop position during the 1st steering is different and different according to driver, therefore considers the 1st time → the 2nd
The displacement distance of secondary steering includes larger error.Therefore, it is possible to by the displacement distance of the 1st time → the 2nd time steering from parking difficulty
Easily excluded in the calculating of degree C.Parking difficulty evaluation of estimate C in this case is represented by formula (7).
【Mathematical expression 5】
For it is all can after parking stall completes evaluation (calculating of path of navigation, the calculating for difficulty evaluation of estimate of stopping),
Can the evaluation processing on parking stall terminate.
Figure 11 is determining processing (Fig. 2 the step of on recommendation parking stall for showing that parking stall determining section 17 is recommended to be carried out
S14 flow chart).Hereinafter, according to the flow of Figure 11, the determining processing for recommending parking stall is illustrated.First, recommend parking
Position determining section 17 judge whether to it is all can parking stall complete processing (step S141), if there are it is untreated can parking stall,
It then can the following processing of parking stall progress to this.First, it is determined that whether parking difficulty evaluation of estimate C is less than defined upper limit value (step
Rapid S142).If stopping difficulty evaluation of estimate C more than defined upper limit value, return to step S141, if less than the defined upper limit
Value, then with parking difficulty evaluation of estimate C update upper limit values (step S143).Then, by this can parking stall be determined as recommend stop
Parking stall (step S144).By to it is all can parking stall carry out the processing, so as to which most easily to spend evaluation of estimate C minimum for parking difficulty at last
Can parking stall be determined as recommend parking stall.
Parking stall demonstration portion 18 is pushed away using the master unit 32 and instrument board 33 in 31 front of steering wheel shown in Figure 12
Recommend the demonstration (the step S15 of Fig. 2) on parking stall.In master unit 32, as shown in Figure 13 (a), parking stall weight will be recommended by showing
It is folded to be shown in image obtained from the camera image of the rear view of vehicle taken by image pickup section 41.In addition, stop with recommendation
Parking stall is shown as parking difficulty when path of navigation stops into recommendation parking stall together.Here, according to parking difficulty evaluation
Parking difficulty is divided into 5 grades by value C, and parking difficulty is shown with 5 grades.Therefore, driver can be with parking difficulty
Yi Du is reference, to determine whether stopping into recommendation parking stall.In instrument board 33, as shown in Figure 13 (b), show vehicle and stop
The birds-eye view of parking stall.Shown in the birds-eye view can parking stall (1), (2), wherein can parking stall (1) be determined as recommend parking
Position, and show enter can parking stall (1) path of navigation.Driver can observe the display, so as to grasp to stop stopping into recommendation
The driver behavior of parking stall.
In addition, parking stall demonstration portion 18 can be exported from the loud speaker for being equipped on vehicle " detects the position that can be stopped at two
Son.(1) it is 2 to need steering 3 times, parking difficulty.Recommend to stop into (1) if without special reason " or the like audio.
It, can be based on from the distance obtained apart from calculating part 12 in addition, image is as shown in figure 14 for getting a bird's eye view shown in Figure 13 (b)
Data generate.Figure 14 (a) shows that, from the range data obtained apart from calculating part 12, Figure 14 (b) is shown for instrument board
The birds-eye view of 33 display.
As noted previously, as it is demonstrated, therefore driver can be in the steering for having understood suggested recommendation parking stall
Judge whether to stop into recommendation parking stall on the basis of number and parking difficulty.In the example of Figure 13, when driver wants
When the place other than parking stall is recommended to stop, can be selected for example, by touching picture or pressing the operations such as specific switch
It can parking stall (2).Show that picture in this case shows example in Figure 15.Figure 15 (a) shows the display example of master unit 32,
Figure 15 (b) shows the display example of instrument board 33.It, can be selected by parking stall (2) be used as in this case, as shown in Figure 15 (a)
Parking stall shown, and can parking stall (2) steering number and difficulty be shown in master unit 32.In addition, as schemed
Shown in 15 (b), showed access into instrument board 33 in the form of birds-eye view can parking stall (2) path of navigation.It is then possible to from
The loud speaker output for being equipped on vehicle " detects the seat that can be stopped at two.(2) need turn to 3 times, and turn between movement away from
From operation shorter, that needs are careful, therefore difficulty of stopping is 3.Recommend to stop into (1) if without special reason." or the like
Audio.
