JP7380073B2 - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
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- JP7380073B2 JP7380073B2 JP2019192271A JP2019192271A JP7380073B2 JP 7380073 B2 JP7380073 B2 JP 7380073B2 JP 2019192271 A JP2019192271 A JP 2019192271A JP 2019192271 A JP2019192271 A JP 2019192271A JP 7380073 B2 JP7380073 B2 JP 7380073B2
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- 238000001514 detection method Methods 0.000 claims description 94
- 238000005192 partition Methods 0.000 claims description 92
- 238000000034 method Methods 0.000 description 44
- 238000003384 imaging method Methods 0.000 description 27
- 230000008569 process Effects 0.000 description 27
- 238000010586 diagram Methods 0.000 description 24
- 238000003708 edge detection Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 4
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- 238000006073 displacement reaction Methods 0.000 description 2
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- 239000007924 injection Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
-
- 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
- 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
-
- 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
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30264—Parking
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Image Analysis (AREA)
Description
短手方向の区画線の線幅の分、前端点P2の位置を駐車領域の内側に変更する(ステップS22)。
Claims (6)
- 駐車領域の長手方向と略平行な区画線を検出する第1検出部と、
前記第1検出部が検出した前記区画線により定められる位置に、前記区画線の境界を示すエッジ点を検出する領域である注目領域を設定する設定部と、
前記注目領域内の前記エッジ点に基づいて、前記駐車領域に車両が進入する進入側であって前記長手方向と略平行な前記区画線の端を示す前端位置を検出する第2検出部と、
前記前端位置に基づいて駐車位置を決定する決定部と、
前記長手方向と略平行な区画線が二重線であるか否かを判定する判定部と、
を備え、
前記設定部は、前記判定部が前記長手方向と略平行な区画線が二重線であると判定した場合に、二重線により形成された前記長手方向と略平行な区画線に基づいて、当該区画線の端部から所定距離の範囲内にある第1領域に前記注目領域を設定し、
前記決定部は、前記第1領域から検出された前記前端位置に基づいて、前記駐車位置を決定する、
駐車支援装置。 - 前記長手方向と直交する直交方向の分割線により前記注目領域を複数の分割領域に分割する分割部を更に備え、
前記第2検出部は、前記分割領域内の前記エッジ点に基づいて、前記駐車領域に車両が進入する進入側であって前記長手方向と略平行な前記区画線の端を示す前端位置を検出する、
請求項1に記載の駐車支援装置。 - 前記第2検出部は、前記エッジ点に基づいて定められる前記分割領域と、区画線の検出結果に基づいて前記前端位置を特定する、
請求項2に記載の駐車支援装置。 - 前記設定部は、前記判定部が前記長手方向と略平行な区画線が二重線ではないと判定した場合に、単線により形成された区画線の端部を含む第2領域と、当該第2領域の側方であって前記駐車領域の短手方向に位置する第3領域とに前記注目領域を設定し、
前記決定部は、前記長手方向と直交する直交方向の区画線を前記第3領域から検出しなかった場合に、前記第2領域から検出した前記前端位置に基づいて、前記駐車位置を決定する、
請求項1に記載の駐車支援装置。 - 前記決定部は、前記直交方向の区画線を前記第3領域から検出した場合に、前記前端位置と当該区画線の線幅とに基づいて、前記駐車位置を決定する、
請求項4に記載の駐車支援装置。 - 前記判定部は、前記長手方向と略平行な区画線と、当該区画線と隣接する前記長手方向と略平行な区画線との前記長手方向と直交する直交方向の距離が閾値以下の場合に、二重線であると判定する、
請求項1から請求項5の何れか一項に記載の駐車支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019192271A JP7380073B2 (ja) | 2019-10-21 | 2019-10-21 | 駐車支援装置 |
DE102020127533.1A DE102020127533A1 (de) | 2019-10-21 | 2020-10-20 | Parkassistenzvorrichtung |
CN202011130820.4A CN112758083A (zh) | 2019-10-21 | 2020-10-21 | 停车辅助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019192271A JP7380073B2 (ja) | 2019-10-21 | 2019-10-21 | 駐車支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021068124A JP2021068124A (ja) | 2021-04-30 |
JP7380073B2 true JP7380073B2 (ja) | 2023-11-15 |
Family
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JP2019192271A Active JP7380073B2 (ja) | 2019-10-21 | 2019-10-21 | 駐車支援装置 |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP7380073B2 (ja) |
CN (1) | CN112758083A (ja) |
DE (1) | DE102020127533A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008284969A (ja) | 2007-05-16 | 2008-11-27 | Aisin Seiki Co Ltd | 駐車支援装置 |
JP2013018406A (ja) | 2011-07-12 | 2013-01-31 | Fujitsu Ten Ltd | 駐車枠の認識装置、駐車枠の認識方法、及び、プログラム |
JP2014107696A (ja) | 2012-11-27 | 2014-06-09 | Clarion Co Ltd | 車載画像処理装置 |
JP2014106706A (ja) | 2012-11-27 | 2014-06-09 | Clarion Co Ltd | 車載画像処理装置 |
JP2014126921A (ja) | 2012-12-25 | 2014-07-07 | Nippon Soken Inc | 車載画像処理装置 |
-
2019
- 2019-10-21 JP JP2019192271A patent/JP7380073B2/ja active Active
-
2020
- 2020-10-20 DE DE102020127533.1A patent/DE102020127533A1/de active Pending
- 2020-10-21 CN CN202011130820.4A patent/CN112758083A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008284969A (ja) | 2007-05-16 | 2008-11-27 | Aisin Seiki Co Ltd | 駐車支援装置 |
JP2013018406A (ja) | 2011-07-12 | 2013-01-31 | Fujitsu Ten Ltd | 駐車枠の認識装置、駐車枠の認識方法、及び、プログラム |
JP2014107696A (ja) | 2012-11-27 | 2014-06-09 | Clarion Co Ltd | 車載画像処理装置 |
JP2014106706A (ja) | 2012-11-27 | 2014-06-09 | Clarion Co Ltd | 車載画像処理装置 |
JP2014126921A (ja) | 2012-12-25 | 2014-07-07 | Nippon Soken Inc | 車載画像処理装置 |
Non-Patent Citations (2)
Title |
---|
Changmu Seo,Vision-based Approach in Finding Multitype Parking Stall Entrance,2018 International Conference on Network Infrastructure and Digital Content,2018年,P.352-357,https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8525525 |
植中 裕史,駐車支援システム インテリジェントパーキングアシストの紹介,計測と制御,日本,公益社団法人計測自動制御学会,2015年11月10日,第54巻 第11号,P.836-840 |
Also Published As
Publication number | Publication date |
---|---|
CN112758083A (zh) | 2021-05-07 |
DE102020127533A1 (de) | 2021-04-22 |
JP2021068124A (ja) | 2021-04-30 |
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