TWI832598B - Intelligent parking assistance device and display method of intelligent parking assistance information - Google Patents
Intelligent parking assistance device and display method of intelligent parking assistance information Download PDFInfo
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Abstract
Description
本揭露是有關於一種電子裝置及資訊顯示方法,且特別是有關於一種智慧停車輔助裝置及智慧停車輔助資訊之顯示方法。 The present disclosure relates to an electronic device and an information display method, and in particular, to a smart parking auxiliary device and a smart parking auxiliary information display method.
在城市裡,為了方便駕駛停車,通常會在道路邊緣規劃停車格。由於市區空間有限,停車格通常相當密集,要順利將車輛停入停車格並不容易。 In cities, in order to facilitate driving and parking, parking spaces are usually planned on the edge of the road. Due to the limited space in urban areas, parking spaces are usually quite dense, and it is not easy to park a vehicle smoothly into the parking spaces.
此外,目前雖然在一些車輛有裝設倒車雷達、輔助攝影鏡頭,但大都是關注於車輛與其他車輛或牆面的距離,並未針對停車格進行偵測與判斷。對駕駛而言,如何順利將車輛停入停車格仍然是一件相當頭痛的事情。 In addition, although some vehicles are currently equipped with reversing radar and auxiliary photography lenses, most of them focus on the distance between the vehicle and other vehicles or walls, and do not detect and judge parking spaces. For drivers, how to smoothly park a vehicle into a parking space is still a headache.
本揭露係有關於一種智慧停車輔助裝置及智慧停車輔助資訊之顯示方法,其利用影像處理及分析技術,在各種車輛進入停車格時,都可以順利分析出車輛方位,以繪製出俯視圖。如此一來,車輛進入停車格時,可以透過顯示單元提供的資訊輔助駕駛順利將車輛停入停車格內。 The present disclosure relates to a smart parking auxiliary device and a method for displaying smart parking auxiliary information, which use image processing and analysis technology to smoothly analyze the vehicle orientation when various vehicles enter the parking grid to draw a top view. In this way, when the vehicle enters the parking space, the information provided by the display unit can be used to assist the driver in successfully parking the vehicle into the parking space.
根據本揭露之一方面,提出一種智慧停車輔助裝置。智慧停車輔助裝置包括一影像擷取單元、一處理單元及一顯示單元。影像擷取單元設置於一固定座上。固定座固定設置於一停車格之一側。影像擷取單元用以對停車格及進入停車格之一車輛拍攝一影像。處理單元包括一輪胎辨識器、一車輛方位分析器及一圖形繪製器。輪胎辨識器用以依據影像,辨識車輛之一第一輪胎與一第二輪胎。車輛方位分析器用以依據影像中之第一輪胎、第二輪胎與停車格,分析車輛相對於停車格之一車輛方向與一車輛位置。圖形繪製器用以依據車輛相對於停車格之車輛方向與車輛位置,繪製車輛相對於停車格之一俯視圖。顯示單元設置於固定座上。顯示單元用以顯示俯視圖。 According to one aspect of the present disclosure, a smart parking assistance device is provided. The smart parking assistance device includes an image capture unit, a processing unit and a display unit. The image capturing unit is installed on a fixed base. The fixed base is fixedly arranged on one side of a parking grid. The image capturing unit is used to capture an image of the parking space and a vehicle entering the parking space. The processing unit includes a tire identifier, a vehicle orientation analyzer and a graphics renderer. The tire identifier is used to identify a first tire and a second tire of the vehicle based on the image. The vehicle orientation analyzer is used to analyze a vehicle direction and a vehicle position of the vehicle relative to the parking grid based on the first tire, the second tire and the parking grid in the image. The graphics renderer is used to draw a top view of the vehicle relative to the parking grid based on the vehicle direction and vehicle position relative to the parking grid. The display unit is arranged on the fixed base. The display unit is used to display a top view.