<A-3. variation>
In described above, apart from calculating part 12, can parking stall determining section 13, can parking stall evaluation section 14, recommend parking stall determine
Portion 17 and parking stall demonstration portion 18 by the processor 51 of Fig. 3 according to the software program for being stored in 52 grade of memory acted come
It realizes.However, instead, apart from calculating part 12, can parking stall determining section 13, can parking stall evaluation section 14, recommend parking
It is real that position determining section 17 and parking stall demonstration portion 18 can also realize that the signal processing circuit of the action is come by using hardware circuit
It is existing.As by software apart from calculating part 12, can parking stall determining section 13, can parking stall evaluation section 14, recommend parking stall determine
Portion 17 and parking stall demonstration portion 18, with hardware apart from calculating part 12, can parking stall determining section 13, can parking stall evaluation section 14,
Recommend the concept after parking stall determining section 17 and the combination of parking stall demonstration portion 18, " processing circuit " this term can also be used
Instead of " portion " this term.
In Fig. 1, all structures of parking aid 101 are illustrated as the structure for being equipped on vehicle 30, so
And each structure by the mobile terminals such as smart mobile phone or PDA, server etc. in addition to that as car-mounted device, can also be shared.Figure 16
In, the block diagram of parking aid 101 that shows the combination with car-mounted device and server and formed.In figure 16, shooting figure
As acquisition unit 11 and parking stall demonstration portion 18 are made of car-mounted device, apart from calculating part 12, can parking stall determining section 13, can stop
Position evaluation section 14 and recommendation parking stall determining section 17 are made of server.
<A-4. effect>
Parking aid 101 involved by embodiment 1 includes：The week of the vehicle is obtained from the camera for being equipped on vehicle
The shooting image acquiring unit 11 of shooting image enclosed；According to shooting image determine can parking stall can parking stall determining section 13；Meter
Calculate for by vehicle stop into can parking stall path of navigation path of navigation calculating part 15；It will stop according to path of navigation into can stop
The parking difficulty determination unit 16 that the difficulty of position is judged as parking difficulty；From can determine in parking stall to recommend parking
The recommendation parking stall determining section 17 of position；And parking stall will be recommended to be drilled together with the parking difficulty obtained according to path of navigation
Show to the parking stall demonstration portion 18 of the driver of vehicle.Therefore, driver can be based on parking difficulty to determine whether should stop
Enter to recommend parking stall.
In addition, between each steering of 16 calculating of parking difficulty determination unit until the parking of vehicle is completed according to path of navigation
Displacement distance summation reciprocal, and difficulty of stopping is judged based on the summation.Displacement distance between each steering is shorter, because
The slightly deviation on shut-down operation opportunity and cause parking fail possibility it is higher, in this case, can be by parking difficulty
Yi Du judges higher.
In addition, parking difficulty determination unit 16 turns between the 2nd steering the 1st time carried out according to path of navigation
The inverse of displacement distance is excluded from the calculating of the summation, the mistake of vehicle stop position when being turned to for the first time so as to eliminate
Difference can accurately judge difficulty of stopping.
In addition, when image pickup section 41 is the camera shot to the rear of vehicle, can be incited somebody to action in rear parking
The shooting image of the camera is shown in master unit 32, therefore can observe the image on one side, easily stops on one side.
In addition, in parking assistance method involved by embodiment 1, the week of vehicle is obtained from the camera for being equipped on vehicle
The shooting image enclosed, according to shooting image determine can parking stall, and calculate for by vehicle stop into can parking stall path of navigation,
Using according to path of navigation stop into can the difficulty on parking stall judge as parking difficulty, from can determine in parking stall to recommend
Parking stall, and the driver that parking stall will be recommended to be demonstrated to vehicle together with the parking difficulty obtained according to path of navigation.
Therefore, driver can be based on parking difficulty to determine whether should stop into recommendation parking stall.
<B. embodiment 2>
<B-1. structure>
Figure 17 is the block diagram for the structure for showing the parking aid 102 involved by embodiment 2.Parking aid 102 exists
On the basis of the structure of parking aid 101 involved by embodiment 1, personal authentication portion 19, preference database are further included
20 and preference consistent degree calculating part 21.
