# US 8,542,129 B2 · Parking aid system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,542,129 B2 - Document ID: US8542129B2 - Status: Granted - Kind: B2 - Application number: 12/801,431 - Filed: 2010-06-08 - Published: 2011-01-13 - Granted: 2013-09-24 - Earliest claimed: 2009-06-09 - Assignees: Denso Corporation - Applicants: Daisuke Taniguchi; Ryusuke Kawano - Inventors: Daisuke Taniguchi; Ryusuke Kawano - Web page: https://patentgrep.com/patent/US8542129B2 ## CPC - B62D 15/028: {Guided parking by providing commands to the driver, e.g. acoustically or optically} - G06T 7/73: using feature-based methods - G06T 2207/20061: Hough transform - G06T 2207/30264: Parking - 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 ## Abstract A parking aid system is disclosed. The parking aid system includes: a parking space borderline recognition section configured to recognize two borderlines of the parking space based on a captured image, which is captured by an imaging device mounted to the vehicle, the two borderlines respectively being two parts of the parking space boundary opposite to each other in a width direction of the parking space; a displacement calculation section configured to calculate displacement of the vehicle in the width direction with respect to the two borderlines based on positions of the two borderlines in the captured image and an imaging range of the imaging device; and a notifier configured to notify the displacement calculated by the displacement calculation section. ## Claims ### Claim 1 A parking aid system for aiding in parking a vehicle into a parking space defined by a parking space boundary, the parking aid system comprising: a parking space borderline recognition section that is configured to recognize two borderlines of the parking space based on a captured image, which is captured by an imaging device mounted to the vehicle, the two borderlines respectively being two parts of the parking space boundary and being opposite to each other in a width direction of the parking space; a displacement calculation section that is configured to calculate displacement of the vehicle in the width direction with respect to the two borderlines based on positions of the two borderlines in the captured image and an imaging range of the imaging device, the imaging range being determined by reference to the vehicle; and a notifier that is configured to notify the displacement calculated by the displacement calculation section, wherein: the displacement calculation section calculates the displacement as a distance between a center line of the parking space and a center point of the vehicle; the center line of the parking space is a line located at a same distance from the two borderlines; and the center point of the vehicle is a point located at a center of the vehicle in a front-back direction of the vehicle and located on a vehicle center line, which is at a same distance from both lateral sides of the vehicle. ### Claim 2 A parking aid system for aiding in parking a vehicle into a parking space defined by a parking space boundary, the parking aid system comprising: a parking space borderline recognition section that is configured to recognize two borderlines of the parking space based on a captured image, which is captured by an imaging device mounted to the vehicle, the two borderlines respectively being two parts of the parking space boundary and being opposite to each other in a width direction of the parking space; a displacement calculation section that is configured to calculate displacement of the vehicle in the width direction with respect to the two borderlines based on positions of the two borderlines in the captured image and an imaging range of the imaging device, the imaging range being determined by reference to the vehicle; and a notifier that is configured to notify the displacement calculated by the displacement calculation section; wherein: the imaging device is a component of the parking aid system and is one movement direction imaging device, which images an area frontward or backward of the vehicle; the parking space borderline recognition section further recognizes an auxiliary line in addition to the two borderlines based on the captured image captured by the one movement direction imaging device; the auxiliary line being located on such a place that the auxiliary line is located more distant from a vehicle approach side of the parking space than the two borderlines are from the vehicle approach side; the parking space borderline recognition section acquires a positional relationship between the auxiliary line and the two borderlines in recognizing the two borderlines and the auxiliary line, so that the positional relationship is prospectively acquired; and when the parking space borderline recognition section becomes unable to recognize the two borderlines, the displacement calculation section calculates the displacement by using the center point of the vehicle and the auxiliary line. ### Claim 3 A parking aid system for aiding in parking a vehicle into a parking space defined by a parking space boundary, the parking aid system comprising: a parking space borderline recognition section that is configured to recognize two borderlines of the parking space based on a captured image, which is captured by an imaging device mounted to the vehicle, the two borderlines respectively being two parts of the parking space boundary and being opposite to each other in a width direction of the parking space; a displacement calculation section that is configured to calculate displacement of the vehicle in the width direction with respect to the two borderlines based on positions of the two borderlines in the captured image and an imaging range of the imaging device, the imaging range being determined by reference to the vehicle; a notifier that is configured to notify the displacement calculated by the displacement calculation section; and an inclination angle calculation section that is configured to calculate an inclination angle of the vehicle with respect to the parking space boundary based on the two borderlines recognized by the parking space borderline recognition section. ### Claim 4 (depends on 3) The parking aid system according to claim 3, further comprising: a rotation direction instruction image creation section that is configured to create a rotation direction instruction image indicative of which rotation direction of a steering wheel of the vehicle decreases magnitude of the inclination angle calculated by the inclination angle calculation section, wherein the notifier includes a display device configured to perform display operation and a display control section configured to control the display operation of the display device, the display operation including display of the rotation direction instruction image. ### Claim 5 (depends on 4) The parking aid system according to claim 4, wherein: the instruction image creation section creates the rotation direction instruction image so that size of the created rotation direction instruction image corresponds to a magnitude of rotation angle of the steering wheel, the magnitude causing the inclination angle to be zero. ### Claim 6 (depends on 4) The parking aid system according to claim 4, wherein: the display control section causes the display device to display