# US 2016/0253902 A1 · Parked vehicle detection device, vehicle management system, and control method

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- Number: US 2016/0253902 A1
- Document ID: US20160253902A1
- Status: Published application
- Kind: A1
- Application number: 15/028,432
- Filed: 2014-10-08
- Published: 2016-09-01
- Earliest claimed: 2013-10-11
- Assignees: Kabushiki Kaisha Toshiba
- Applicants: Kabushiki Kaisha Toshiba
- Inventors: Kentaro YOKOI; Toshio SATO; Nobuyuki OZAKI; Tatsuro ABE; Yusuke TAKAHASHI; Hayato TODA
- Web page: https://patentgrep.com/patent/US20160253902A1

## CPC

- G08G 1/0133: {for classifying traffic situation}
- G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]}
- G08G 1/0141: {for traffic information dissemination}
- G08G 1/143: {inside the vehicles}
- G08G 1/147: {where the parking area is within an open public zone, e.g. city centre}
- G08G 1/144: {on portable or mobile units, e.g. personal digital assistant [PDA]}
- 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 parked vehicle detection device includes a vehicle detector, a host-vehicle position detector, a position calculator, a vehicle information storage, and a parked vehicle determiner. The vehicle detector detects another vehicle included in an image of at least a front of a host vehicle, the image captured by an imaging device mounted on the host vehicle. The host-vehicle position detector detects a position of the host vehicle. The position calculator calculates a position of the detected another vehicle based on the detected position of the host vehicle. The vehicle information storage stores therein information on the another vehicle. The information includes the calculated position. The parked vehicle determiner determines whether the another vehicle is a high possible parked vehicle based on the information on the another vehicle.

## Claims

### Claim 1

A parked vehicle detection device comprising:
a vehicle detector that detects another vehicle included in an image of at least a front of a host vehicle, the image captured by an imaging device mounted on the host vehicle;
a host-vehicle position detector that detects a position of the host vehicle;
a position calculator that calculates a position of the detected another vehicle based on the detected position of the host vehicle;
a vehicle information storage that stores therein information on the another vehicle, the information including the calculated position; and
a parked vehicle determiner that determines whether the another vehicle is high possible parked vehicle based on the information on the another vehicle.

### Claim 2 (depends on 1)

The parked vehicle detection device according to claim 1, further comprising:
a vehicle distance calculator that calculates a distance between other vehicles based on a plurality of items of information on the other vehicles stored in the vehicle information storage, wherein
the parked vehicle determiner determines the vehicle is high possible parked vehicle when the distance calculated by the vehicle distance calculator is equal to or larger than a predetermined vehicle distance.

### Claim 3 (depends on 1)

The parked vehicle detection device according to claim 1, further comprising:
a vehicle velocity calculator that calculates a relative velocity of the detected another vehicle with respect to the host vehicle or an absolute velocity of the detected another vehicle based on the image, wherein
the parked vehicle determiner determines the vehicle as a parked vehicle when the absolute velocity of the another vehicle is equal to or smaller than a predetermined velocity that is regarded as parked.

### Claim 4 (depends on 3)

The parked vehicle detection device according to claim 3, further comprising:
a velocity detector that detects a host vehicle velocity, the host vehicle velocity being an absolute velocity of the host vehicle; and
a distance calculator that calculates a distance to the another vehicle based on an image of the another vehicle included in the image, wherein
the vehicle velocity calculator calculates the absolute velocity of the another vehicle based on the host vehicle velocity and a relative velocity calculated based on a temporal change in the distance to the another vehicle corresponding to a plurality of images captured at different timings.

### Claim 5 (depends on 1)

The parked vehicle detection device according to claim 1, further comprising:
a traveling-position change determiner that detects, based on the image, a lane change of the host vehicle to a lane different from a lane in which the another vehicle travels, wherein:
the position calculator calculates a position of the another vehicle when the host vehicle has made the lane change, and
the vehicle information storage stores therein information on the another vehicle, the information including the position when the change is made.