The image of preference database 20 is shown in Figure 18.Drivers preference data are registered in preference database 20.It drives
Member's preference data by driver's image (face image or fingerprint image), Pilot Name, drivers preference (it is can set multiple,
It is higher to be set in upper preference relative importance value) group form.Identically with general database, it can add, delete, repair
Correction data, drivers preference are not limited to the preference that can be evaluated by aftermentioned preference consistent degree calculating part 21.It drives
Member can freely be selected from the drivers preference data of restriction.
Assuming that by HDD (Hard Disk Drive：Hard disk drive) equipment as preference database 20, however
It can not have to equipment, and use cloud, server.Assuming that the data of driver's image are bit mappings, but in order to cut down capacity, also may be used
With reversible compression picture format as using PNG.If drivers preference data can be showed with integer type.This is because
Drivers preference data are defined as described above, thus, for example, can be as " being not desired to be parked in the side of advanced vehicle：1 ", " want to stop
In shady spot：2 " like that in advance associate drivers preference data with integer.
Personal authentication portion 19 identifies driver, and obtains the preference information of driver with reference to preference database 20.
Preference consistent degree calculating part 21 is recognized based on the image data received from shooting image acquiring unit 11 and from individual
The preference information that card portion 19 receives, and using image recognition algorithm come to respectively can the preference consistent degree on parking stall calculate.
<B-2. it acts>
Figure 19 is the flow chart for the molar behavior for showing parking aid 102.Parking aid 102 obtains shooting image
(step S21), determine can parking stall (step S22), and evaluate can parking stall (step S23).Above-mentioned steps and 1 institute of embodiment
The parking aid 101 being related to is identical.
Then, personal authentication portion 19 obtains the preference information (step S24) of driver.Figure 20 is to show personal authentication portion 19
The flow chart of the acquisition processing of the preference information of the driver carried out.Personal authentication portion 19 is in the preference information for obtaining driver
When, driver information (step S241) is obtained first.As the method for obtaining driver information, generally using face's certification, refer to
The certification based on image identification of line certification etc, but the certification based on the SIM card for being built in smart mobile phone can also be used.
In the case of face's certification, the face image of driver is shot using the camera 34 mounted on 33 top of instrument board, and should
Shooting image is sent to personal authentication portion 19.In the case of finger print identifying, obtained using the fingerprint for being installed on steering wheel 31
Sensor is taken to obtain the fingerprint image of driver, and the fingerprint image is sent to personal authentication portion 19.Based on SIM card
Certification in the case of, personal information is sent to individual by the SIM card insert port installed on SIM card direction of insertion disk 31
Authentication department 19.
Then, driver information is compared with the information being registered in preference database 20 in personal authentication portion 19, comes
Judge that the preference information consistent with driver information whether there is, whether register the preference information (step of driver
S242).If compare the result is that register the preference information of driver, obtain the preference information (step S244), and send
To preference consistent degree calculating part 21.If the preference information of unregistered driver, preference information is newly registered to preference database
20 (step S243), and obtain the preference information (step S244).
Figure 21 shows the registration picture of the preference information for the driver for being shown in instrument board 33.Believe in the preference of driver
In the case that breath has been registered in preference database 20, which is shown in instrument board 33.On the other hand, if driver
Preference information be not yet registered in preference database 20, then the picture of registering preference information is urged to be shown in instrument board 33.It drives
The facial photo for the person of sailing uses the shooting image for the camera 34 for being arranged on 33 top of instrument board.
In addition, preference information can not repeat to register.If want repeat register, will occur as shown in figure 22 pop-up show to
Driver gives a warning.
Figure 19 is returned to, in step s 25, preference consistent degree calculating part 21 is based on preference letter accessed in step S24
Breath, for respectively can parking stall calculate preference consistent degree.Figure 23 is to show that the preference that preference consistent degree calculating part 21 is carried out is consistent
The flow chart of the calculation processing of degree.Preference consistent degree calculating part 21 judges whether to calculate preference consistent degree to all preference informations
(step S251).