根據本揭露之另一方面,提出一種智慧停車輔助資訊之顯示方法。智慧停車輔助資訊之顯示方法包括以下步驟。以設置於固定座上之一影像擷取單元對一停車格及進入停車格之一車輛拍攝一影像。固定座固定設置於停車格之一側。依據影像,辨識車輛之一第一輪胎與一第二輪胎。依據影像中之第一輪胎、第二輪胎與停車格,分析車輛相對於停車格之一車輛方向與一車輛 位置。依據車輛相對於停車格之車輛方向與車輛位置,繪製車輛相對於停車格之一俯視圖。以設置於固定座上之一顯示單元顯示該俯視圖。 According to another aspect of the present disclosure, a method for displaying smart parking assistance information is proposed. The method of displaying smart parking assistance information includes the following steps. An image is taken of a parking grid and a vehicle entering the parking grid with an image capturing unit installed on the fixed base. The fixed base is fixedly arranged on one side of the parking grid. Based on the image, a first tire and a second tire of the vehicle are identified. Based on the first tire, second tire and parking grid in the image, analyze the direction of the vehicle relative to the parking grid and a vehicle Location. Based on the vehicle direction and vehicle position relative to the parking grid, draw a top view of the vehicle relative to the parking grid. The top view is displayed with a display unit arranged on the fixed base.
為了對本揭露之上述及其他方面有更佳的瞭解,下文特舉實施例,並配合所附圖式詳細說明如下: In order to have a better understanding of the above and other aspects of the present disclosure, embodiments are given below and described in detail with reference to the accompanying drawings:
100,200:智慧停車輔助裝置 100,200:Smart parking assist device
110:影像擷取單元 110:Image capture unit
120,220:處理單元 120,220: Processing unit
122,222:車型辨識器 122,222: Car model identifier
123,226:校正器 123,226:Corrector
124,224:輪胎辨識器 124,224: Tire identifier
125,225:車輛方位分析器 125,225: Vehicle orientation analyzer
127,227:圖形繪製器 127,227:Graphics plotter
130:顯示單元 130:Display unit
700:車輛 700:Vehicle
800:停車格 800:Parking space
900:固定座 900: Fixed seat
A7:方向角度 A7: direction angle
BX11,BX21:第一物件框 BX11, BX21: first object frame
BX12,BX22:第二物件框 BX12, BX22: Second object frame
CR:預定校正資訊 CR: Scheduled calibration information
DR1,DR2:車輛方向 DR1, DR2: vehicle direction
FV:可視範圍 FV: visual range
IM11,IM11’:影像 IM11,IM11’:Image
IM11”:俯視圖 IM11”: top view
L1:第一邊線 L1: first sideline
L2:第二邊線 L2: Second sideline
L3:第三邊線 L3: Third sideline
L4:第四邊線 L4: Fourth sideline
LC1,LC2:車輛位置 LC1, LC2: vehicle position
LC11,LC21:第一輪胎位置 LC11, LC21: first tire position
LC12,LC22:第二輪胎位置 LC12, LC22: Second tire position
M7:轉向提示 M7: Steering prompts
MD1:車型 MD1: Car model
P7:車輛圖樣 P7: Vehicle pattern
P8:停車格圖樣 P8: Parking grid pattern
S110,S120,S130,S140,S150,S170,S180,S210,S220,S240,S250,S260,S270,S280:步驟 S110, S120, S130, S140, S150, S170, S180, S210, S220, S240, S250, S260, S270, S280: Steps
TR1:第一輪胎 TR1: No. 1 Tire
TR2:第二輪胎 TR2: Second tire
X11,X12,X21,X22,Y11,Y12,Y21,Y22:距離 X11,X12,X21,X22,Y11,Y12,Y21,Y22: distance
第1圖繪示根據一實施例之智慧停車輔助裝置的示意圖。 Figure 1 is a schematic diagram of a smart parking assistance device according to an embodiment.
