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WO2017068700A1 - Procédé et dispositif de détection de place de stationnement - Google Patents

Procédé et dispositif de détection de place de stationnement Download PDF

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Publication number
WO2017068700A1
WO2017068700A1 PCT/JP2015/079894 JP2015079894W WO2017068700A1 WO 2017068700 A1 WO2017068700 A1 WO 2017068700A1 JP 2015079894 W JP2015079894 W JP 2015079894W WO 2017068700 A1 WO2017068700 A1 WO 2017068700A1
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WO
WIPO (PCT)
Prior art keywords
parking space
parking
frame line
length
vehicle
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/JP2015/079894
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English (en)
Japanese (ja)
Inventor
早川　泰久
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.)
Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to PCT/JP2015/079894 priority Critical patent/WO2017068700A1/fr
Publication of WO2017068700A1 publication Critical patent/WO2017068700A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • 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

Definitions

  • the present invention relates to a parking space detection method and apparatus.
  • the parking space is imaged by imaging means installed in the parking lot, and whether or not a white line far from the imaging means is detected among the white lines of the parking space
  • Patent Document 1 Japanese Patent Document 1
  • the vehicle When the vehicle is provided with an imaging means, if the vehicle is parked in the front parking space, even if the vehicle is not parked in the rear parking space, the rear side of the rear parking space There is a problem that the parking state may be erroneously detected by hiding the white line in the parked vehicle on the near side.
  • the problem to be solved by the present invention is to provide a parking space detection method and apparatus that can accurately detect an empty parking space.
  • a first frame line of a parking space to be identified as an empty vehicle, and a parallel to the first frame line in the parking space to be identified are positioned farther from the imaging device than the first frame line.
  • the second frame line is detected, the detected length of the first frame line and the second frame line is measured, and the measured length of the second frame line is determined as the first frame line.
  • the length is equal to or longer than the measured length, the above-mentioned problem is solved by detecting the parking space to be determined as an empty parking space.
  • the empty vehicle in the discrimination target parking space is discriminated. The effect that can be accurately detected.
  • FIG. 1 The relationship between the length of the far side frame line and the near side frame line when the judgment target parking space is empty and other vehicles are parked in the parking space next to the judgment target parking space.
  • FIG. The relationship between the length of the frame line on the back side and the frame line on the near side in the situation where the parking space to be identified is in the parking state and other vehicles are parked in the parking space adjacent to the near side of the parking space to be identified
  • FIG. The relationship between the length of the far side border and the length of the near side border in the situation where the judgment target parking space is empty and no other vehicle is parked in the parking space adjacent to the near side of the judgment subject parking space.
  • FIG. 1 In a parallel parking system with an angle, the rear frame line and the near side in the situation where the parking space to be identified is empty and other vehicles are parked in the parking space next to the parking space to be identified It is a figure which shows the relationship of length with the side frame line.
  • the back frame and front In a parking lot with an angled parallel parking system, when the parking space to be discriminated is parked and the other vehicle is parked in the parking space next to the parking space to be discriminated, the back frame and front It is a figure which shows the relationship of length with the side frame line.
  • the back frame and the front frame It is a figure which shows the relationship of the length with a line.
  • the back frame and the front frame It is a figure which shows the relationship of the length with a line. It is a flowchart which shows the procedure of 2nd Example of the detection process of the parking possible space which a control apparatus performs.
  • FIG. 1 is a block diagram of a parking support system 1000 having a parking support apparatus 100 according to an embodiment of the present invention.
  • the parking support system 1000 according to the present embodiment supports an operation of moving (parking) the host vehicle to a parking space.
  • the parking assistance system 1000 of this embodiment includes a camera 1a to 1d, an image processing device 2, a distance measuring device 3, a parking assistance device 100, a vehicle controller 30, a drive system 40, a steering angle sensor 50, A vehicle speed sensor 60.
  • the parking assistance device 100 of this embodiment includes a control device 10 and an output device 20.
  • the output device 20 includes a display 21, a speaker 22, and a lamp 23. These components are connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.
  • CAN Controller Area Network
  • the control device 10 of the parking assistance apparatus 100 includes a ROM 12 that stores a parking assistance program, and an operation circuit that functions as the parking assistance apparatus 100 according to the present embodiment by executing the program stored in the ROM 12. And a RAM 13 that functions as an accessible storage device.
  • the parking assistance program of the present embodiment is a program that presents a parking space that can be parked on the display 21 and executes a control procedure that supports an operation of parking the host vehicle with the parking space set by the user as the target parking space.
  • the parking assistance program of the present embodiment is an automatic parking in which the steering, the accelerator and the brake are operated to automatically park, and the operation of any one of the steering, the accelerator and the brake is performed manually, and the remaining is automatically parked in the semi-automatic parking. Is also applicable.
  • the present invention can be applied to a function of assisting parking by presenting a travel route to the parking space and guiding to the parking space.
  • the control device 10 of the parking assistance device 100 has a function of executing an information acquisition process, a parking space detection process, a recommended parking space detection process, and a display control process.