If in the presence of the preference information for not calculating preference consistent degree, preference consistent degree (step is calculated to the preference information
S252).Preference consistent degree calculating part 21 performs image identification for the shooting image accessed by shooting image acquiring unit 11 and calculates
Method, so as to judge respectively can parking stall it is consistent with drivers preference to which kind of degree.Here, it is used in the calculating of preference consistent degree
Image identification is to judge preference since people is based primarily upon the information from vision.For example, if drivers preference is " to be not desired to be parked in
The side of advanced vehicle ", it is determined that the vehicles of detected all vehicles calculates preference consistent degree.If drivers preference is " to think
It is parked in shady spot ", it is determined that the region more darker than surrounding calculates preference consistent degree.If drivers preference is " to be not desired to be parked in big
The side of type vehicle " then identifies that the character of the license plate number of vehicle determines vehicle, so as to calculating preference consistent degree.As a result, in preference one
In cause degree calculating part 21, the image recognition algorithm that preference consistent degree is correspondingly calculated with each preference information is installed.
It is set as being standardized preference consistent degree with 0.0~1.0 value, it is completely inconsistent if 0.0, if 1.0
It is then completely the same.In image recognition failures, preference consistent degree can not be calculated in the case of (step S253：It is no), preference is consistent
Degree is set as 99 (step S254).
The preference consistent degree calculated, which is sent to, recommends parking stall determining section 17, if complete for all preference informations
Into calculating (the step S251 of preference consistent degree：It is), then the calculation processing of preference consistent degree terminates.
Figure 19 is returned, after preference consistent degree is calculated, parking stall determining section 17 is recommended to determine to recommend parking stall (step
S26).In embodiment 1, parking stall determining section 17 is recommended to determine to recommend to stop by the minimum parking stall of difficulty of stopping
Position, however in embodiment 2, other than difficulty of stopping, preference consistent degree, steering number are taken into account to determine to push away
Recommend parking stall.
Figure 24 is the flow chart for the summary that the recommendation parking stall for showing that parking stall determining section 17 is recommended to be carried out determines processing.
Hereinafter, to parking stall is recommended to determine that processing illustrates.Recommend parking stall determining section 17 first from preference can be selected in parking stall
The higher parking stall of consistent degree, which is used as, recommends the 1st candidate (step S261) of parking stall.Then, from recommendation the 1st candidate of parking stall
The parking stall that middle selection turns to number minimum, which is used as, recommends the 2nd candidate (step S262) of parking stall.Then, from recommendation parking stall
The minimum parking stall of difficulty of stopping is determined as recommendation parking stall (step S263) in 2nd candidate.
Figure 25 is the flow chart for showing to recommend the selection processing (the step S261 of Figure 24) of the 1st candidate of parking stall.It is hereinafter, right
The selection processing of the 1st candidate of parking stall is recommended to illustrate.Parking stall determining section 17 is recommended to judge whether to stop all
Parking stall complete recommend the 1st candidate of parking stall selection processing (step S2611), if do not complete if to it is untreated can parking stall
Carry out following handle.That is, it is judged that the preference information (step S2612) with the presence or absence of driver.It if, will there is no preference information
In processing can parking stall be registered as recommending the 1st candidate (step S2613) of parking stall, and return to step S2611.
In the case of there are preference information, judge whether to complete preference consistent degree to existing all preference informations
Judgement processing (step S2614).If the judgement processing of preference consistent degree does not complete, advance for the preference information not judged
Processing to step S2615.
In step S2615, preference consistent degree is judged whether more than threshold value, is situation more than threshold value in preference consistent degree
Under, by processing can parking stall be registered as recommend the 1st candidate (step S2616) of parking stall.If preference consistent degree is less than threshold value,
In the case of there are other untreated preference informations, preference consistent degree is carried out to the preference information by then return to step S2614
Judgement (step S2615).Therefore, for any preference information can the preference consistent degree on parking stall be situation more than threshold value
Under, select this can parking stall be used as recommend the 1st candidate of parking stall.
If for it is all can parking stall complete more than handle (step S2611：It is), then recommend the 1st candidate of parking stall
Selection processing terminate.By handling above, in the case of there is no preference information by it is all can parking stall selected as push away
Recommend the 1st candidate of parking stall, in the case of there are preference information, by for the preference consistent degree of any preference information threshold value with
On can parking stall selected as recommend the 1st candidate of parking stall.
