JP2017105266A - 駐車支援装置、駐車支援方法及び駐車支援プログラム - Google Patents
駐車支援装置、駐車支援方法及び駐車支援プログラム Download PDFInfo
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- JP2017105266A JP2017105266A JP2015239092A JP2015239092A JP2017105266A JP 2017105266 A JP2017105266 A JP 2017105266A JP 2015239092 A JP2015239092 A JP 2015239092A JP 2015239092 A JP2015239092 A JP 2015239092A JP 2017105266 A JP2017105266 A JP 2017105266A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/28—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
- B62D15/0295—Steering assistants using warnings or proposing actions to the driver without influencing the steering system by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
- B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
自車両を駐車開始位置から駐車目標位置まで誘導するための誘導画像を表示する表示部と、
前記撮像部による撮像結果、前記駐車開始位置及び前記駐車目標位置を含む基本情報に基づいて、駐車ルートを示す駐車ガイド情報を作成する駐車ガイド作成部と、
前記駐車ガイド情報に基づいて、自車両が移動しうる移動領域を特定する移動領域特定部と、
前記表示部に、前記駐車ガイド情報に基づく前記誘導画像とともに、前記移動領域を示す画像を表示させる表示制御部と、を備えることを特徴とする。
(A)自車両の周囲の撮像画像を取得する工程と、
(B)駐車開始位置及び駐車目標位置を取得する工程と、
(C)前記撮像画像、前記駐車開始位置及び前記駐車目標位置を含む基本情報に基づいて、駐車ルートを示す駐車ガイド情報を作成する工程と、
(D)前記駐車ガイド情報に基づいて、自車両が移動しうる移動領域を特定する工程と、
(E)前記駐車ガイド情報に基づく誘導画像とともに、前記移動領域を示す画像を表示する工程と、を備えることを特徴とする。
(A)自車両の周囲の撮像画像を取得する処理と
(B)駐車開始位置及び駐車目標位置を取得する処理と、
(C)前記撮像画像、前記駐車開始位置及び前記駐車目標位置を含む基本情報に基づいて、駐車ルートを示す駐車ガイド情報を作成する処理と、
(D)前記駐車ガイド情報に基づいて、自車両が移動しうる移動領域を特定する処理と、
(E)前記駐車ガイド情報に基づく誘導画像とともに、前記移動領域を示す画像を表示する処理と、を実行させることを特徴とする。
11 制御部
11A 画像管理部
11B 駐車ガイド作成部
11C 移動予想軌跡作成部
11D 表示制御部
11E 移動領域特定部
11F 停止位置特定部
12 撮像部
13 表示部
14 音声出力部
15 操作部
16 舵角センサー
AR 移動領域
BR 障害物領域
I3 停止アイコン
Claims (5)
- 自車両の周囲を撮像する撮像部と、
自車両を駐車開始位置から駐車目標位置まで誘導するための誘導画像を表示する表示部と、
前記撮像部による撮像結果、前記駐車開始位置及び前記駐車目標位置を含む基本情報に基づいて、駐車ルートを示す駐車ガイド情報を作成する駐車ガイド作成部と、
前記駐車ガイド情報に基づいて、自車両が移動しうる移動領域を特定する移動領域特定部と、
前記表示部に、前記駐車ガイド情報に基づく前記誘導画像とともに、前記移動領域を示す画像を表示させる表示制御部と、を備える、駐車支援装置。 - 現在のステアリングホイールの操舵角であるステアリング角度を検出するステアリング角度検出部を備え、
前記駐車ガイド作成部は、前記基本情報及び駐車開始時の前記ステアリング角度に基づいて前記駐車ガイド情報を作成し、
前記移動領域特定部は、前記ステアリング角度の変化に応じて前記駐車ガイド情報が変化した場合、前記移動領域を改めて特定する、請求項1に記載の駐車支援装置。 - 前記表示制御部は、前記駐車ガイド情報に含まれる切り返し回数に応じて、前記移動領域の表示態様を変化させる、請求項1又は2に記載の駐車支援装置。
- (A)自車両の周囲の撮像画像を取得する工程と、
(B)駐車開始位置及び駐車目標位置を取得する工程と、
(C)前記撮像画像、前記駐車開始位置及び前記駐車目標位置を含む基本情報に基づいて、駐車ルートを示す駐車ガイド情報を作成する工程と、
(D)前記駐車ガイド情報に基づいて、自車両が移動しうる移動領域を特定する工程と、
(E)前記駐車ガイド情報に基づく誘導画像とともに、前記移動領域を示す画像を表示する工程と、を備える、駐車支援方法。 - 駐車支援装置のコンピューターに、
(A)自車両の周囲の撮像画像を取得する処理と
(B)駐車開始位置及び駐車目標位置を取得する処理と、
(C)前記撮像画像、前記駐車開始位置及び前記駐車目標位置を含む基本情報に基づいて、駐車ルートを示す駐車ガイド情報を作成する処理と、
(D)前記駐車ガイド情報に基づいて、自車両が移動しうる移動領域を特定する処理と、