  • the above-described processes are executed in cooperation with software for realizing the processes and the hardware described above.
  • FIG. 2 is a flowchart showing a control procedure of parking support processing executed by the parking support system 1000 according to the present embodiment.
  • the trigger for starting the parking support process is not particularly limited, and the start of the parking support apparatus 100 may be triggered.
  • the parking assistance apparatus 100 of this embodiment is provided with the function to move the own vehicle to a parking space automatically.
  • a switch that operates only while it is on such as a deadman switch, is used.
  • the automatic driving of the own vehicle is executed when the deadman switch is pressed, and the automatic driving of the own vehicle is stopped when the pressing of the deadman switch is released.
  • the control device 10 of the parking assist device 100 acquires captured images captured by the cameras 1a to 1d attached to a plurality of locations of the host vehicle in step S101.
  • the cameras 1a to 1d capture images of the boundaries of the parking space around the host vehicle and objects existing around the parking space.
  • the cameras 1a to 1d are CCD cameras, infrared cameras, and other imaging devices.
  • the distance measuring device 3 may be provided at the same position as the cameras 1a to 1d or at different positions.
  • a radar device such as a millimeter wave radar, a laser radar, an ultrasonic radar, or a sonar can be used.
  • the distance measuring device 3 detects the presence / absence of the object, the position of the object, and the distance to the object based on the received signal of the radar device.
  • the objects correspond to obstacles around the vehicle, pedestrians, other vehicles, and the like. This received signal is used to determine whether the parking space is vacant (whether it is parked). Obstacles may be detected using a motion stereo technique using the cameras 1a to 1d.
  • FIG. 3 is a diagram showing an arrangement example of the cameras 1a to 1d mounted on the own vehicle.
  • the camera 1a is arranged on the front grille of the host vehicle
  • the camera 1d is arranged near the rear bumper
  • the cameras 1b and 1c are arranged below the left and right door mirrors.
  • the cameras 1a to 1d cameras having wide-angle lenses with a large viewing angle can be used.
  • step S101 the control device 10 acquires distance measurement signals by the distance measurement devices 3 attached to a plurality of locations of the host vehicle.
  • step S102 the control device 10 of the parking assistance device 100 causes the image processing device 2 to generate an overhead image.
  • the image processing device 2 generates a bird's-eye view image based on the acquired plurality of captured images.
  • This overhead view image is a view of the surrounding state including the host vehicle and a parking space in which the host vehicle is parked, from a virtual viewpoint P (see FIG. 3) above the host vehicle.
  • the image processing performed by the image processing apparatus 2 is, for example, “Masayasu Suzuki, Keigo Chino, Teruhisa Takano, Development of a bird's-eye view system, Preprints of Academic Lecture Meeting of the Automotive Engineers of Japan, 116-07 (2007-10), 17 22. "etc. can be used.
  • FIGS. 6A to 6E An example of the generated overhead image 21a is shown in FIGS. 6A to 6E described later.
  • This figure shows a display example in which an overhead image (top view) 21a around the host vehicle and a monitoring image (normal view) 21b around the host vehicle are displayed simultaneously.
  • a parking space Me is detected.
  • the parking space Me is a parking space where the host vehicle can park.
  • the control device 10 detects the parking space Me based on the captured images of the cameras 1a to 1d and / or the ranging signal of the ranging device 3.
  • the parking space Me is detected from an image acquired by a vehicle-mounted camera.
  • the parking space Me is not necessarily limited thereto, and information may be acquired from an external server to identify the parking space Me. Good.
  • the control device 10 determines whether or not the vehicle is traveling in an area including a parking space (hereinafter also referred to as a parking area) based on vehicle speed, position information of the navigation system, and the like. For example, when the vehicle speed of the host vehicle is equal to or lower than a predetermined vehicle speed threshold and the state continues for a certain time or longer, the control device 10 determines that the host vehicle is traveling in the parking area. Or the control apparatus 10 determines with the own vehicle driving
  • the control device 10 detects a frame line based on the overhead image generated by the image processing device 2.
  • a frame line is a boundary line that divides a frame (region) of a parking space.
  • the control device 10 performs edge detection on the captured image. In the edge detection, the control device 10 detects a pixel row in which the luminance difference between adjacent pixels is greater than or equal to a predetermined value from the overhead image. Then, when the length of the detected pixel row is equal to or greater than a predetermined threshold, the control device 10 detects a line whose edge is defined by the pixel row as a frame line.
  • control device 10 detects whether there is a line having a higher possibility of a frame line than the detected frame line around the portion detected as the frame line. For example, when a line having a larger luminance difference is newly detected, the newly detected line is detected as a frame line candidate having a high possibility of a frame line.
  • the color of the frame line is white.
  • the color of the frame is not limited thereto, and may be other colors such as red.
  • the ROM 12 of the control device 10 stores parking frame pattern information in advance.
  • the parking frame pattern includes a parallel parking type parking frame pattern as shown in FIG. 7A to be described later, a parallel parking type parking frame pattern as shown in FIG.
