To prevent an erroneous recognition of a parking type in a parking frame recognition system that determines a type of parking mode and sets a parking frame.SOLUTION: A parking frame recognition system S includes: an external field information acquisition device 7 that acquires position of parking frame lines; and a parking frame candidate detection device 15 that detects a parking type including diagonal parking and parallel parking, and a parking frame candidate that is a candidate for a parking-able area based on positions of parking frame lines, the parking frame candidate detection device comprising: a virtual line calculation unit 61 for calculating a virtual line 57 that connects tips of adjacent parking frame lines on a road side to each other; an angle calculation unit 62 for calculating an angle θ formed by the virtual line calculated by the virtual line calculation unit and parking frame lines; a parking type determination unit 63 for determining a parking type based on the angle formed by the virtual line and the parking frame lines; and a parking frame candidate setting unit 64 for setting a temporary parking frame 52X in an area between the parking frame lines based on the positions of the parking frame lines and for setting a parking-able area from the temporary parking frames as a parking frame candidate.SELECTED DRAWING: Figure 4

    【課題】駐車態様の種別を判定して駐車枠を設定する駐車枠認識システムにおいて、駐車種別の誤認識を防止する。【解決手段】駐車枠認識システムSであって、駐車枠線の位置を取得する外界情報取得装置7と、駐車枠線の位置に基づいて、斜め駐車及び並列駐車を含む駐車種別と、駐車可能な領域の候補である駐車枠候補を検出する駐車枠候補検出装置15とを有し、駐車枠候補検出装置は、隣接する駐車枠線の道路の側の先端を互いに接続する仮想線57を算出する仮想線算出部61と、仮想線算出部によって算出された仮想線と駐車枠線とがなす角度θを算出する角度算出部62と、仮想線と駐車枠線とがなす角度に基づいて、駐車種別を決定する駐車種別決定部63と駐車枠線の位置に基づいて、駐車枠線の間の領域に仮駐車枠52Xを設定し、仮駐車枠の中から駐車可能な領域を駐車枠候補に設定する駐車枠候補設定部64とを備える。【選択図】図4


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    Title :

    PARKING FRAME RECOGNITION SYSTEM AND PARKING SUPPORT SYSTEM EQUIPPED WITH PARKING FRAME RECOGNITION SYSTEM


    Additional title:

    駐車枠認識システム、及び、駐車枠認識システムを備えた駐車支援システム


    Contributors:
    HARA YUKI (author) / TERUDA YASUSHI (author)

    Publication date :

    2021-10-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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



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