JP2022055774A - 駐車支援システム、駐車支援装置、駐車支援方法、及びプログラム - Google Patents
駐車支援システム、駐車支援装置、駐車支援方法、及びプログラム Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 33
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- 238000004364 calculation method Methods 0.000 claims description 17
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- 238000001514 detection method Methods 0.000 abstract description 40
- 238000005259 measurement Methods 0.000 abstract 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B62D15/0285—Parking performed automatically
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
Claims (6)
- 超音波の反射を利用して移動体から障害物までの距離を示す距離情報を取得する測距部と、
駐車領域を示す区画線を検出する検出部と、
前記区画線が検出されない場合に、前記距離情報と予め定められた方向とに基づき前記障害物の延長方向を推定し、前記区画線が検出された場合に、前記距離情報と前記区画線とに基づき前記障害物の延長方向を推定する推定部と、
前記推定部により推定された前記延長方向に基づき前記移動体の移動経路を生成する生成部と、
を備える駐車支援システム。 - 前記区画線が検出された場合に、前記区画線に基づき推定された前記延長方向に基づき、前記移動体が前記駐車領域へ侵入する際に通行可能な間口距離を算出する算出部、
を更に備える請求項1に記載の駐車支援システム。 - 前記距離情報に基づき複数の障害物が検出され、且つ前記区画線が検出された場合に、前記区画線に基づき前記複数の障害物を1つの障害物に統合するための処理を行う統合部、
を更に備える請求項1又は2に記載の駐車支援システム。 - 超音波の反射を利用して取得された、移動体から障害物までの距離を示す距離情報に基づき、前記移動体を駐車領域に駐車させる際の前記移動体の移動を支援するための処理を行う駐車支援装置であって、
前記駐車領域を示す区画線が検出されない場合に、前記距離情報と予め定められた方向とに基づき前記障害物の延長方向を推定し、前記区画線が検出された場合に、前記距離情報と前記区画線とに基づき前記障害物の延長方向を推定する推定部と、
前記推定部により推定された前記延長方向に基づき前記移動体の移動経路を生成する生成部と、
を備える駐車支援装置。 - 超音波の反射を利用して移動体から障害物までの距離を示す距離情報を取得する工程と、
駐車領域を示す区画線を検出する工程と、
前記区画線が検出されない場合に、前記距離情報と予め定められた方向とに基づき前記障害物の延長方向を推定する工程と、
前記区画線が検出された場合に、前記距離情報と前記区画線とに基づき前記障害物の延長方向を推定する工程と、
推定された前記延長方向に基づき前記移動体の移動経路を生成する工程と、
を含む駐車支援方法。 - 超音波の反射を利用して取得された移動体から障害物までの距離を示す距離情報に基づき、前記移動体が駐車領域に駐車する際の前記移動体の移動を支援するための処理を行うコンピュータに、
前記駐車領域を示す区画線が検出されない場合に、前記距離情報と予め定められた方向とに基づき前記障害物の延長方向を推定する処理と、
前記区画線が検出された場合に、前記距離情報と前記区画線とに基づき前記障害物の延長方向を推定する処理と、
推定された前記延長方向に基づき前記移動体の移動経路を生成する処理と、
を実行させるプログラム。
Priority Applications (3)
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JP2020163393A JP2022055774A (ja) | 2020-09-29 | 2020-09-29 | 駐車支援システム、駐車支援装置、駐車支援方法、及びプログラム |
CN202111128147.5A CN114312756A (zh) | 2020-09-29 | 2021-09-26 | 停车辅助***、停车辅助装置、停车辅助方法以及记录介质 |
DE102021124948.1A DE102021124948A1 (de) | 2020-09-29 | 2021-09-27 | Einparkhilfesystem, einparkhilfevorrichtung, einparkhilfeverfahren und aufzeichnungsmedium |
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JP2020163393A JP2022055774A (ja) | 2020-09-29 | 2020-09-29 | 駐車支援システム、駐車支援装置、駐車支援方法、及びプログラム |
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JP2022055774A true JP2022055774A (ja) | 2022-04-08 |
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JP2020163393A Pending JP2022055774A (ja) | 2020-09-29 | 2020-09-29 | 駐車支援システム、駐車支援装置、駐車支援方法、及びプログラム |
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JP (1) | JP2022055774A (ja) |
CN (1) | CN114312756A (ja) |
DE (1) | DE102021124948A1 (ja) |
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DE102022204256A1 (de) | 2022-04-29 | 2023-11-02 | Robert Bosch Gesellschaft mit beschränkter Haftung | Fahrassistenzsystem zur Unterstützung eines Einparkvorgangs eines Fahrzeuges |
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- 2020-09-29 JP JP2020163393A patent/JP2022055774A/ja active Pending
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2021
- 2021-09-26 CN CN202111128147.5A patent/CN114312756A/zh active Pending
- 2021-09-27 DE DE102021124948.1A patent/DE102021124948A1/de active Pending
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CN114312756A (zh) | 2022-04-12 |
DE102021124948A1 (de) | 2022-03-31 |
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