Parking assisting apparatus and control unit

Patent metadata

Field	Value
Publication number	US-10885356-B2
Application number	US-201916442799-A
Country	US
Kind code	B2
Filing date	Jun 17, 2019
Priority date	Dec 19, 2016
Publication date	Jan 5, 2021
Grant date	Jan 5, 2021

Abstract

A parking assisting apparatus includes an imaging unit acquiring image information corresponding to an image of surroundings of a vehicle, an image processing section recognizing a feature shape in the image by processing the image information, an obstacle detecting section acquiring positional-relationship information corresponding to a positional relationship between the vehicle and an obstacle present around a parking space, and a manner-of-parking selecting section selecting a manner of parking the vehicle in the parking space from manner candidates including perpendicular parking and parallel parking based on the feature shape and the positional-relationship information. The manner-of-parking selecting section selects the manner of parking from the manner candidates by integrating a likelihood of each of the manner candidates based on the positional-relationship information with a likelihood of the manner candidate based on a recognition result to calculate final likelihoods of the respective manner candidates, and by comparing the calculated final likelihoods.

First claim

What is claimed is:

1. A parking assisting apparatus configured to be mounted in a vehicle to assist in parking the vehicle in a parking space, the parking assisting apparatus comprising:
an imaging unit provided to acquire image information corresponding to an image of surroundings of the vehicle;
an image processing section provided to recognize a feature shape in the image by processing the image information acquired by the imaging unit;
an obstacle detecting section provided to acquire positional-relationship information corresponding to a positional relationship between the vehicle and an obstacle present around the parking space, and
a manner-of-parking selecting section provided to select a manner of parking the vehicle in the parking space from a plurality of manner candidates including perpendicular parking and parallel parking based on the feature shape recognized by the image processing section and the positional-relationship information acquired by the obstacle detecting section, wherein
the manner-of-parking selecting section is configured to select the manner of parking from the plurality of manner candidates by integrating a likelihood of each of the manner candidates based on the positional-relationship information acquired by the obstacle detecting section with a likelihood of the manner candidate based on a recognition result for at least one of a white line, a tire of a parked vehicle, and a number plate of the parked vehicle, each of which is the feature shape, to calculate final likelihoods of the respective manner candidates, and by comparing the calculated final likelihoods of the respective manner candidates with each other.

2. The parking assisting apparatus according to claim 1 , further comprising a ranging sensor provided to transmit a search wave externally from the vehicle and to receive a received wave including a reflected wave of the search wave from the obstacle and having intensity corresponding to a distance between the vehicle and the obstacle, wherein
the obstacle detecting section is provided to acquire the positional-relationship information based on a reception result for the received wave by the ranging sensor.

3. A control unit for a parking assisting apparatus configured to be mounted in a vehicle to assist in parking the vehicle in a parking space, the control unit comprising:
an image processing section provided to recognize a feature shape in the image by processing image information acquired by an imaging unit provided to acquire image information corresponding to an image of surroundings of the vehicle;
an obstacle detecting section provided to acquire positional-relationship information corresponding to a positional relationship between the vehicle and an obstacle present around the parking space, and
a manner-of-parking selecting section provided to select a manner of parking the vehicle in the parking space from a plurality of manner candidates including perpendicular parking and parallel parking based on the feature shape recognized by the image processing section and the positional-relationship information acquired by the obstacle detecting section, wherein
the manner-of-parking selecting section is configured to select the manner of parking from the plurality of manner candidates by integrating a likelihood of each of the manner candidates based on the positional-relationship information acquired by the obstacle detecting section with a likelihood of the manner candidate based on a recognition result for at least one of a white line, a tire of a parked vehicle, and a number plate of the parked vehicle, each of which is the feature shape, to calculate final likelihoods of the respective manner candidates, and by comparing the calculated final likelihoods of the respective manner candidates with each other.

4. The control unit according to claim 3 , wherein
the obstacle detecting section is provided to acquire the positional-relationship information based on a reception result for a received wave by a ranging sensor provided to transmit a search wave externally from the vehicle and to receive the received wave including a reflected wave of the search wave from the obstacle and having intensity corresponding to a distance between the vehicle and the obstacle.

Assignees

• Denso Corp

Inventors

• Maeda Yu
• Matsuura Mitsuyasu
• Yanagawa Hirohiko
• Otsuka Hideki

Classifications

• G06V10/255

  Detecting or recognising potential candidate objects based on visual cues, e.g. shapes · CPC title

• G06V10/806

  of extracted features · CPC title

• G06V20/62

  Text, e.g. of license plates, overlay texts or captions on TV images · CPC title

• G06V20/586 Primary

  of parking space · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title