thereon the captured image, which is captured by the imaging device; and the display control section further causes the display device to superimpose the rotation direction instruction image on the captured image. ### Claim 7 (depends on 4) The parking aid system according to claim 4, wherein: the display control section causes the display device to display thereon the captured image, which is captured by the imaging device; and the display control section further causes the display device to superimpose the rotation direction instruction image on the captured image so that location of the rotation direction instruction image on the captured image corresponds to the displacement calculated by the displacement calculation section. ### Claim 8 (depends on 3) The parking aid system according to claim 3, further comprising: an inclination image creation section that is configured to create a inclination image which is indicative of the inclination angle calculated by the inclination angle calculation section and which is rotated around an end point of the inclination image by a rotation degree that corresponds to the inclination angle, wherein the notifier includes a display device configured to perform display operation and a display control section configured to control the display operation of the display device, the display operation including display of the inclination image. ### Claim 9 (depends on 8) The parking aid system according to claim 8, wherein: the display control section causes the display device to display thereon the captured image, which is captured by the imaging device; and the display control section further causes the display device to superimpose the inclination image on the captured image. ### Claim 10 (depends on 8) The parking aid system according to claim 8, wherein: the display control section causes the display device to display thereon the captured image, which is captured by the imaging device; and the display control section causes the display device to superimpose the inclination image on the captured image so that location of the inclination image on the captured image corresponds to a magnitude of the displacement calculated by the displacement calculation section. ### Claim 11 (depends on 3) The parking aid system according to claim 3, wherein the notifier includes a plurality of segments each having a plurality of parts; the plurality of segments is arranged in a predetermined geometry to indicate the displacement calculated by the displacement calculation section; the plurality of parts of each segment is arranged in a predetermined geometry to indicate the inclination angle calculated by the inclination angle calculation section; and the notifier is configured such that one part of one segment lights up when the one part corresponds to a present value of the inclination angle and when the one segment corresponds to a present value of the displacement. ### Claim 12 (depends on 3) The parking aid system according to claim 3, wherein: the notifier includes a plurality of light-emitting elements; and the plurality of light-emitting elements is arranged in a predetermined geometry to indicate the inclination angle calculated by the inclination angle calculation section. ### Claim 13 (depends on 3) The parking aid system according to claim 3, further comprising: an illustration creation section that is configured to create an illustration indicative of a result of the parking of the vehicle with respect to the parking space boundary, based on the displacement calculated by the displacement calculation section and the inclination angle calculated by the inclination angle calculation section, wherein the notifier includes a display device, wherein the display device displays thereon the illustration created by the illustration creation section to indicate the result of the parking. ### Claim 14 (depends on 3) The parking aid system according to claim 3, further comprising: a parking result evaluation section that is configured to evaluate a result of the parking of the vehicle with respect to the parking space boundary thereby to provide an evaluation result, based on the displacement calculated by the displacement calculation section and the inclination angle calculated by the inclination angle calculation section; and an illustration creation section that is configured to create an illustration indicative of the evaluation result provided by the parking result evaluation section, wherein the notifier includes a display device and a display control section configured to control the display device, wherein the display control section causes the display device to display thereon the illustration created by the illustration creation section to indicate the evaluation result. ### Claim 15 (depends on 3) The parking aid system according to claim 3, further comprising: a parking result scoring section that is configured to score a result of the parking of the vehicle with respect to the parking space boundary thereby to provide a scoring result, based on the displacement calculated by the displacement calculation section and the inclination angle calculated by the inclination angle calculation section; and an illustration creation section that is configured to create an illustration indicative of the scoring result provided by the parking result scoring section, wherein the notifier includes a display device and a display control section configured to control the display device, wherein the display control section causes the display device to display thereon the illustration created by the illustration creation section to indicate the scoring result. ### Claim 16 (depends on 15) The parking aid system according to claim 15, further comprising; a storage section that is configured to accumulatively store therein the scoring result provided by the parking result scoring section, wherein the display control section causes the display device to display thereon a graph showing transition of the scoring result, which is stored in the storage section. ### Claim 17 A parking aid system for aiding in parking a vehicle into a parking space defined by a parking space boundary, the parking aid system comprising: a parking space borderline recognition section that is configured to recognize two borderlines based on a captured image, which is captured by an imaging device mounted to the vehicle, the two borderlines respectively being two parts of the parking space boundary and being opposite to each other in a width direction of the parking space; an inclination angle calculation section that is configured to calculate a inclination angle of the vehicle with respect to the parking space boundary based on the two borderlines recognized by the parking space borderline recognition section; a rotation direction instruction image creation section that is configured to create a rotation direction instruction image indicative of which rotation direction of a steering wheel decreases magnitude of the inclination angle calculated by the inclination angle calculation section; a display device that is configured to perform display operation; and a display control section that is configured to control of the display operation of the display device, the display operation including display of the rotation direction instruction image by the display device.