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WO2008149664A1 - 駐車支援装置 - Google Patents

駐車支援装置 Download PDF

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Publication number
WO2008149664A1
WO2008149664A1 PCT/JP2008/059225 JP2008059225W WO2008149664A1 WO 2008149664 A1 WO2008149664 A1 WO 2008149664A1 JP 2008059225 W JP2008059225 W JP 2008059225W WO 2008149664 A1 WO2008149664 A1 WO 2008149664A1
Authority
WO
WIPO (PCT)
Prior art keywords
deviation angle
vehicle
image
image data
outputted
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2008/059225
Other languages
English (en)
French (fr)
Inventor
Tsuyoshi Kuboyama
Kazuya Watanabe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aisin Corp
Original Assignee
Aisin Seiki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aisin Seiki Co Ltd filed Critical Aisin Seiki Co Ltd
Priority to KR1020097018889A priority Critical patent/KR101190482B1/ko
Priority to CN2008800080437A priority patent/CN101631695B/zh
Priority to EP08764385A priority patent/EP2151357B1/en
Priority to US12/531,391 priority patent/US8049778B2/en
Publication of WO2008149664A1 publication Critical patent/WO2008149664A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0007—Image acquisition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)

Abstract

車両(30)に搭載された撮影装置により車両(30)の周辺の情景が撮影された撮影画像データを取得する。所望の駐車位置に対応する駐車区画(E)を設定する。撮影画像データに対して、視点変換及び歪補正の少なくとも何れか一方を含む画像変換処理を行う。車両(30)と駐車区画(E)との偏向角(λ)を演算する。車両(30)に搭載されるように適合された表示装置に対し、偏向角(λ)が所定の基準偏向角以下となるまで撮影画像データを出力し、偏向角(λ)が基準偏向角以下となった後、画像変換処理された変換画像データを出力する。
PCT/JP2008/059225 2007-05-30 2008-05-20 駐車支援装置 Ceased WO2008149664A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
KR1020097018889A KR101190482B1 (ko) 2007-05-30 2008-05-20 주차지원장치
CN2008800080437A CN101631695B (zh) 2007-05-30 2008-05-20 驻车辅助装置
EP08764385A EP2151357B1 (en) 2007-05-30 2008-05-20 Parking assisting device
US12/531,391 US8049778B2 (en) 2007-05-30 2008-05-20 Parking assistance device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007143836A JP5003946B2 (ja) 2007-05-30 2007-05-30 駐車支援装置
JP2007-143836 2007-05-30

Publications (1)

Publication Number Publication Date
WO2008149664A1 true WO2008149664A1 (ja) 2008-12-11

Family

ID=40093489

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/059225 Ceased WO2008149664A1 (ja) 2007-05-30 2008-05-20 駐車支援装置

Country Status (6)

Country Link
US (1) US8049778B2 (ja)
EP (1) EP2151357B1 (ja)
JP (1) JP5003946B2 (ja)
KR (1) KR101190482B1 (ja)
CN (1) CN101631695B (ja)
WO (1) WO2008149664A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009035422A1 (de) * 2009-07-31 2011-02-03 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur geometrischen Bildtransformation
JP2018116579A (ja) * 2017-01-19 2018-07-26 株式会社デンソーテン 区画線検出装置、区画線検出システム、及び区画線検出方法