Figure 26 is the flow chart for showing to recommend the selection processing (the step S262 of Figure 24) of the 2nd candidate of parking stall.It is hereinafter, right
The selection processing of the selection processing of the 2nd candidate of parking stall is recommended to illustrate.Recommend parking stall determining section 17 judge whether for
All the 1st candidates of recommendation parking stall complete the selection processing (step S2621) for recommending the 2nd candidate of parking stall, if not completing
Following handle then is carried out for untreated recommendation the 1st candidate of parking stall.That is, it is judged that the steering of the 1st candidate of recommendation parking stall
(step S2622) below the upper limit whether number.Here, the initial value for turning to the upper limit value of number has been preset.If turn
It to number below the upper limit, then, will with the steering number of the 1st candidate of recommendation parking stall update upper limit value (step S2623)
The 1st candidate selected as of recommendation parking stall recommends the 2nd candidate (step S2624) of parking stall, and return to step S2621.
On the other hand, if turning to number more than upper limit value, direct return to step S2621.If for all recommendations
The 1st candidate of parking stall completes the selection processing for recommending the 2nd candidate of parking stall, then terminates to recommend the selection of the 2nd candidate of parking stall
Processing.By handling above, the 1st candidate of recommendation parking stall for turning to number minimum is selected as recommending the 2nd candidate of parking stall.
Figure 27 is the flow chart for showing to recommend the selection processing (the step S263 of Figure 24) on parking stall.Hereinafter, recommendation is stopped
The determining processing of parking stall illustrates.Parking stall determining section 17 is recommended to judge whether to recommend the 2nd candidate (step of parking stall
S2631).If there is no the 2nd candidate of parking stall is recommended, do not select to recommend parking stall, and terminate to handle.Recommend parking existing
In the case of the 2nd candidate of position, judge whether to complete all the 2nd candidates of recommendation parking stall at the determining place for recommending parking stall
It manages (step S2632), following handle is carried out to untreated recommendation the 2nd candidate of parking stall if not completing.That is, it is judged that the recommendation
Whether the parking difficulty evaluation of estimate of the 2nd candidate of parking stall is less than upper limit value (step S2633).Here, parking difficulty evaluation
The initial value of the upper limit value of value has been preset.If difficulty evaluation of estimate of stopping is more than upper limit value, return to step S2632.
On the other hand, it if parking difficulty evaluation of estimate is less than upper limit value, is evaluated with the parking difficulty of the 2nd candidate of recommendation parking stall
Value update upper limit value (step S2634), by the recommendation parking stall, the 2nd candidate is determined as recommending parking stall (step S2635), and return
Return step S2632.
In addition, respectively can the parking difficulty evaluation of estimate on parking stall be obtained by parking difficulty determination unit 16, details
As in embodiment 1 it is stated that as.
If completing all the 2nd candidates of recommendation parking stall the determining processing for recommending parking stall, terminate to recommend to stop
The determining processing of parking stall.By handling above, the 2nd candidate of recommendation parking stall for difficulty evaluation of estimate minimum of stopping is determined as pushing away
Recommend parking stall.
Figure 28,29 be recommendation parking stall in parking stall demonstration portion 18 is shown drill exemplary figure.Figure 28 shows driving
The demonstration on the recommendation parking stall when preference of member is " side for being not desired to be parked in advanced vehicle ".18 use direction disk of parking stall demonstration portion
The master unit 32 and instrument board 33 in 31 fronts recommend the demonstration (with reference to Figure 12) on parking stall.Figure 28 (a) shows main list
The display picture of member 32, Figure 28 (b) show the display picture of instrument board 33.It is shown in instrument board 33 and shows to recommend parking
The birds-eye view of position, path of navigation and vehicle.In Figure 28 (b), can parking stall represented with (1), (2), however, as the side of (2)
While advanced vehicle is parked, thus it is inconsistent with the preference of driver.Therefore, (1) is demonstrated as parking stall is recommended.This
Outside, in master unit 32, showing, which will recommend parking stall to be overlapped, is shown in the rear view of vehicle taken by image pickup section 41
Image obtained from camera image also shows and turns to number " 3 times " and parking difficulty " 3 ".In addition, parking stall demonstration portion
18 from be equipped on vehicle loud speaker export " detect at 1 with " side for being not desired to be parked in advanced vehicle " this drivers preference one
What is caused can parking stall.(1) it needs to turn to 3 times.Due to turning to, front and rear displacement distance is shorter therefore parking difficulty is 3 " etc
Audio.As a result, driver recognize it is suggested go out recommendation parking stall and " side for being not desired to be parked in advanced vehicle " this itself
Preference is consistent but the higher situation of parking difficulty, can judge whether stop into recommendation parking stall on this basis.