  • the pattern of the parking frame of an angled parallel parking system as shown to 7 (C) etc. is also included.
  • the control device 10 detects the detected frame line candidate as a frame line, and determines the space defined by the frame line as a parking space. Detect as.
  • the first condition is that an interval between another frame line candidate or a detected frame line is included in a predetermined threshold range (for example, an actual distance of 2 to 2.5 [m]).
  • the second condition is that a relative angle with another frame line candidate or a detected frame line is included in a predetermined threshold range (for example, ⁇ 10 ° to + 10 °).
  • the third condition is that a length equal to or greater than a preset first line length distance threshold (for example, a length corresponding to an actual distance of 15 [m]) is extracted from the lines extracted as parking frame line candidates.
  • a preset first line length distance threshold for example, a length corresponding to an actual distance of 15 [m]
  • the line it has is not included.
  • the white line is detected when the three conditions are satisfied.
  • the present invention is not limited to this, and any combination may be used, or a case where at least one condition is satisfied may be used.
  • the control device 10 uses the detection data of the distance measuring device 3 to determine whether there is an obstacle in the parking space. Moreover, the control apparatus 10 determines whether it is a parking space which can be parked by automatic driving based on the driving route of automatic driving. For example, a parking space that cannot secure a route for automatic driving, such as a parking space facing a wall, does not correspond to a parking space that can be parked by automatic driving. And the control apparatus 10 sets the parking space in which an obstruction does not exist among the specified parking spaces and can be parked by automatic driving
  • the parking space where the parking frame line is detected is detected as the parking available space Me.
  • the parking space is not limited to this, and a parking space in a predetermined range is detected or the vehicle is parked in the past. As long as a predetermined condition is satisfied, for example, a parking frame line may not be detected, the parking space Me may be detected.
  • FIG. 4A is a first diagram for illustrating an example of the parking support process of the present embodiment.
  • an arrow represents a travel route when the vehicle is parked by automatic driving.
  • a dotted circle represents the parking available space Me detected at the position P1.
  • the control device 10 does not specify the parking space PR8 as the parking space Me.
  • the parking space PL8 since the wall W serves as a barrier, it is not possible to secure an automatic driving route (corresponding to the dotted arrow in FIG. 4A), and the parking space PL8 is a parking space suitable for automatic driving. Absent. Therefore, the control device 10 does not specify the parking space PR8 as the parking space Me.
  • the control device 10 Since there are parked vehicles in the parking spaces PR1, PR4, PR6, and PL3, the control device 10 does not identify the parking spaces PR1, PR4, PR6, and PL3 as the parking space Me. The control device 10 identifies the parking spaces PL1, PL2, PL4 to 7, PR2, PR3, PR5, and PR7 as the parking spaces Me.
  • FIG. 4A the position of the traveling vehicle is P1, and the vehicle speed is V1.
  • the control device 10 sets a range including PL2 to PL5 and PR2 to PR5 among the parking spaces included in the captured image at the position P1 of the host vehicle V as a detection range of the parking space Me.
  • the detection range of the parking available space Me while the vehicle is traveling is not limited to the ranges of PL2 to PL5 and PR2 to PR5, and may be, for example, the ranges of PL1 to PL8 and PR1 to PR8.
  • FIGS. 4B to 4D show the movement of the host vehicle V in time series, and the position of the host vehicle V is in the order of FIGS. 4A, 4B, 4C, and 4D. Move with. Note that the state of the host vehicle V shown in FIG. 4E described later is not included in the time series shown in FIGS. 4A to 4D.
  • the recommended parking space Mr is detected in step S104.
  • the recommended parking space Mr is a parking space suitable for parking the host vehicle V.
  • the control device 10 detects the recommended parking space Mr according to the traveling state of the host vehicle from the detected plurality of parking spaces Me.
  • the control device 10 calculates the travel route for parking in the parking space Me for each parking space Me.
  • the calculated travel route is a route from the start position of the automatic driving to the position of the parking space Me.
  • the control apparatus 10 specifies the start position of automatic driving
  • the control device 10 sets a travel route for automatic driving with respect to the start position of automatic driving.
  • the driving route for automatic driving is not necessarily limited to one, and the control device 10 sets an appropriate driving route according to the surrounding situation when performing automatic driving.
  • the travel route until the host vehicle moves on the travel route from the start position of the automatic driving and reaches the position of the parking available space Me (parking completion position) becomes the calculation target route.
  • the travel route differs for each parking space Me according to the number of turnovers, the travel distance, the maximum turning angle, and the like. Therefore, when the vehicle travels automatically along the travel route, the required parking time differs for each parking space Me. For example, the shorter the number of turnovers, the shorter the travel route distance, or the smaller the maximum turning angle, the shorter the required parking time.
  • the distance from the vicinity of the parking space PL7 to the wall W is larger than the distance from the vicinity of the parking space PL6 to the wall W. short.
  • the number of turn-backs when parking in the parking space PL7 is larger than the number of turn-backs when parking in the parking space PL6, and the parking time of the parking space PL7 is more than the parking time of the parking space PL6. become longer.