(E)前記駐車ガイド情報に基づく誘導画像とともに、前記移動領域を示す画像を表示する処理と、を実行させる、駐車支援プログラム。
Priority Applications (13)
Application Number | Priority Date | Filing Date | Title |
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JP2015239092A JP6745456B2 (ja) | 2015-12-08 | 2015-12-08 | 駐車支援装置、駐車支援方法及び駐車支援プログラム |
CN202110491926.5A CN113103958B (zh) | 2015-12-08 | 2016-12-06 | 停车辅助方法 |
US15/779,263 US10450004B2 (en) | 2015-12-08 | 2016-12-06 | Parking assistance device, parking assistance method, and parking assistance program |
PCT/JP2016/005064 WO2017098720A1 (ja) | 2015-12-08 | 2016-12-06 | 駐車支援装置、駐車支援方法及び駐車支援プログラム |
CN201680070726.XA CN108367721B (zh) | 2015-12-08 | 2016-12-06 | 停车辅助装置、停车辅助方法以及停车辅助程序 |
DE112016005614.1T DE112016005614T5 (de) | 2015-12-08 | 2016-12-06 | Parkassistenzvorrichtung, Parkassistenzverfahren und Parkassistenzprogramm |
US16/566,352 US10683035B2 (en) | 2015-12-08 | 2019-09-10 | Parking assistance device, parking assistance method, and non-transitory computer readable medium |
US16/867,119 US11285997B2 (en) | 2015-12-08 | 2020-05-05 | Parking assistance device, parking assistance method, and non-transitory computer readable medium |
JP2020095686A JP6931818B2 (ja) | 2015-12-08 | 2020-06-01 | 駐車支援装置、駐車支援方法及び駐車支援プログラム |
US17/355,886 US11208147B2 (en) | 2015-12-08 | 2021-06-23 | Parking assistance device, parking assistance method, and non-transitory computer readable medium |
US17/675,514 US11591022B2 (en) | 2015-12-08 | 2022-02-18 | Parking assistance device, parking assistance method, and non-transitory computer readable medium |
US18/099,080 US11767059B2 (en) | 2015-12-08 | 2023-01-19 | Parking assistance device, parking assistance method, and non-transitory computer readable medium |
US18/233,004 US20230382457A1 (en) | 2015-12-08 | 2023-08-11 | Parking assistance device, parking assistance method, and non-transitory computer readable medium |
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US (1) | US10450004B2 (ja) |
JP (1) | JP6745456B2 (ja) |
CN (2) | CN113103958B (ja) |
DE (1) | DE112016005614T5 (ja) |
WO (1) | WO2017098720A1 (ja) |
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WO2017098720A1 (ja) | 2017-06-15 |
US20180327028A1 (en) | 2018-11-15 |
CN108367721B (zh) | 2021-05-25 |
US10450004B2 (en) | 2019-10-22 |
CN113103958B (zh) | 2023-10-27 |
CN108367721A (zh) | 2018-08-03 |
CN113103958A (zh) | 2021-07-13 |
JP6745456B2 (ja) | 2020-08-26 |
DE112016005614T5 (de) | 2018-09-13 |
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