Parking support method and device
AssigneeNissan Motor Co., Ltd.
InventorsNaoki Kojo, Tomoko Kurotobi
Life of this patent
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Abstract
A method is provided which comprises: acquiring, from a set of ranging sensors, recognition information about a plurality of parked vehicles existing in a parking frame group comprising a plurality of parking frames arranged side by side; selecting representative points of the parked vehicles from the recognition information; calculating a distance between representative points that is a distance between the representative points adjacent to each other; and calculating a width of the parking frames on the basis of the distance between representative points.
Claims9
A parking assist method comprising:
- acquiring recognition information about three or more parked vehicles existing in a parking frame group comprising three or more parking frames arranged side by side;
- selecting representative points set at same positions of the three or more parked vehicles from the recognition information;
- calculating a distance between representative points that is a distance between the representative points adjacent to each other;
- setting an assumed value as the width of the parking frames and calculating errors between a plurality of the distances between representative points and a value of an integral multiple of the assumed value;
- and
- calculating the assumed value which gives a minimum sum of the errors as the width of the parking frames.
A parking assist device comprising:
- recognition information sensors configured to acquire recognition information about three or more parked vehicles existing in a parking frame group comprising three or more parking frames arranged side by side;
- and
- a controller configured to:
- select representative points set at same positions of the three or more parked vehicles from the recognition information;
- calculate a distance between representative points that is a distance between the representative points adjacent to each other;
- and
- calculate a width of the parking frames on a basis of a plurality of the distances between representative points;
- set an assumed value as the width of the parking frames and calculate errors between the distances between representative points and a value of an integral multiple of the assumed value;
- and
- calculate the assumed value which gives a minimum sum of the errors as the width of the parking frames.
Dependencies are inferred from the claim text.