  • the control device 10 calculates the gaze distance based on the vehicle speed of the host vehicle V.
  • the gaze point distance corresponds to the distance from the position of the host vehicle V to the position where the driver of the host vehicle V is staring. The higher the vehicle speed, the farther the driver of the vehicle V looks. Therefore, the higher the vehicle speed, the longer the gazing point distance.
  • the gazing point distance is the length of a straight line toward the front of the host vehicle V.
  • the line corresponding to the gazing point distance is not necessarily a straight line, and may be a curved line.
  • the curvature of the curve may be associated with the steering angle.
  • FIG. 5 is a graph showing the relationship between the vehicle speed (V [km / s]) and the gaze point distance (Y [m]).
  • the solid line indicates the characteristics when the vehicle speed increases, and the dotted line indicates the characteristics when the vehicle speed decreases.
  • the gazing point distance is Ya.
  • the gazing point distance changes at Ya until the vehicle speed changes from Va to Vc.
  • the gazing point distance increases in proportion to the vehicle speed when the vehicle speed is in the range of Vc to Vd.
  • the gaze point distance changes at Yb.
  • the gazing point distance changes at Yb until the vehicle speed changes from Vd to Vb.
  • the gazing point distance decreases in proportion to the decrease in the vehicle speed. That is, the characteristic indicating the relationship between the vehicle Va and the gaze point distance is a hysteresis characteristic between the increasing direction and decreasing direction of the vehicle speed Va.
  • the ROM 12 of the control device 10 stores a relationship between the vehicle speed and the gaze point distance as a map.
  • the control device 10 calculates a gaze point distance corresponding to the vehicle speed while referring to the map.
  • FIG. 4B is a second diagram for illustrating an example of the parking support process of the present embodiment.
  • the position of the traveling vehicle is P2, and the vehicle speed is V2.
  • the control device 10 calculates a gaze point distance corresponding to the vehicle speed V2.
  • the control device 10 specifies a position that is distant from the position P2 by the gazing point distance as the gazing point G2.
  • the control device 10 gives an identification number to the parking space Me near the gazing point G2. For example, the numbers are assigned in the order closer to the gazing point G2.
  • the control device 10 calculates the ease of entering the parking space Me.
  • the index of ease of entering the parking space Me is the travel time for the host vehicle V to park in the parking space Me by automatic driving, and corresponds to the required parking time.
  • the parking required time is a time when the vehicle travels by automatic driving along the travel route calculated for each parking space Me. Therefore, the ease of entering the parking space Me is determined by the travel distance, the number of operations (number of times of turning back), the maximum turning angle, the vehicle speed, and the like.
  • the index of the ease of entering the parking space Me is not limited to the required parking time, and may include factors such as the certainty of parking in automatic driving, for example.
  • the control apparatus 10 calculates the parking required time of the parking space Me for every parking space Me. In the example of FIG. 4B, the control device 10 calculates the required parking time of the parking spaces PL2, PL4, PL5, PR2, PR3, and PR5, respectively.
  • the control device 10 compares the required parking time of each parking space Me with a predetermined required time threshold.
  • the required time threshold value is a preset value, and is an upper limit value of the required time for parking in automatic driving. When the required parking time of the parking space Me is longer than the required time threshold, the control device 10 does not specify the parking space Me as the recommended parking space Mr.
  • the control device 10 After identifying the parking available space Me whose parking required time is shorter than the required time threshold, the control device 10 sets, as the recommended parking available space Mr, the parking available space Me closest to the gazing point among the specified parking available spaces Me. To do.
  • the control device 10 can recommend the parking space PL4. Set as space Mr.
  • the parking available space Me having the shortest required parking time may be set as the recommended parking available space.
  • step S105 the parking space Me and the recommended parking space Mr are presented.
  • the control device 10 displays the set parking available space Me and the set recommended parking available space Mr on the display 21, thereby presenting the parking available space Me and the recommended parking available space Mr to the occupant.
  • FIG. 6A is a first diagram for illustrating an example of a display screen in the parking support process of the present embodiment.
  • the display screen in FIG. 6A is a display screen when the host vehicle V is traveling at the position P2 in FIG. 4B.
  • the bird's-eye view image (top view) 21a displayed on the left side of the screen of the display 21 includes images (parking space boundaries) showing the parking spaces PL2 to PL5 and PR2 to PR5.
  • an icon of the host vehicle V indicating the position of the host vehicle V is displayed in the center of the overhead image (top view) 21a.
  • the monitoring image normal view
  • a captured image of the camera 1a disposed on the front grill portion of the host vehicle V is displayed.
  • a captured image of the camera 1d disposed near the rear bumper may be displayed.
  • the image 21c is a message image.
  • a circle indicating the parking space Me is displayed in the parking spaces PL2, PL4, PL5, PR2, PR3, PR5, and a dotted frame indicating the recommended parking space Mr is parked. It is displayed in the space PL4.
  • a bird's-eye view image of a part of the car is displayed in the parking spaces PL3 and PR4.