第2圖示例說明一車輛進入停車格之示意圖。 Figure 2 illustrates a schematic diagram of a vehicle entering a parking space.
第3圖示例說明顯示單元之示意圖。 Figure 3 illustrates a schematic diagram of a display unit.
第4圖繪示根據一實施例之智慧停車輔助裝置的方塊圖。 Figure 4 illustrates a block diagram of a smart parking assistance device according to an embodiment.
第5圖繪示根據一實施例之智慧停車輔助資訊之顯示方法的流程圖。 Figure 5 illustrates a flow chart of a method for displaying smart parking assistance information according to an embodiment.
第6圖示例說明步驟S110所獲得之影像。 Figure 6 illustrates the image obtained in step S110.
第7圖示例說明步驟S130之校正後的影像。 Figure 7 illustrates the corrected image in step S130.
第8圖示例說明步驟S150所獲得之車輛方向與車輛位置。 Figure 8 illustrates the vehicle direction and vehicle position obtained in step S150.
第9圖示例說明步驟S170所獲得俯視圖。 Figure 9 illustrates the top view obtained in step S170.
第10圖示例說明步驟S180之顯示單元。 Figure 10 illustrates the display unit of step S180.
第11圖繪示根據另一實施例之智慧停車輔助裝置的方塊圖。 Figure 11 illustrates a block diagram of a smart parking assistance device according to another embodiment.
第12圖繪示根據另一實施例之智慧停車輔助資訊之顯示方法的流程圖。 Figure 12 illustrates a flow chart of a method for displaying smart parking assistance information according to another embodiment.
第13圖示例說明步驟S210所獲得之影像。 Figure 13 illustrates the image obtained in step S210.
第14圖示例說明步驟S240。 Figure 14 illustrates step S240.
第15圖示例說明步驟S250所獲得之車輛方向與車輛位置。 Figure 15 illustrates the vehicle direction and vehicle position obtained in step S250.
第16圖示例說明步驟S270所獲得俯視圖。 Figure 16 illustrates the top view obtained in step S270.
第17圖示例說明步驟S280之顯示單元。 Figure 17 illustrates the display unit of step S280.
請參照第1圖,其繪示根據一實施例之智慧停車輔助裝置100的示意圖。智慧停車輔助裝置100包括一影像擷取單元110、一處理單元120及一顯示單元130。智慧停車輔助裝置100例如是設置於智慧停車收費柱內。影像擷取單元110例如是一攝影機、一相機、一紅外線感測器、或一光達掃描器。處理單元120例如是一電路、一晶片、一電路板、一電腦程式產品、或儲存程式碼之儲存裝置。顯示單元130例如是一液晶螢幕、或一OLED螢幕。影像擷取單元110及顯示單元130設置於一固定座900上,而不是設置於任何車輛上。固定座900例如是位於停車格800的角落,尤其是靠近道路邊緣或人行道的角落。
Please refer to FIG. 1 , which illustrates a schematic diagram of a smart
請參照第2圖,其示例說明一車輛700進入停車格800之示意圖。影像擷取單元110具有一可視範圍FV。可視範圍FV涵蓋到停車格800及進入停車格800之車輛700。
Please refer to Figure 2, which illustrates a schematic diagram of a
請再參照第3圖,其示例說明顯示單元130之示意圖。在本實施例中,當車輛700進入停車格800時,顯示單元130可以顯示出車輛700(繪示於第2圖)相對於停車格800(繪示於第2圖)之一俯
視圖。如第3圖所示,顯示單元130呈現俯視之停車格圖樣P8及俯視之車輛圖樣P7,甚至可顯示車輛圖樣P7之方向角度A7及轉向提示M7。如此一來,車輛700進入停車格800時,可以透過顯示單元130提供的資訊輔助駕駛順利將車輛700停入停車格800內。
