PROBLEM TO BE SOLVED: To smoothly perform advancement parking into a parking space by recognizing the parking space at an early stage.SOLUTION: A parking assisting device 10 assists advancement parking of a vehicle in a parking space. The parking assisting device 10 includes a corner position calculation part 11 in which, in a situation in which the vehicle is advancing a side passage of the parking space toward the parking space based on an image taken with an in-vehicle camera 21, at least one of a first corner position which is a corner position being a near side of a vehicle entrance part of the parking space and a second corner position which is a corner position on a depth side is estimated before the vehicle passes the parking space, and a parking space recognizing part 12 which, based on the estimated corner position, recognizes the parking space for advancement parking.SELECTED DRAWING: Figure 1
【課題】駐車空間を早期に認識し、駐車空間への前進駐車をスムーズに行うこと。【解決手段】駐車支援装置10は、駐車空間への車両の前進駐車を支援する。駐車支援装置10は、前記車両が前記駐車空間の側方通路を前記駐車空間に向かう方向に前進している状況において、車載カメラ21で撮影した画像に基づいて、前記駐車空間の車両入口部における手前側のコーナ位置である第1コーナ位置及び奥側のコーナ位置である第2コーナ位置の少なくとも一方を前記車両が前記駐車空間を通過する前に推定するコーナ位置演算部11と、前記推定したコーナ位置に基づいて、前進駐車のための前記駐車空間を認識する駐車空間認識部12と、を備える。【選択図】図1
PARKING ASSISTING DEVICE AND PARKING ASSISTING METHOD
駐車支援装置及び駐車支援方法
2017-12-07
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
PARKING ASSISTING SYSTEM, PARKING ASSISTING METHOD AND PROGRAM
European Patent Office | 2017
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