  • the passenger of the host vehicle can confirm the position of the parking space Me and the position of the recommended parking space Mr on the display screen of the display 21.
  • the occupant can confirm from the message included in the image 21c that the vehicle is in the automatic driving mode and that the vehicle is requested to stop in order to perform automatic driving.
  • the target parking space Mo is a parking space where the vehicle is parked by automatic driving, and represents a target location in automatic driving.
  • the target parking space Mo is set based on an operation by the occupant. For example, when the display 21 is a touch panel display, the target parking space Mo is specified by the occupant touching a desired parking space portion, and information on the target parking space Mo is input to the control device 10. .
  • step S107 If the target parking space Mo is input, the control flow proceeds to step S107. On the other hand, when the target parking space Mo is not input, the control flow returns to step S104, and the control flow from step S104 to step S106 is repeatedly executed.
  • step S104 The control flow of the loop part from step S104 to step S106 will be described.
  • the host vehicle V In the situation where the host vehicle V is traveling at the position P2 shown in FIG. 4B, when the target parking space Mo is not input, the host vehicle V is traveling, so the position of the gazing point moves forward. .
  • FIG. 4C is a third diagram for illustrating an example of the parking support process of the present embodiment.
  • the position of the gazing point moves from G2 to G3.
  • the position of the gazing point becomes G3, the recommended parking space Mr moves from the parking space PL4 to the parking space PL5.
  • FIG. 6B is a second diagram for illustrating an example of a display screen in the parking support process of the present embodiment.
  • the display screen in FIG. 6B is a display screen when the host vehicle V is traveling at the position P3 in FIG. 4C.
  • the frame indicating the recommended parking space Mr moves forward according to the movement of the host vehicle V on the display screen of the display 21. Then move to parking space PL5.
  • the control device 10 sets the recommended parking space Mr for the parking space Me closest to the point of sight.
  • the gazing point distance changes according to the vehicle speed of the host vehicle V.
  • the characteristics of the gaze distance when the vehicle speed increases and the characteristics of the gaze distance when the vehicle speed decreases are not the hysteresis characteristics as shown in FIG. 5, but the characteristics shown by the solid line graph in FIG. The case will be described.
  • the recommended parking space Mr set at the vehicle speed Vd is defined as a parking space PL5.
  • the gazing point distance becomes shorter than Yb, so that the recommended parking space Mr moves from the parking space PL5 to PL4.
  • the frame of the recommended parking space Mr is below the screen (the progress of the host vehicle) on the screen of the display 21. It moves so as to return to the direction opposite to the direction (the negative direction of the y-axis in FIG. 6A).
  • hysteresis is given to the characteristic of the gaze distance with respect to the vehicle speed.
  • the gaze point distance Yd is maintained. Therefore, the recommended parking space Mr stays at the position of the parking space PL5 or moves to the parking space PL6 on the vehicle traveling direction side of the position of the parking space PL5. Thereby, the unnatural movement of the recommended parking space Mr can be prevented.
  • FIG. 6C is a third diagram illustrating an example of a display screen in the parking assistance process of the present embodiment.
  • the display screen in FIG. 6C is a display screen when the host vehicle V stops at the position P3 in FIG. 4C.
  • the user can confirm that the selection and input of the target parking space Mo are requested from the message included in the image 21c.
  • step S107 the target parking space Mo is set and the target parking space Mo is presented.
  • the recommended parking space Mr is displayed at the position of the parking space PL5.
  • the control device 10 sets the parking space PL5 as the target parking space Mo.
  • FIG. 4D is a fourth diagram for illustrating an example of the parking support process of the present embodiment.
  • FIG. 6D is a fourth diagram illustrating an example of a display screen in the parking assistance process of the present embodiment.
  • the display screen in FIG. 6D is a display screen when the host vehicle stops at the position P4 in FIG. 4D.
  • the control device 10 presents the target parking space Mo to the occupant by displaying a display screen as shown in FIG. 6D on the display 21. The occupant can confirm from the message included in the image 21c that automatic driving can be started.
  • step S108 the control device 10 calculates a travel route for moving the host vehicle to the target parking space Mo.
  • the user designates the parking space PL5 presented as the recommended parking space Mr as the target parking space Mo.
  • the user designates this parking space as the target parking space Mo by touching the parking space PL5 displayed on the touch panel display 21.
  • the target parking space Mo is determined by this operation.
  • the host vehicle V moves to a position P4 next to the target parking space PL5 (Mo). This position P4 becomes the automatic parking start position of the host vehicle.
  • the control device 10 calculates a travel route based on the positional relationship between the stop position P4 of the host vehicle V that starts the parking operation (movement) and the position of the target parking space Mo. Although not particularly limited, the control device 10 calculates, as travel routes, a stop position of the host vehicle V, that is, a curve from the parking assistance start position to the return position P5 and a curve from the return position P5 to the target parking space Mo. To do. The control device 10 calculates travel routes corresponding to each of the parallel parking (A), the parallel parking (B), and the diagonal parking (C) shown in FIG. In the present embodiment, the travel route is calculated. However, the present invention is not limited to this.