### Claim 6 (depends on 5)

The parked vehicle detection device according to claim 5, wherein:
the traveling-position change determiner comprises an operation amount detector that detects a steering amount of the host vehicle, and
the traveling-position change determiner detects the lane change of the host vehicle based on the detected steering amount.

### Claim 7 (depends on 5)

The parked vehicle detection device according to claim 5, wherein:
the traveling-position change determiner comprises a lane line position detector that detects a position of a lane line with respect to the host vehicle from the image, and
the traveling-position change determiner detects the lane change of the host vehicle based on a change amount of the position of the lane line with respect to the host vehicle.

### Claim 8 (depends on 5)

The parked vehicle detection device according to claim 5, wherein:
the traveling-position change determiner comprises a vehicle position detector that detects a relative position between the another vehicle and the host vehicle from the image, and
the traveling-position change determiner detects the lane change of the host vehicle based on a change amount of the detected relative position between the another vehicle and the host vehicle.

### Claim 9 (depends on 1)

The parked vehicle detection device according to claim 1, wherein the parked vehicle determiner determines whether the another vehicle is high possible parked vehicle based on a state of the detected another vehicle traveling in a plurality of lanes in a same direction and a temporal transition of the distance to the another vehicle.

### Claim 10 (depends on 1)

The parked vehicle detection device according to claim 1, further comprising:
a same vehicle determiner that determines, when a plurality of images each including the another vehicle determined to stopping at the same position are captured by the imaging device at a predetermined time interval or larger, that the another vehicles included in the images is a same vehicle, wherein
the parked vehicle determiner determines that the another vehicles determined to be the same vehicle are high possible parked vehicles.

### Claim 11 (depends on 10)

The parked vehicle detection device according to claim 10, wherein the same vehicle determiner determines whether the another vehicles are the same vehicle through pattern recognition.

### Claim 12 (depends on 10)

The parked vehicle detection device according to claim 10, wherein:
the position calculator calculates relative positions of stop positions of the another vehicles with respect to characteristic objects in the images, and
the parked vehicle determiner determines, when the same vehicle determiner determines the relative positions of the stop positions of the another vehicles with respect to the characteristic objects in the images to be the same, that the another vehicles included in the images are stopping at a same geographic position.

### Claim 13 (depends on 12)

The parked vehicle detection device according to claim 12, wherein the characteristic objects in the images include a background feature including a lane line.

### Claim 14

A vehicle management system comprising:
a parked vehicle detection device that comprises: a vehicle detector that detects another vehicle included in an image of at least a front of a host vehicle, the image captured by an imaging device mounted on the host vehicle; a host vehicle position detector that detects a position of the host vehicle; a position calculator that calculates a position of the detected another vehicle based on the detected position of the host vehicle; a vehicle information storage that stores therein information on the another vehicle, the information including the calculated position; and a parked vehicle determiner that determines whether the another vehicle is high possible parked vehicle based on the information on the another vehicle; and
a management server device connected with the parked vehicle detection device via a communication network, wherein
the management server device receives items of parked vehicle information from parked vehicle detection devices, determines, based on the received parked vehicle information, other vehicles detected at a same position by the parked vehicle detection devices as a same vehicle parked at the position in a certain period of time, and processes information on the other vehicles as a parked vehicle.

### Claim 15

A control method to be executed by a parked vehicle detection device mounted on a host vehicle including an imaging device, the control method comprising:
detecting another vehicle included in an image of at least a front of the host vehicle, the image captured by the imaging device mounted on the host vehicle;
detecting a position of the host vehicle;
calculating a position of the detected another vehicle based on the detected position of the host vehicle;
storing information on the another vehicle, the information including the calculated position; and
determining whether the another vehicle is high possible parked vehicle based on the information on the another vehicle.