Figure 29 shows the demonstration on the recommendation parking stall when preference of driver is " wanting to be parked in shady spot ".It is similary with Figure 28
Ground, Figure 29 (a) show the display picture of master unit 32, and Figure 29 (b) shows the display picture of instrument board 33.In Figure 29 (b)
In, can parking stall represented with (1), (2), however, as (1) be not shady spot thus it is inconsistent with the preference of driver.Cause
This, (2) are demonstrated as parking stall is recommended.In addition, in master unit 32, parking stall overlapping display will be recommended by showing
The image obtained from the camera image of the rear view of vehicle taken by image pickup section 41 also shows and turns to number " 3
It is secondary " and parking difficulty " 2 ".In addition, parking stall demonstration portion 18 is exported from the loud speaker for being equipped on vehicle " with " thinking at detecting 1
Be parked in shady spot " this drivers preference it is consistent can parking stall.(2) it needs to turn to 3 times.Difficulty of stopping is 2 " etc sound
Frequently.As a result, driver recognize it is suggested go out recommendation parking stall and " wanting to be parked in shady spot " this itself preference it is consistent
And parking difficulty also not high situation, it can judge whether stop into recommendation parking stall on this basis.
<B-3. variation>
In explanation before this, it is the camera shot to the rear of vehicle 30 to illustrate image pickup section 41.However, due to
Image pickup section 41 can shoot parking stall, therefore can also the rear of vehicle 30 not shot and to front or side
The camera of Fang Jinhang shootings.In addition, it is the situation of the camera shot to the rear of vehicle 30 in image pickup section 41
Under, it has the following advantages, i.e.,：The shooting image of the camera can be shown in master unit 32 in rear parking, therefore can be with
The image is observed on one side, is easily stopped on one side.
In addition, parking aid 103 as shown in figure 30 is such, image pickup section 41 can also be to after vehicle 30
The camera of Fang Jinhang shootings and the combination of camera shot to the front of vehicle 30.In addition, it is added from Figure 30
Image pickup section 41 to shooting image acquiring unit 41 arrow the illustration is omitted.In this case, when stopping ahead, can will push away
The information overlap on parking stall is recommended on the image of vehicle front and is shown in master unit 32, therefore either stopping ahead still
In the case of rear parking, the readily comprehensible information for recommending parking stall can be prompted to driver.In addition, by using right
The multi-direction camera shot, so as to have the advantages that the image that can quickly and accurately obtain parking stall.
In addition, parking aid 104 as shown in figure 31 is such, image pickup section 41 can also be to after vehicle 30
The camera of Fang Jinhang shootings and the combination of camera shot to the side (right side, left side) of vehicle 30.Pass through shooting
The side of vehicle 30, other than it can accurately generate the birds-eye view in instrument board 33, moreover it is possible to be accurately proceed based on figure
As the calculating of the preference consistent degree of identification.
<B-4. effect>
Parking aid 102 involved by embodiment 2 is in the structure of the parking aid 101 involved by embodiment 1
On the basis of, it further includes：Personal authentication portion 19 (preference acquisition unit), the personal authentication portion 19 obtain the related of the driver of vehicle
The preference on parking stall；And preference consistent degree calculating part 21, the preference consistent degree calculating part 21 are based on shooting image, calculate and represent
Can the parking stall preference consistent degree to which kind of degree consistent with preference, recommend parking stall determining section 17 also based on preference consistent degree,
From can determine in parking stall to recommend parking stall.Therefore, it can demonstrate and the recommendation parking stall of the match those of driver.
Also, it is recommended to parking stall determining section 17 can determine to recommend parking more than threshold value from preference consistent degree in parking stall
Position, in the case where preference consistent degree calculating part 21 has failed the calculating of preference consistent degree, forcibly by preference consistent degree
The value being set as more than threshold value.Therefore, even if leading to not calculate preference consistent degree due to image recognition failures are when reasons
In the case of, it also can determine that and recommend parking stall.
In addition, parking is recommended to becoming together when being demonstrated to the driver of vehicle and recommending parking stall by parking stall demonstration portion 18
Position determining section 17 determines that the preference of the foundation on the recommendation parking stall is demonstrated.Therefore, driver can determine having understood
Recommend to judge whether to stop into recommendation parking stall on the basis of the preference of the foundation on parking stall.
