Information processing device and recording medium recording vehicle parking support program

Patent metadata

Field	Value
Publication number	US-11378974-B2
Application number	US-201916726432-A
Country	US
Kind code	B2
Filing date	Dec 24, 2019
Priority date	Jul 24, 2017
Publication date	Jul 5, 2022
Grant date	Jul 5, 2022

Abstract

An information processing device includes a memory and a processor coupled to the memory. The processor acquires a first image at a first time and a second image at a second time later than the first time from a monocular camera mounted on a vehicle, calculates an amount of movement of the vehicle based on a sensor value acquired during a measurement period between the first time and the second time, outputs a result of distance measurement using a first distance measurement method to perform distance measurement using the first image or the second image or a second distance measurement method to perform distance measurement using the first image and the second image, depending on the amount of movement and outputs a result of calculation of a route to guide the vehicle to a parking space, based on the result of distance measurement.

First claim

What is claimed is:

1. An information processing device comprising:
a memory; and
a processor coupled to the memory and configured to:
acquire, as a first process, a first image at a first time and a second image at a second time later than the first time from a monocular camera mounted on a vehicle;
calculate, as a second process, an amount of movement of the vehicle, based on a wheel speed pulse number which is measured by counting a wheel speed pulse from the vehicle by a wheel speed sensor during a measurement period between the first time and the second time;
output, as a third process, a result of distance measurement of a distance from the monocular camera to an object using a first distance measurement method to perform distance measurement using the first image or the second image, or a second distance measurement method to perform distance measurement using the first image and the second image, depending on the amount of movement; and
output, as a fourth process, a result of calculation of a route to guide the vehicle to a parking space, based on the result of distance measurement,

wherein the processor is configured to:
calculate, in the second process, a moving distance of the vehicle between the first time and the second time as the amount of movement of the vehicle using an expression of n×T×np/N where n represents the circumference ratio, T represents the tire diameter of the vehicle, np represents the wheel speed pulse number and N represents a wheel speed pulse number per tire rotation of the vehicle; output, in the third process, the result of distance measurement using the first distance measurement method in which the distance is calculated by an expression of H×f/Y where H represents a height of an installation position of the camera, f represents a design value of the camera and Y represents a height of an image of the object on an imaging surface when the moving distance calculated in the second process is shorter than a threshold;
calculate, in the second process, when the moving distance is not shorter than the threshold, an amount of turning generated by movement of the vehicle between the first time and the second time as the amount of movement of the vehicle;
output, in the third process, the result of distance measurement using the first distance measurement method when the amount of turning calculated in the second process is smaller than a threshold;
output, in the third process, the result of distance measurement using the second distance measurement method in which the distance is estimated based on a movement of the object on images captured by the monocular camera and an amount of displacement of the monocular camera which corresponds to the amount of movement of the vehicle when the amount of turning is not smaller than the threshold;
calculate the route based on the result of distance measurement;
output, in the fourth process, the calculated route; and
guide the vehicle to the parking space using the calculated route.

2. The information processing device according to claim 1 , wherein the processor is configured to: calculate, in the second process, a moving distance of the vehicle between the first time and the second time as the amount of movement of the vehicle; and, in the third process, output a result of distance measurement using the first distance measurement method when the moving distance calculated in the second process is shorter than a threshold, and output a result of distance measurement using the second distance measurement method when the moving distance is not shorter than the threshold.

3. The information processing device according to claim 1 , wherein the processor is configured to: calculate, in the second process, an amount of turning generated by movement of the vehicle between the first time and the second time as the amount of movement of the vehicle; output, in the third process, a result of distance measurement using the first distance measurement method when the amount of turning calculated in the second process is smaller than a threshold; and output, in the third process, a result of distance measurement using the second distance measurement method when the amount of turning is not smaller than the threshold.

4. The information processing device according to claim 1 , wherein the memory is configured to store installation information indicating an optical axis direction of each monocular camera in a plurality of the monocular cameras mounted on the vehicle, wherein the processor is configured to: acquire, in the first process, the first image and the second image, from each of the monocular cameras mounted on the vehicle, which are associated with the respective monocular cameras; determine, in the third process, the optical axis direction of each monocular camera, based on the installation information corresponding to the monocular camera; and, when the optical axis direction of each monocular camera is orthogonal to a moving direction of the vehicle, output a result of distance measurement using the first distance measurement method when the moving distance calculated in the second process is shorter than the threshold, and output a result of distance measurement using the second distance measurement method when the moving distance is not shorter than the threshold.

5. The information processing device according to claim 1 , wherein the processor is configured to: set, in the third process, a first region and a second region in each of the first image and the second image acquired in the first process and output a result of distance measurement using the first distance measurement method with respect to the first region.

6. The information processing device according to claim 5 , wherein, a pixel which is located at an upper position in the first image and the second image is a pixel that captures a location at a longer distance from the vehicle, and a width of an upper end of the first region is equal to or greater than a width of a lower end of the first region.

7. A non-transitory computer-readable recording medium recording a vehicle parking support program for causing a computer to perform a process of:
acquiring, as a first process, a first image at a first time and a second image at a second time later than the first time from a monocular camera mounted on a vehicle;
calculating, as a second process, an amount of movement of the vehicle, based on a wheel speed pulse number which is measured by counting a wheel speed pulse from the vehicle by a wheel speed sensor during a measurement period between the first time and the second time;
outputting, as a third process, a result of distance measurement of a distance from the monocular camera to an object using a first distance measurement method for performing distance measurement using the first image or the second image, or a second distance measurement method for performing distance measurement using the first image and the second image, depending on the amount of movement;
outputting, as a fourth process, a result of calculation of a route for guiding the vehicle to a parking space, on the basis of the result of distance measurement;
calculating, in the second process, a moving distance of the vehicle between the first time and the second time as the amount of movement of the vehicle using an expression of n×T×np/N where n represents the circumference ratio, T represents the tire diameter of the vehicle, np represents the wheel speed pulse number and N represents a wheel speed pulse number per tire rotation of the vehicle;
outputting, in the third process, the result of distance measurement result using the first distance measurement method in which the distance is calculated by an expression of H×f/Y where H represents a height of an installatio

Assignees

• Fujitsu Ltd

Inventors

• Ando Toshiaki
• Murashita Kimitaka
• Okada Yasutaka
• Kanetake Jun

Classifications

• B62D15/0285

  Parking performed automatically · CPC title

• B60W30/06

  Automatic manoeuvring for parking · CPC title

• B62D15/028

  Guided parking by providing commands to the driver, e.g. acoustically or optically · CPC title

• G01C3/06

  Use of electric means to obtain final indication · CPC title

• B60R21/00

  Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks (safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19) · CPC title