Please refer to FIG. 3 again, which illustrates a schematic diagram of the
請參照第4圖,其繪示根據一實施例之智慧停車輔助裝置100的方塊圖。智慧停車輔助裝置100包括上述之影像擷取單元110、上述之處理單元120及上述之顯示單元130。處理單元120包括一車型辨識器122、一校正器123、一輪胎辨識器124、一車輛方位分析器125及一圖形繪製器127。在本實施例中,處理單元120透過這些元件進行影像的校正、車型與輪胎的辨識後,分析出車輛方位,以繪製出如第3圖所示之俯視圖。以下更透過一流程圖詳細說明各元件之運作。
Please refer to FIG. 4 , which illustrates a block diagram of a smart
請參照第5圖,其繪示根據一實施例之智慧停車輔助資訊之顯示方法的流程圖。在步驟S110中,如第4圖及第6圖所示,以設置於固定座900上之影像擷取單元110對停車格800及進入停車格800之車輛700拍攝一影像IM11。第6圖示例說明步驟S110所獲得之影像IM11。影像IM11係為實際所拍攝到的影像IM11。由於影像擷取單元110之可視範圍FV(繪示於第2圖)涵蓋到停車格800及進入停車格800之車輛700,故影像IM11可以顯示出停車格800及車輛700。因為影像擷取單元110位於停車格800之一角落,故影像IM11中的停車格800不會呈現矩形。
Please refer to FIG. 5 , which illustrates a flow chart of a method for displaying smart parking assistance information according to an embodiment. In step S110, as shown in Figures 4 and 6, an image IM11 is captured by the
接著,在步驟S120中,如第4圖所示,車型辨識器122依據影像IM11,辨識車輛700之一車型MD1。在此步驟中,車型辨識器122可以透過一機器學習模型辨識出車輛700的車型MD1。有了車型MD1之後,即可得知車輛700之尺寸、輪胎位置等資訊。
Next, in step S120 , as shown in FIG. 4 , the
然後,在步驟S130中,如第4圖及第7圖所示,校正器123對影像IM11進行一形變校正程序,以使影像IM11中之停車格800轉換為一矩形。第7圖示例說明步驟S130之校正後的影像IM11’。經過校正程序後,停車格800轉換為矩形,同時車輛700也會對應的變形。在一實施例中,校正之步驟S130亦可省略。
Then, in step S130, as shown in Figures 4 and 7, the corrector 123 performs a deformation correction process on the image IM11, so that the
接著,在步驟S140中,如第4圖及第7圖所示,輪胎辨識器124依據影像IM11’(或影像IM11,以下以影像IM11’為例作說明),辨識車輛700之一第一輪胎TR1與一第二輪胎TR2。在此步驟中,輪胎辨識器124例如是透過一機器學習模型辨識出第一輪胎TR1與第二輪胎TR2,並分別標示出第一物件框BX11及第二物件框BX12。
Next, in step S140, as shown in Figures 4 and 7, the tire identifier 124 identifies one of the first tires of the
然後,在步驟S150中,如第4圖及第8圖所示,車輛方位分析器125依據影像IM11’中之第一輪胎TR1(繪示於第7圖)之第一物件框BX11、第二輪胎TR2(繪示於第7圖)之第二物件框BX12與停車格800,分析車輛700相對於停車格800之一車輛方向DR1與一車輛位置LC1。第8圖示例說明步驟S150所獲得之車輛方向DR1與車輛位置LC1。停車格800具有依序相連之一第一邊線L1、一第二邊線L2、一第三邊線L3及一第四邊線L4。在此步驟
中,車輛方位分析器125係依據影像IM11’中之第一輪胎TR1之第一物件框BX11與第一邊線L1之距離X11及第一輪胎TR1之第一物件框BX11與第二邊線L2的距離Y11,分析第一輪胎TR1相對於停車格800之一第一輪胎位置LC11,並依據影像IM11’中之第二輪胎TR2之第二物件框BX12與第二邊線L2之距離X12及第二輪胎TR2之第二物件框BX12與第三邊線L3的距離Y12,分析第二輪胎TR2相對於停車格800之一第二輪胎位置LC12。依據第一輪胎位置LC11及第二輪胎位置LC12即可定位出車輛位置LC1及車輛方向DR1。