In addition, above-mentioned preference is including at least the situation for being shady spot and is not adjacent to parking with the vehicle of specific vehicle
In the case of it is any, therefore the recommendation parking stall consistent with above-mentioned preference can be demonstrated.
In addition, parking aid 102 has preference database 20, which is previously stored with driving for vehicle
The preference on the related parking stall for the person of sailing.Personal authentication portion 19 (preference acquisition unit) obtains the driver of vehicle from preference database 20
Related parking stall preference.Therefore, even if user is not allowed to be inputted every time, preference can also be obtained.
In addition, in the case where image pickup section 41 is the camera shot to the rear of vehicle and front, preceding
During side's parking, the information overlap for recommending parking stall on the image of vehicle front and can be shown in master unit 32, therefore no matter
It is to stop ahead or in the case of rear parking, the readily comprehensible letter for recommending parking stall can be prompted to driver
Breath.In addition, by being shot to multi-direction, so as to quickly and accurately obtain the image on parking stall.
In addition, in the case where image pickup section 41 is the camera shot to the rear of vehicle, in addition to energy is high-precision
Except birds-eye view in degree ground generation instrument board 33, moreover it is possible to be accurately proceed the meter of preference consistent degree identified based on image
It calculates.
In addition, the present invention can be freely combined each embodiment or in its invention scope to each embodiment party
Formula is suitably deformed, omits.
The present invention is described in detail, but aforesaid way is only the example in all modes, and the present invention does not limit to
In this.The countless variations not illustrated are interpreted to obtain without departing from imagination in the scope of the present invention.
Label declaration
11 shooting image acquiring units, 12 apart from calculating part, 13 can parking stall determining section, 14 can parking stall evaluation section, 15 draw
Guiding path calculating part, 16 parking difficulty determination units, 17 recommend parking stall determining section, 18 parking stall demonstration portions, 19 personal authentications
Portion, 20 preference databases, 21 preference consistent degree calculating parts, 30 vehicles, 31 steering wheels, 32 master units, 33 instrument boards, 34 camera shootings
Head, 41 image pickup sections, 51 processors, 52 memories, 53 receiving parts, 101,102,103,104 parking aid.
Claims (12)
1. a kind of parking aid, which is characterized in that including：
Image acquiring unit is shot, which obtains the bat around the vehicle from the camera for being equipped on vehicle
Take the photograph image；
Can parking stall determining section, this can parking stall determining section according to the shooting image, determine can parking stall；
Path of navigation calculating part, the path of navigation calculating part calculate for by the vehicle stop into it is described can parking stall guiding road
Diameter；
Stop difficulty determination unit, the parking difficulty determination unit by according to the path of navigation stop into it is described can parking stall difficulty
Yi Du is judged as parking difficulty；
Recommend parking stall determining section, the recommendation parking stall determining section is based on the steering number and institute carried out according to the path of navigation
State in parking difficulty at least any one, can determine in parking stall to recommend parking stall from described；And
Parking stall demonstration portion, the parking stall demonstration portion is by the recommendation parking stall and the parking that is obtained according to the path of navigation
Difficulty is demonstrated to the driver of the vehicle together.
2. parking aid as described in claim 1, which is characterized in that
The parking difficulty determination unit is calculated between each steering until the parking of the vehicle is completed according to the path of navigation
Displacement distance reciprocal summation, and the parking difficulty is judged based on the summation.
3. parking aid as claimed in claim 2, which is characterized in that
The shifting that the parking difficulty determination unit turns between the 2nd steering the 1st time carried out according to the path of navigation
The inverse of dynamic distance forecloses to calculate the summation.
4. parking aid as described in claim 1, which is characterized in that further include：
Preference acquisition unit, the preference acquisition unit obtain the preference on the related parking stall of the driver of the vehicle；And
Preference consistent degree calculating part, the preference consistent degree calculating part are based on the shooting image, and calculating can parking stall described in representing
The preference consistent degree to which kind of degree consistent with the preference,
Based on the preference consistent degree, the recommendation parking can be also determined from described in parking stall for the recommendation parking stall determining section
Position.
