# US 11,027,725 B2 · Self position estimation method and self position estimation device

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- Number: US 11,027,725 B2
- Document ID: US11027725B2
- Status: Granted
- Kind: B2
- Application number: 16/340,972
- Filed: 2016-10-13
- Published: 2019-09-19
- Granted: 2021-06-08
- Earliest claimed: 2016-10-13
- Assignees: Nissan Motor Co., Ltd.
- Applicants: Nissan Motor Co., Ltd.
- Inventors: Yasuhisa Hayakawa; Ichiro Yamaguchi; Yasuhiro Sakurai; Daisuke Tanaka; Yukinori Nishida
- Web page: https://patentgrep.com/patent/US11027725B2

## CPC

- B60W 30/06: Automatic manoeuvring for parking
- B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
- B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
- B60R 21/00: Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks (safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19)
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B62D 15/0285: {Parking performed automatically}
- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- G08G 1/168: {Driving aids for parking, e.g. acoustic or visual feedback on parking space}
- B60K 35/26: using acoustic output
- B60K 2360/117: Cursors
- B60K 2360/1468: Touch gesture
- B60K 2360/165: Videos and animations
- B60K 2360/173: Reversing assist
- B60K 2360/177: Augmented reality
- B60K 2360/179: Distances to obstacles or vehicles
- G06T 2207/30244: Camera pose
- G06T 2207/30264: Parking
- 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
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A self position estimation method is provided which is capable of accurately estimating, when executing automatic parking to a parking target position using a stored surrounding situation, a position of a host vehicle or a target in the surrounding situation stored in a storage device. The method includes a step that presents the stored surrounding situation, a step that receives an operation of setting a positional relationship between the stored surrounding situation, and at least one of the host vehicle and the targets existing around the host vehicle, and a step that sets a position of at least one of the host vehicle and the target in the stored surrounding situation based on the operation.

## Claims

### Claim 1

A self position estimation method of a parking assistance device that stores surrounding situation of a parking target position in a storage device and executes automatic parking using the stored surrounding situation during parking to the parking target position, the method comprising:
presenting the stored surrounding situation;
receiving from an occupant an operation of setting a positional relationship between the stored surrounding situation, and a host vehicle and an object existing around the host vehicle before starting the automatic parking; and
setting a position of the host vehicle or a position of the object in the stored surrounding situation based on the operation received from the occupant.

### Claim 2 (depends on 1)

The self position estimation method of claim 1, further comprising:
detecting surrounding situation of the host vehicle; and
estimating the position of the host vehicle or the object in the stored surrounding situation based on the detected surrounding situation,
wherein the presenting presents the position of the host vehicle or the object in the stored surrounding situation and presents the position of the host vehicle or the object in the detected surrounding situation, and
wherein the receiving receives an operation of associating the position of the host vehicle or the object in the stored surrounding situation with the position of the host vehicle or the object in the detected surrounding situation.

### Claim 3 (depends on 2)

The self position estimation method of claim 2, wherein the stored surrounding situation or the detected surrounding situation is presented as an overhead view image.

### Claim 4 (depends on 2)

The self position estimation method of claim 2, further comprising:
determining whether or not a predetermined specific object is detected as the detected surrounding situation; and
presenting detection of the specific object to the occupant in a case where the specific object is detected.

### Claim 5 (depends on 2)

The self position estimation method of claim 2, further comprising:
detecting a relative positional relationship between the host vehicle and the object in the detected surrounding situation according to the surrounding situation of the host vehicle,
wherein the setting the position of the host vehicle or the position of the object sets a positional relationship in the stored surrounding situation of the other of the detected host vehicle or object based on the relative positional relationship, in a case where a positional relationship in the stored surrounding situation of any one of the detected host vehicle or the object is set.

### Claim 6 (depends on 1)

The self position estimation method of claim 1, wherein the object existing around the host vehicle includes a line on a road.

### Claim 7

A self position estimation device of a parking assistance device configured to store surrounding situation of a parking target position in a storage device and execute automatic parking using the stored surrounding situation during parking to the parking target position, the self position estimation device comprising:
a display or speaker configured to present the stored surrounding situation;
an interface configured to receive from an occupant an operation of setting a positional relationship between the stored surrounding situation, and a host vehicle and an object existing around the host vehicle when the stored surrounding situation is presented before starting the automatic parking; and
a controller configured to set a position of the host vehicle or a position of the object in the stored surrounding situation based on the operation received from the occupant.