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US 11,535,152 B2Granted
Parking support device
AssigneeHitachi Astemo, Ltd.
InventorsSatoru Okubo, Koji Takahashi
Life of this patent
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AssigneeHitachi Astemo, Ltd.
InventorsSatoru Okubo, Koji Takahashi
Estimating the term…
In a tilt parking mode, “a target parking position” can be accurately determined without changing a camera tilt angle and an HMI display range, and can be notified to a driver, so that the usability can be improved. A parking support device includes an external field recognition unit such as a camera and a sonar, which recognizes an external field, an information holding unit which holds information of a parking frame line recognized by the external field recognition unit, a parking region extraction unit which extracts a parking region from information of the parking frame line, a parking position determination unit which determines a target parking position from the parking region, and a path calculation unit which calculates a parking path from a current position of an own vehicle up to the target parking position. In a case where part of the parking frame line is not recognized by the camera, the target parking position is defined on the basis of lines connecting an end point of the parking frame line on a rear side of the own vehicle, a virtually extending line of the parking frame line on a front side of the own vehicle, and a point intersecting with the virtual line on a front side of the vehicle from the end point of the parking frame line on the rear side of the own vehicle.
A parking support device, comprising:
Dependencies are inferred from the claim text.
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From the US filing history. Foreign family members aren’t listed.
No references of this kind are recorded.
With a predetermined field of view: providing all-round vision, e.g. using omnidirectional cameras
Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or…
Subject matter not provided for in other groups of this subclass
Route searching; Route guidance: specially adapted for specific applications
About 12 years 11 months of term left · ends 22 Sep 2039 (estimated)
The present invention relates to a vehicle control device which parks a vehicle at an arbitrary position according to a result of recognized external field, and particularly to a technology which can set a target parking position even in a case where only a part of a parking frame is recognizable due to a restriction such as a camera tilt angle or an HMI display range, and estimates the target parking position from visible recognition information.
Conventionally, as a parking support device which supports a driving operation when a vehicle is parked, there is known a technique in which a space of the target parking position is detected to park an own vehicle using a distance measuring sensor for example, a frame image indicating the target parking position is drawn and displayed at a position corresponding to an image captured by a camera, and therefore, a driver can recognize the target parking position.
In addition, regarding the problem that it is hard for the driver to determine whether the target parking position displayed on an HMI is the target parking position automatically detected on the basis of a recognition result, which causes anxiety in operation, there is known a technique in which different frame images are displayed depending on cases where the target parking position can be detected or where not, and therefore, the driver can check the display of the frame image so as to easily grasp whether the target parking position is appropriately detected.
FIG. 1 is an overhead view in a case where a vehicle is 1.5 m away from a parking frame end in a parking lot in which a parking frame line is inclined by 45 deg.
FIG. 2 is an overhead view in a case where the vehicle is 0.5 m away from the parking frame end in the parking lot where the parking frame line is inclined by 45 deg.
FIG. 3 is an overhead view in a case where the vehicle is 1.5 m away from the parking frame end in the parking lot where the parking frame line is inclined by 60 deg.
Hereinafter, embodiments of the invention will be described using the drawings.
The invention is applied to a parking support system in which a target parking position is automatically detected to park an own vehicle, a frame image indicating the target parking position is drawn and overlapped on an overhead image around the own vehicle, so that a driver of the vehicle may recognize and select the automatically-detected target parking position.
Then, particularly in the parking support system to which the invention is applied, a target parking position can be estimated from currently recognized information regardless of a situation that most parking frame line is not recognizable in a tilt parking mode. For example, in a case where it is possible to recognize an end point the parking frame line on a vehicle rear side and an “intersection” where the end point of the parking frame line on the vehicle rear side and the parking frame line on a vehicle front side intersect at a right angle, the target parking position can be calculated, and the notification to the driver can be performed without any problem. However, in a case where the “intersection” is not recognizable, the target parking position can be determined on the basis of lines connecting the end point of the parking frame line on the vehicle rear side, a line virtually extending from the parking frame line on the vehicle front side, and an “intersection” intersecting at a right angle from the end point of the parking frame line on the vehicle rear side to a virtual line on the vehicle front side.