Then, in step S150, as shown in Figures 4 and 8, the vehicle orientation analyzer 125 is based on the first object frame BX11 and the second object frame BX11 of the first tire TR1 (shown in Figure 7) in the image IM11'. The second object frame BX12 of the tire TR2 (shown in FIG. 7 ) and the
在一實施例中,車輛方位分析器125更可以依據第一輪胎TR1之第一物件框BX11與第二輪胎TR2之第二物件框BX12的比例,分析車輛700相對於停車格800之車輛方向DR1。
In one embodiment, the vehicle orientation analyzer 125 can further analyze the vehicle direction DR1 of the
接著,在步驟S170中,如第4圖及第9圖所示,圖形繪製器127依據車輛700相對於停車格800之車輛方向DR1與車輛位置LC1,繪製車輛700相對於停車格800之俯視圖IM11”。第9圖示例說明步驟S170所獲得俯視圖IM11”。俯視圖IM11”呈現俯視之停車格圖樣P8及俯視之車輛圖樣P7。停車格圖樣P8及車輛圖樣P7可以是採用簡易線條繪製,以清楚呈現兩者之相對關係。
Next, in step S170, as shown in Figures 4 and 9, the graphics plotter 127 draws a top view IM11 of the
在此步驟中,圖形繪製器127可以依據車型MD1調整俯視圖IM11”。舉例來說,圖形繪製器127可以按照車輛寬度、車輛長度來繪製車輛圖樣P7的大小。 In this step, the graphics plotter 127 may adjust the top view IM11″ according to the vehicle model MD1. For example, the graphics plotter 127 may plot the size of the vehicle pattern P7 according to the vehicle width and vehicle length.
此外,圖形繪製器127更可繪製出車輛圖樣P7之方向角度A7及轉向提示M7,以方便使用者參考。 In addition, the graphics plotter 127 can also plot the direction angle A7 and the steering hint M7 of the vehicle pattern P7 for the convenience of the user's reference.
然後,在步驟S180中,如第4圖及第10圖所示,以設
置於固定座900上之顯示單元130顯示俯視圖IM11”。第10圖示例說明步驟S180之顯示單元130。在此步驟中,顯示單元130將俯視圖IM11”轉向,使車頭朝前,方便駕駛參考。
Then, in step S180, as shown in Figure 4 and Figure 10, it is assumed that
The
上述實施例係利用形變校正程序進行校正。由於影像擷取單元110與停車格800之關係並不會變動,故在另一實施例中,亦可直接進行預定的校正,而無須執行形變校正程序。
In the above embodiment, the deformation correction program is used for correction. Since the relationship between the
請參照第11圖,其繪示根據另一實施例之智慧停車輔助裝置200的方塊圖。智慧停車輔助裝置100包括上述之影像擷取單元110、一處理單元220及上述之顯示單元130。處理單元220包括一車型辨識器222、一輪胎辨識器224、一車輛方位分析器225、一校正器226及一圖形繪製器227。在本實施例中,處理單元220透過這些元件進行影像的校正、車型與輪胎的辨識後,分析出車輛方位,以繪製出如第3圖所示之俯視圖。以下更透過一流程圖詳細說明各元件之運作。
Please refer to FIG. 11 , which illustrates a block diagram of a smart
請參照第12圖,其繪示根據另一實施例之智慧停車輔助資訊之顯示方法的流程圖。在步驟S210中,如第11圖及第13圖所示,以設置於固定座900上之影像擷取單元110對停車格800及進入停車格800之車輛700拍攝一影像IM11。第13圖示例說明步驟S210所獲得之影像IM11。影像IM11係為實際所拍攝到的影像IM11。由於影像擷取單元110之可視範圍FV(繪示於第2圖)涵蓋到停車格800及進入停車格800之車輛700,故影像IM11可以顯示出停車格800及車輛700。因為影像擷取單元110位於停車格800之一角落,故影像IM11中的停車格800不會呈現矩形。