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JP4863922B2 (ja) * 2007-04-18 2012-01-25 三洋電機株式会社 運転支援システム並びに車両
US8694195B2 (en) * 2007-12-04 2014-04-08 Volkswagen Ag Motor vehicle having a wheel-view camera and method for controlling a wheel-view camera system
US8289189B2 (en) * 2009-05-11 2012-10-16 Robert Bosch Gmbh Camera system for use in vehicle parking
JP2011016405A (ja) * 2009-07-07 2011-01-27 Honda Motor Co Ltd 駐車支援装置
DE102010020204A1 (de) * 2010-05-12 2011-11-17 Volkswagen Ag Verfahren zum Einparken eines Fahrzeugs sowie entsprechendes Einparkassistenzsystem und Fahrzeug
JP5522492B2 (ja) * 2010-06-15 2014-06-18 アイシン精機株式会社 運転支援装置
DE102010034139A1 (de) 2010-08-12 2012-02-16 Valeo Schalter Und Sensoren Gmbh Verfahren zur Unterstützung eines Parkvorgangs eines Kraftfahrzeugs, Fahrerassistenzsystem und Kraftfahrzeug
CN102371949A (zh) * 2010-08-25 2012-03-14 富泰华工业（深圳）有限公司 倒车系统及倒车方法
JP5454934B2 (ja) * 2010-09-21 2014-03-26 アイシン精機株式会社 運転支援装置
US9534902B2 (en) * 2011-05-11 2017-01-03 The Boeing Company Time phased imagery for an artificial point of view
WO2012172923A1 (ja) * 2011-06-16 2012-12-20 アイシン精機株式会社 車両周辺監視装置
KR101340738B1 (ko) * 2011-11-08 2013-12-12 엘지이노텍 주식회사 주차 보조 시스템
US8862321B2 (en) * 2012-08-15 2014-10-14 GM Global Technology Operations LLC Directing vehicle into feasible region for autonomous and semi-autonomous parking
KR101401063B1 (ko) * 2012-08-30 2014-05-29 한국과학기술원 차량 이동 경로 제공 단말기 및 방법과, 이를 사용한 차량
JP6045889B2 (ja) * 2012-11-27 2016-12-14 クラリオン株式会社 車載用制御装置
EP2927075B1 (en) * 2012-11-27 2017-04-05 Nissan Motor Co., Ltd. Vehicle acceleration suppression device and vehicle acceleration suppression method
KR101477231B1 (ko) * 2013-05-10 2014-12-29 현대모비스 주식회사 차량 출차 보조 방법 및 장치와 이를 이용한 시스템
US9224062B2 (en) * 2013-08-09 2015-12-29 Xerox Corporation Hybrid method and system of video and vision based access control for parking stall occupancy determination
CN106537892B (zh) * 2014-05-29 2021-01-05 株式会社尼康 摄像装置及车辆
CN104015660A (zh) * 2014-06-23 2014-09-03 镇江杭川机械制造有限公司 车辆视觉驻车系统
KR102176775B1 (ko) * 2014-07-02 2020-11-09 현대모비스 주식회사 어라운드 뷰 시스템 및 그 동작방법
US9592826B2 (en) * 2015-02-13 2017-03-14 Ford Global Technologies, Llc System and method for parallel parking a vehicle
DE102015211754A1 (de) * 2015-06-24 2016-12-29 Bayerische Motoren Werke Aktiengesellschaft Parkassistenzsystem zum automatisierten Durchführen eines Einparkmanövers in eine Querparklücke mit Erkennung eines die Querparklücke nach hinten begrenzenden Bodenhindernisses
US20170197615A1 (en) * 2016-01-11 2017-07-13 Ford Global Technologies, Llc System and method for reverse perpendicular parking a vehicle
JP6549511B2 (ja) * 2016-03-24 2019-07-24 アルパイン株式会社 駐車支援装置および駐車支援方法
CN106143609A (zh) * 2016-07-15 2016-11-23 江苏大学 一种泊车系统及其垂直方向泊车方法
KR102005944B1 (ko) * 2016-10-19 2019-08-01 주식회사 만도 주차 보조 시스템 및 그 제어 방법
WO2018221209A1 (ja) * 2017-05-30 2018-12-06 ソニーセミコンダクタソリューションズ株式会社 画像処理装置、画像処理方法、及び、プログラム
WO2018230021A1 (ja) 2017-06-16 2018-12-20 株式会社Ｊｖｃケンウッド 表示制御装置、表示制御システム、表示制御方法及び表示制御プログラム
JP6844463B2 (ja) 2017-07-25 2021-03-17 株式会社Ｊｖｃケンウッド 表示制御装置、表示制御方法及び表示制御プログラム
WO2019098353A1 (ja) * 2017-11-17 2019-05-23 アイシン精機株式会社 車両位置推定装置および車両制御装置
KR102522923B1 (ko) * 2018-12-24 2023-04-20 한국전자통신연구원 차량의 자기위치 추정 장치 및 그 방법
JP7222254B2 (ja) * 2019-01-25 2023-02-15 株式会社アイシン 周辺表示制御装置
DE102019207190B3 (de) 2019-05-16 2020-08-27 Volkswagen Aktiengesellschaft Verfahren zum Einparken eines Fahrzeugs in einer Querparklücke unter Berücksichtigung von Scheinwerferpositionen benachbart geparkter Fahrzeuge, sowie Parkassistenzsystem
CN110837814B (zh) * 2019-11-12 2022-08-19 深圳创维数字技术有限公司 车辆导航方法、装置及计算机可读存储介质
US11910092B2 (en) * 2020-10-01 2024-02-20 Black Sesame Technologies Inc. Panoramic look-around view generation method, in-vehicle device and in-vehicle system

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EP1123844A1 (en) 1999-08-12 2001-08-16 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Steering assist device
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JP2003267171A (ja) 2002-03-13 2003-09-25 Nissan Motor Co Ltd 車両後方監視装置
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See also references of EP2151357A4

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009035422A1 (de) * 2009-07-31 2011-02-03 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur geometrischen Bildtransformation
DE102009035422B4 (de) * 2009-07-31 2021-06-17 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur geometrischen Bildtransformation
JP2018116579A (ja) * 2017-01-19 2018-07-26 株式会社デンソーテン 区画線検出装置、区画線検出システム、及び区画線検出方法

Also Published As

Publication number Publication date
JP5003946B2 (ja) 2012-08-22
JP2008296697A (ja) 2008-12-11
CN101631695B (zh) 2011-06-15
KR101190482B1 (ko) 2012-10-12
EP2151357A1 (en) 2010-02-10
EP2151357B1 (en) 2012-06-27
KR20090122942A (ko) 2009-12-01
EP2151357A4 (en) 2011-01-12
US20100066825A1 (en) 2010-03-18
US8049778B2 (en) 2011-11-01
CN101631695A (zh) 2010-01-20

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