To improve the estimation accuracy of the shape of an obstacle.SOLUTION: A parking support system includes: a distance measurement section for acquiring distance information indicating a distance from a movable body to an obstacle by using the reflection of ultrasonic waves; a detection section for detecting a division line showing a parking area; an estimation section for estimating the extension direction of the obstacle on the basis of the distance information and a predetermined direction when the division line is not detected, and for estimating the extension direction of the obstacle on the basis of the distance information and the division line when the division line is detected; and a generation section for generating the movement path of the movable body on the basis of the extension direction estimated by the estimation section.SELECTED DRAWING: Figure 3
【課題】障害物の形状の推定精度を向上させる。【解決手段】駐車支援システムは、超音波の反射を利用して移動体から障害物までの距離を示す距離情報を取得する測距部と、駐車領域を示す区画線を検出する検出部と、区画線が検出されない場合に、距離情報と予め定められた方向とに基づき障害物の延長方向を推定し、区画線が検出された場合に、距離情報と区画線とに基づき障害物の延長方向を推定する推定部と、推定部により推定された延長方向に基づき移動体の移動経路を生成する生成部とを備える。【選択図】図3
PARKING SUPPORT SYSTEM, PARKING SUPPORT DEVICE, PARKING SUPPORT METHOD, AND PROGRAM
駐車支援システム、駐車支援装置、駐車支援方法、及びプログラム
2022-04-08
Patent
Electronic Resource
Japanese
IPC: | B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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