Please refer to FIG. 12 , which illustrates a flow chart of a method for displaying smart parking assistance information according to another embodiment. In step S210, as shown in Figures 11 and 13, an image IM11 is captured by the
接著,在步驟S220中,如第11圖所示,車型辨識器222依據影像IM11,辨識車輛700之車型MD1。在此步驟中,車型辨識器222可以透過一機器學習模型辨識出車輛700的車型MD1。有了車型MD1之後,即可得知車輛700之尺寸、輪胎位置等資訊。
Next, in step S220, as shown in FIG. 11, the
然後,在步驟S240中,如第11圖及第14圖所示,輪胎辨識器224依據影像IM11,辨識車輛700之第一輪胎TR11與第二輪胎TR12。第14圖示例說明步驟S240。在此步驟中,輪胎辨識器124例如是透過一機器學習模型辨識出第一輪胎TR11與第二輪胎TR12,並分別標示出第一物件框BX21及第二物件框BX22。
Then, in step S240, as shown in FIGS. 11 and 14, the tire identifier 224 identifies the first tire TR11 and the second tire TR12 of the
接著,在步驟S250中,如第11圖及第15圖所示,車輛方位分析器225依據影像IM11中之第一輪胎TR11(繪示於第14圖)之第一物件框BX21、第二輪胎TR12(繪示於第14圖)之第二物件框BX22與停車格800,分析車輛700相對於停車格800之一車輛方向DR2與一車輛位置LC2。第15圖示例說明步驟S250所獲得之車輛方向DR2與車輛位置LC2。停車格800具有依序相連之第一邊線L1、第二邊線L2、第三邊線L3及第四邊線L4。在此步驟中,車輛方位分析器225係依據影像IM11中之第一輪胎TR11之第一物件框BX21與第一邊線L1之距離X21及第一輪胎TR11之第一物件框BX21與第二邊線L2的距離Y21,分析第一輪胎TR11相對於停車格800之一第一輪胎位置LC21,並依據影像IM11’中之第二輪胎TR12之第二物件框BX22與第二邊線L2之距離X22及第二輪胎TR12之第二物件框BX22與第三邊線L3的距離Y22,分析第二輪胎TR12相對於停車格800之一第二輪胎位置LC22。依據第一
輪胎位置LC21及第二輪胎位置LC22即可定位出車輛位置LC2及車輛方向DR2。
Next, in step S250, as shown in FIGS. 11 and 15, the vehicle orientation analyzer 225 is based on the first object frame BX21 and the second tire of the first tire TR11 (shown in FIG. 14) in the image IM11. The second object frame BX22 and the
在一實施例中,車輛方位分析器225更可以依據第一輪胎TR11之第一物件框BX21與第二輪胎TR12之第二物件框BX22的比例,分析車輛700相對於停車格800之車輛方向DR2。
In one embodiment, the vehicle orientation analyzer 225 can further analyze the vehicle direction DR2 of the
然後,在步驟S260中,如第11圖所示,校正器226依據一預定校正資訊CR,校正車輛700相對於停車格800之車輛方向DR2與車輛位置LC2,以獲得車輛方向DR1與車輛位置LC1。
Then, in step S260, as shown in FIG. 11, the
接著,在步驟S270中,如第11圖及第16圖所示,圖形繪製器127依據車輛700相對於停車格800之車輛方向DR1與車輛位置LC1,繪製車輛700相對於停車格800之俯視圖IM11”。第16圖示例說明步驟S270所獲得俯視圖IM11”。俯視圖IM11”呈現俯視之停車格圖樣P8及俯視之車輛圖樣P7。停車格圖樣P8及車輛圖樣P7可以是採用簡易線條繪製,以清楚呈現兩者之相對關係。
Next, in step S270, as shown in Figures 11 and 16, the graphics plotter 127 draws a top view IM11 of the
在此步驟中,圖形繪製器227可以依據車型MD1調整俯視圖IM11”。舉例來說,圖形繪製器227可以按照車輛寬度、車輛長度來繪製車輛圖樣P7的大小。 In this step, the graphics plotter 227 can adjust the top view IM11" according to the vehicle model MD1. For example, the graphics plotter 227 can plot the size of the vehicle pattern P7 according to the vehicle width and vehicle length.