5. parking aid as claimed in claim 4, which is characterized in that
The recommendation parking stall determining section from the preference consistent degree more than threshold value described in described push away can be determined in parking stall
Parking stall is recommended, in the case where the preference consistent degree calculating part has failed the calculating of preference consistent degree, forcibly by institute
State the value that preference consistent degree is set as more than threshold value.
6. parking aid as claimed in claim 4, which is characterized in that
The parking stall demonstration portion is pushed away when demonstrating the recommendation parking stall to the driver of the vehicle to becoming described together
It recommends parking stall determining section and determines that the preference of the foundation on the recommendation parking stall is demonstrated.
7. parking aid as claimed in claim 6, which is characterized in that
The preference is included at least in the case of being the situation of shady spot and not being adjacent to parking with the vehicle of specific vehicle
Any one.
8. parking aid as claimed in claim 4, which is characterized in that
Preference database is also equipped with, which is previously stored with the inclined of the related parking stall of the driver of the vehicle
It is good,
The preference acquisition unit obtains the preference on the related parking stall of the driver of the vehicle from the preference database.
9. parking aid as described in claim 1, which is characterized in that
The camera shoots the rear of the vehicle.
10. parking aid as claimed in claim 9, which is characterized in that
The camera in front of the vehicle also to shooting.
11. parking aid as claimed in claim 9, which is characterized in that
The camera also shoots the side of the vehicle.
12. a kind of parking assistance method, which is characterized in that
The shooting image around the vehicle is obtained from the camera for being equipped on vehicle,
According to it is described shooting image determine can parking stall,
Calculate for by the vehicle stop into it is described can parking stall path of navigation,
Using according to the path of navigation stop into it is described can the difficulty on parking stall judge as difficulty of stopping,
It can determine to recommend parking stall in parking stall from described,
The recommendation parking stall is demonstrated to the vehicle together with the parking difficulty obtained according to the path of navigation
Driver.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2015/080746 WO2017072955A1 (en) | 2015-10-30 | 2015-10-30 | Parking assistance device and parking assistance method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108140313A true CN108140313A (en) | 2018-06-08 |
Family
ID=58629970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580083978.1A Pending CN108140313A (en) | 2015-10-30 | 2015-10-30 | Parking aid and parking assistance method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6509361B2 (en) |
| CN (1) | CN108140313A (en) |
| WO (1) | WO2017072955A1 (en) |
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| CN109598972A (en) * | 2018-11-23 | 2019-04-09 | 中汽研（天津）汽车工程研究院有限公司 | A kind of detection of automatic parking parking stall and range-measurement system of view-based access control model |
| CN110304051A (en) * | 2019-07-12 | 2019-10-08 | 威马智慧出行科技（上海）有限公司 | Automatic parking recommended method, electronic equipment and automobile |
| CN110675651A (en) * | 2019-09-29 | 2020-01-10 | 百度在线网络技术（北京）有限公司 | Parking lot recommendation method and device |
| CN112158191A (en) * | 2020-06-24 | 2021-01-01 | 上汽通用五菱汽车股份有限公司 | Automatic parking method, system and readable storage medium |
| CN114255596A (en) * | 2022-03-01 | 2022-03-29 | 江苏九比特信息***有限公司 | Parking lot parking space recommendation system and method based on big data |
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| US10621867B2 (en) * | 2017-08-23 | 2020-04-14 | Continental Automotive Systems, Inc. | Unmanned aerial vehicle assisted system for vehicle reverse and parking |
| JP7009336B2 (en) * | 2018-09-11 | 2022-01-25 | 本田技研工業株式会社 | Parking control device and parking control method |
| CN112950979A (en) * | 2019-12-10 | 2021-06-11 | 奥迪股份公司 | Parking space recommendation method and device, computer equipment and storage medium |
| US10957198B1 (en) | 2019-12-23 | 2021-03-23 | Industrial Technology Research Institute | System and method for determining parking space |
| TWI740318B (en) * | 2019-12-23 | 2021-09-21 | 財團法人工業技術研究院 | Parking space determination system and method thereof |
| KR20210095772A (en) * | 2020-01-23 | 2021-08-03 | 현대모비스 주식회사 | System and method of providing parking guidance service of vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6509361B2 (en) | 2019-05-08 |
| WO2017072955A1 (en) | 2017-05-04 |
| JPWO2017072955A1 (en) | 2018-02-22 |
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Application publication date: 20180608 |