  • the travel route according to the type of the parking space is stored in a memory (ROM), and the travel route is determined when parking is started. You may make it read from memory.
  • the parking mode (parallel parking, parallel parking, diagonal parking, etc.) may be selected by the user of the host vehicle V.
  • the control device 10 reads the travel route corresponding to the selected parking mode, and calculates the travel route based on the relationship between the position of the host vehicle V and the position of the target parking space Mo when the automatic parking process is started.
  • the control device 10 causes the vehicle controller 30 to execute a process of moving the host vehicle to the target parking space Mo along the calculated travel route.
  • step S109 the parking support apparatus 100 according to the present embodiment executes a parking support process or an automatic parking process.
  • the parking assistance apparatus 100 controls the operation of the drive system 40 via the vehicle controller 30 so that the host vehicle moves along the travel route.
  • FIG. 6E is a fifth diagram for illustrating an example of a display screen in the parking support process of the present embodiment.
  • the display screen of the display 21 becomes a screen as shown in FIG. 6E, and the host vehicle V moves forward.
  • a message is displayed on the image 21c informing that the host vehicle V is moving forward by automatic driving and that the occupant is gazing around the host vehicle V.
  • automatic driving control of the parking assistance apparatus 100 will be described.
  • the parking assist device 100 feeds the output value of the steering angle sensor 50 included in the steering device to the driving system 40 of the own vehicle such as an EPS motor so that the movement locus of the own vehicle V matches the calculated travel route.
  • the command signal is calculated and sent to the drive system 40 or the vehicle controller 30 that controls the drive system 40.
  • the parking support device 100 of this embodiment includes a parking support control unit.
  • the parking assistance control unit acquires shift range information from the AT / CVT control unit, wheel speed information from the ABS control unit, rudder angle information from the rudder angle control unit, engine speed information from the ECM, and the like. Based on these, the parking assist control unit calculates and outputs instruction information related to automatic steering to the EPS control unit, instruction information such as a warning to the meter control unit, and the like.
  • the control device 10 acquires, via the vehicle controller 30, each piece of information acquired by the steering angle sensor 50, the vehicle speed sensor 60, and other sensors included in the vehicle steering device.
  • the drive system 40 of the present embodiment parks the host vehicle V in the target parking space Mo by driving based on the control command signal acquired from the parking assist device 100.
  • the steering device of the present embodiment is a drive mechanism that moves the host vehicle V in the left-right direction.
  • the EPS motor included in the drive system 40 drives the power steering mechanism included in the steering device based on the control command signal acquired from the parking assist device 100 to control the steering amount, and moves the host vehicle V to the target parking space Mo. Support the operation when you do.
  • movement technique of parking assistance are not specifically limited, The technique known at the time of application can be applied suitably.
  • the parking assist device 100 targets the parking of the host vehicle V along the travel route calculated based on the movement start position P3 of the host vehicle V and the position of the target parking space Mo.
  • the accelerator / brake operation is automatically controlled based on the designated control vehicle speed (set vehicle speed), and the steering operation of the steering device is automatically controlled according to the vehicle speed. . That is, at the time of parking assistance according to the present embodiment, the steering operation of the steering device and the accelerator / brake operation are automatically performed. Without boarding the vehicle, it is also possible to perform parking processing by remote control that performs parking by transmitting a setting command for the target parking space Mo, a parking processing start command, a parking interruption command, or the like to the vehicle from the outside.
  • the parking assistance device 100 controls the drive system 40 based on the preset vehicle speed calculated in advance so that the host vehicle V moves along the travel routes G2 and G3, and the preset steering angle calculated in advance.
  • the vehicle steering device is controlled based on the above.
  • the above is the basic control content of the parking assistance apparatus 100 of the present embodiment.
  • the function of executing the detection process of the parking space Me included in the control device 10 includes a function of executing a frame line detection process, a parking space detection process, and an empty / parking determination process.
  • the frame line detection process as described above, the frame line is detected based on the overhead image generated by the image processing device 2. Further, in the parking space detection process, the parking space PLn defined by the frame line detected in the frame line detection process is detected.
  • the detection data of the cameras 1a to 1d is used to detect whether the parking space PL2 for determination of empty vehicle / parking (hereinafter referred to as a parking space for determination) is empty or in a parking state.
  • a parking space for determination empty vehicle / parking
  • a situation may occur in which the detection of the parking situation of the parking space PL2 becomes difficult due to the presence of a parked vehicle in the parking space PL1 adjacent to the front side.
  • the presence / absence of a parked vehicle in the parking space PL2 to be determined is determined using the method described below.
  • the determination of the empty vehicle / parking of the detected parking space PL2 to be determined is performed using the method described below.
  • FIG. 9 is a flowchart showing the procedure of the first embodiment of the detection process of the parking space Me that is executed by the control device 10.
  • the control device 10 detects a frame line of the parking space PLn.
  • the control device 10 detects the parking space PLn based on the detected positions of the plurality of frame lines.
