To estimate a position and attitude of a vehicle relative to a parking space with a smaller calculation amount in comparison to methods such as semantic segmentation in an environment with a poor lighting condition.SOLUTION: A parking support device 10 includes: an odometry information acquisition unit 30 which acquires odometry information indicating a position change amount and an attitude change amount of a vehicle between the parking space and the first position; a road surface area specification unit 32 which specifies a road surface area of the parking space in the first image taken from the first position on the basis of the odometry information; and a position and attitude estimation unit 34 which calculates relative position attitude information indicating the position change amount and attitude change amount of the vehicle between the first position and the second position by comparing the road surface area in the second image taken from the second position with the road surface area in the first image, and outputs position and attitude estimation information indicating the position and attitude of the vehicle relative to the parking space when the vehicle is located at the second position on the basis of the odometry information and the relative position attitude information.SELECTED DRAWING: Figure 2

    【課題】照明条件の悪い環境において、駐車スペースに対する車両の位置及び姿勢を、セマンティック・セグメンテーション等の手法に比して少ない算出量で推定する。【解決手段】駐車支援装置10は、駐車スペースと第1位置との間の車両の位置変化量及び姿勢変化量を示すオドメトリ情報を取得するオドメトリ情報取得部30と、第1位置から撮像された第1画像内における駐車スペースの路面領域を、オドメトリ情報に基づいて特定する路面領域特定部32と、第2位置から撮像された第2画像内における路面領域と、第1画像内における路面領域とを比較することにより、第1位置と第2位置との間の車両の位置変化量及び姿勢変化量を示す相対位置姿勢情報を算出し、オドメトリ情報及び相対位置姿勢情報に基づいて、車両が第2位置に位置している場合の駐車スペースに対する車両の位置及び姿勢を示す位置姿勢推定情報を出力する位置姿勢推定部34とを備える。【選択図】図2


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    Title :

    PARKING SUPPORT DEVICE, PARKING SUPPORT METHOD AND PARKING SUPPORT PROGRAM


    Additional title:

    駐車支援装置、駐車支援方法、及び駐車支援プログラム


    Contributors:
    ASAI SHOJI (author) / HAYAKAWA KAZUTAKA (author) / UEDA KOKI (author)

    Publication date :

    2024-10-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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