此外,圖形繪製器227更可繪製出車輛圖樣P7之方向角度A7及轉向提示M7,以方便使用者參考。 In addition, the graphics plotter 227 can also plot the direction angle A7 and the steering hint M7 of the vehicle pattern P7 for the convenience of the user's reference.
然後,在步驟S280中,如第11圖及第17圖所示,以設置於固定座900上之顯示單元130顯示俯視圖IM11”。第17圖示例說明步驟S280之顯示單元130。在此步驟中,顯示單元130將俯視圖IM11”轉向,使車頭朝前,方便駕駛參考。
Then, in step S280, as shown in Figures 11 and 17, the top view IM11" is displayed with the
根據上述實施例,不論何種車輛700,在進入停車格
800時,都可以順利分析出車輛方位,以繪製出如第3圖所示之俯視圖。如此一來,車輛700進入停車格800時,可以透過顯示單元130提供的資訊輔助駕駛順利將車輛700停入停車格800內。
According to the above embodiment, no matter what kind of
綜上所述,雖然本揭露已以實施例揭露如上,然其並非用以限定本揭露。本揭露所屬技術領域中具有通常知識者,在不脫離本揭露之精神和範圍內,當可作各種之更動與潤飾。因此,本揭露之保護範圍當視後附之申請專利範圍所界定者為準。 In summary, although the present disclosure has been disclosed in the above embodiments, they are not used to limit the present disclosure. Those with ordinary knowledge in the technical field to which this disclosure belongs can make various modifications and modifications without departing from the spirit and scope of this disclosure. Therefore, the protection scope of the present disclosure shall be subject to the scope of the appended patent application.
100:智慧停車輔助裝置 100:Smart parking assistance device
110:影像擷取單元 110:Image capture unit
120:處理單元 120: Processing unit
122:車型辨識器 122: Car model identifier
123:校正器 123:Corrector
124:輪胎辨識器 124:Tire identifier
125:車輛方位分析器 125: Vehicle orientation analyzer
127:圖形繪製器 127:Graphics plotter
130:顯示單元 130:Display unit
BX11:第一物件框 BX11: First object frame
BX12:第二物件框 BX12: Second object frame
DR1:車輛方向 DR1: Vehicle direction
IM11:影像 IM11:Image
IM11’:校正後影像 IM11’: corrected image
IM11”:俯視圖 IM11”: top view
LC1:車輛位置 LC1: vehicle position
MD1:車型 MD1: Car model
Claims (14)
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Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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TW201100279A (en) * | 2009-06-23 | 2011-01-01 | Automotive Res & Testing Ct | Composite-image-type parking auxiliary system |
CN102056772A (en) * | 2008-06-10 | 2011-05-11 | 日产自动车株式会社 | Parking assist apparatus and parking assist method |
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CN102056772A (en) * | 2008-06-10 | 2011-05-11 | 日产自动车株式会社 | Parking assist apparatus and parking assist method |
CN103057473A (en) * | 2008-06-10 | 2013-04-24 | 日产自动车株式会社 | Parking assist apparatus and parking assist method |
TW201100279A (en) * | 2009-06-23 | 2011-01-01 | Automotive Res & Testing Ct | Composite-image-type parking auxiliary system |
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