  • step S203 the control device 10 determines the length L1 of the frame line on the far side (the side far from the host vehicle V) of the discrimination target parking space PL2 and the near side (the host vehicle) of the discrimination target parking space PL2.
  • the frame length L2 on the side closer to V) is measured.
  • the length L1 of the frame line on the back side and the length L2 of the frame line on the near side are the lengths recognized from the captured image of the camera 1, and are different from the actual length.
  • the actual length may be used instead of the length recognized from the captured image.
  • step S204 the control device 10 compares the length L1 of the frame line on the back side of the parking space PL2 to be determined with the length L2 of the frame line on the near side of the parking space PL2 to be determined. .
  • step S205 when the length L1 satisfies the condition that the length L1 is equal to or longer than the length L2, the control device 10 determines that the parking space PL2 to be determined is an empty state.
  • step 206 when the length L1 does not satisfy the condition of the length L2 or more, the control device 10 determines the parking space PL2 to be determined as a parking state.
  • the situation where other vehicles are parked in the parking space PL1 adjacent to the front side will be examined.
  • the parking space PL ⁇ b> 2 to be discriminated is an empty state
  • the length L ⁇ b> 1 of the frame line on the back side that appears in the imaging range of the camera 1 is the imaging range of the camera 1. It becomes longer than the length L2 of the near-side frame line appearing at.
  • the length L ⁇ b> 1 of the back frame line that appears in the imaging range of the camera 1 is This is shorter than the length L2 of the near-side frame line that appears in the imaging range.
  • the situation where the parking space PL1 adjacent to the front side is in an empty state will be examined.
  • the length L ⁇ b> 1 of the frame line on the back side that appears in the imaging range of the camera 1, and the imaging range of the camera 1. Is equal to the length L2 of the near-side frame line appearing at.
  • the length L ⁇ b> 1 of the back frame line that appears in the imaging range of the camera 1 is This is shorter than the length L2 of the near-side frame line that appears in the imaging range.
  • the rear frame that appears in the imaging range of the camera 1 when the parking space PL2 to be discriminated is in an empty state.
  • the length L1 of the line is equal to or longer than the length L2 of the near-side frame line that appears in the imaging range of the camera 1.
  • the rear frame that appears in the imaging range of the camera 1 when the parking space PL2 to be discriminated is empty.
  • the length L1 of the line is shorter than the length L2 of the near-side frame line that appears in the imaging range of the camera 1.
  • the parallel parking system with an angle also has the same result as the parallel parking system. That is, as shown in FIG. 14, in a situation where the parking space PL1 adjacent to the front side is in a parking state, if the parking space PL2 to be determined is in an empty state, the determination target that appears in the imaging range of the camera 1 is displayed.
  • the length L1 of the frame line on the back side of the parking space PL2 is longer than the length L2 of the frame line on the near side of the parking space PL2 to be identified that appears in the imaging range of the camera 1.
  • the length of the frame line on the back side of the parking space PL2 to be discriminated that appears in the imaging range of the camera 1
  • the length L1 is shorter than the length L2 of the frame line on the near side of the parking space PL2 to be identified that appears in the imaging range of the camera 1.
  • the imaging range of the camera 1 The length L1 of the frame line on the back side of the discrimination target parking space PL2 appearing in FIG. 5 is equal to the length L2 of the frame line on the near side of the parking space PL2 to be discriminated appearing in the imaging range of the camera 1.
  • the length L1 of the frame line on the back side of the parking space PL2 to be discriminated that appears in the imaging range of the camera 1 is This is shorter than the length L2 of the frame line on the near side of the parking space PL2 to be identified that appears in the imaging range.
  • the camera 1 The length L1 of the far-side frame line that appears in the imaging range is equal to or longer than the length L2 of the near-side frame line that appears in the imaging range of the camera 1.
  • the rear frame that appears in the imaging range of the camera 1 when the parking space PL2 to be discriminated is empty.
  • the length L1 of the line is shorter than the length L2 of the near-side frame line that appears in the imaging range of the camera 1.
  • the parallel parking method is the same as the parallel parking method. That is, as shown in FIG. 16, when the parking space PL1 adjacent to the front side is in a parking state, and the parking space PL2 to be determined is in an empty state, the determination target appearing in the imaging range of the camera 1 is displayed.
  • the length L1 of the frame line on the back side of the parking space PL2 is longer than the length L2 of the frame line on the near side of the parking space PL2 to be identified that appears in the imaging range of the camera 1.
  • FIG. 16 shows that appears in the imaging range of the camera 1.
  • the length of the frame line on the back side of the parking space PL2 to be discriminated that appears in the imaging range of the camera 1
  • the length L1 is shorter than the length L2 of the frame line on the near side of the parking space PL2 to be identified that appears in the imaging range of the camera 1.
  • the parking space PL2 to be determined in the situation where the parking space PL1 adjacent to the front side is in an empty state, if the parking space PL2 to be determined is in an empty state, it appears in the imaging range of the camera 1.
  • the length L1 of the frame line on the far side of the parking space PL2 to be discriminated is equal to the length L2 of the frame line on the near side of the parking space PL2 to be discriminated that appears in the imaging range of the camera 1.
  • the length L1 of the frame line on the back side of the parking space PL2 to be discriminated that appears in the imaging range of the camera 1 is This is shorter than the length L2 of the frame line on the near side of the parking space PL2 to be identified that appears in the imaging range.
  • the control device 10 compares the length L1 of the frame line on the back side of the parking space PL2 to be discriminated with the length L2 of the frame line on the near side of the parking space PL2 to be discriminated.
  • the determination target parking space PL2 is determined as an empty vehicle state
  • the determination target parking space PL2 is determined as a parking state.
  • FIG. 18 is a flowchart showing the procedure of the second embodiment of the detection process of the parking space Me that is executed by the control device 10.
  • the repeated description is abbreviate
  • step S301 the control device 10 determines whether or not there is a parking space PL1 in the parking state among the parking spaces PLn detected in step S202. Determine. If it is determined in step S301 that there is no parking space PL1 in the parked state, in step S302, the parking space PLn detected in step S202 is detected as a parking space Me, and the process ends.
  • step S303 the control device 10 sets the parking space (determination target parking space) PL2 on the back side of the parking space PL1.
  • the length L1 of the frame line on the back side and the length L2 of the frame line on the near side of the parking space PL2 to be determined are measured.
  • step S304 the control device 10 compares the length L1 of the frame line on the far side of the parking space PL2 to be discriminated with the length L2 of the frame line on the near side of the parking space PL2 to be discriminated. .
  • step S305 when the condition that the length L1 is greater than the length L2 is satisfied, the control device 10 determines that the parking space PL2 to be determined is an empty state.
  • step S306 when the condition that the length L1 is larger than the length L2 is not satisfied, the control device 10 determines the parking space PL2 to be determined as a parking state.
  • the frame line on the back side that appears in the imaging range of the camera 1 Is longer than the length L2 of the near-side frame line that appears in the imaging range of the camera 1 (see FIG. 10).
  • the length L1 of the frame line on the back side that appears in the imaging range of the camera 1 is on the near side that appears in the imaging range of the camera 1 Is shorter than the length L2 of the frame line (see FIG. 11).
  • the control device 10 determines the length L1 of the frame line on the far side of the parking space PL2 to be determined and the parking space to be determined.
  • the parking space PL2 to be determined is determined to be in an empty state and the condition is satisfied. If there is no parking space, the parking space PL2 to be determined is determined as a parking state.
  • control device 10 in the above-described embodiment corresponds to an example of the “frame line detection unit”, “measurement unit”, and “parking space detection unit” in the present invention.
  • the “camera 1” in the above-described embodiment corresponds to an example of an “imaging device” in the present invention.
  • the above-described embodiment has been described on the assumption that the camera provided in the vehicle.
  • the present embodiment is not necessarily limited to this, and the present embodiment is not limited to this. It may be based on a camera.
  • the parking space information may be acquired from the outside and the parking state of the parking space may be grasped.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de détection de place de stationnement grâce auquel une place de stationnement disponible (Me) est détectée à partir d'une image capturée obtenue par un appareil photographique (1). Le procédé de détection consiste : à détecter une première ligne pour une place de stationnement (PL2) pour laquelle une disponibilité doit être déterminée et une seconde ligne parallèle à la première ligne dans la place de stationnement (PL2) pour laquelle la détermination est réalisée et au niveau d'une position du côté éloigné plus éloignée de l'appareil photographique (1) que la première ligne; à mesurer les longueurs détectées de la première ligne et de la seconde ligne; et à détecter la place de stationnement (PL2) pour laquelle la détermination est réalisée comme étant une place de stationnement disponible si la longueur mesurée L1 de la seconde ligne est au moins égale à la longueur L2 mesurée pour la première ligne.
PCT/JP2015/079894 2015-10-22 2015-10-22 Procédé et dispositif de détection de place de stationnement Ceased WO2017068700A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/079894 WO2017068700A1 (fr) 2015-10-22 2015-10-22 Procédé et dispositif de détection de place de stationnement

Applications Claiming Priority (1)

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PCT/JP2015/079894 WO2017068700A1 (fr) 2015-10-22 2015-10-22 Procédé et dispositif de détection de place de stationnement

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008004633A1 (de) * 2008-01-16 2009-07-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erkennung und/oder Vermessung einer Parklücke
JP2010198440A (ja) * 2009-02-26 2010-09-09 Nissan Motor Co Ltd 駐車支援装置及び障害物検知方法
WO2016002405A1 (fr) * 2014-07-04 2016-01-07 クラリオン株式会社 Dispositif de reconnaissance de place de stationnement

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008004633A1 (de) * 2008-01-16 2009-07-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erkennung und/oder Vermessung einer Parklücke
JP2010198440A (ja) * 2009-02-26 2010-09-09 Nissan Motor Co Ltd 駐車支援装置及び障害物検知方法
WO2016002405A1 (fr) * 2014-07-04 2016-01-07 クラリオン株式会社 Dispositif de reconnaissance de place de stationnement

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