Vehicle parking assist system with vision-based parking space detection
First Claim
1. A parking assist system of a vehicle, said parking assist system comprising:
- a camera configured to be disposed at a vehicle, wherein said camera, when disposed at the vehicle, has a field of view exterior of the vehicle;
a control comprising an image processor operable to process image data captured by said camera when said camera is disposed at the vehicle;
wherein said control, responsive to processing by said image processor of captured image data, detects parking space markers indicative of a parking space and identifies empty or available parking spaces;
wherein said control uses a parking space detection algorithm that detects parking space markers by (i) extracting low level features from captured image data, (ii) classifying pixels as being part of a parking space line or not part of a parking space line, (iii) performing spatial line fitting to find lines in the captured images and to apply parking space geometry constraints, and (iv) detecting and selecting rectangles in the captured images;
wherein said parking space detection algorithm employs a recursive temporal stabilization mechanism that predicts parking space markers when the parking space markers of a detected parking space disappear from the field of view of said camera; and
wherein said control, responsive to identification of an empty or available parking space, at least in part controls the vehicle to park the vehicle in the identified empty or available parking space.
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Abstract
A parking assist system of a vehicle includes a camera that, when disposed at the vehicle, has a field of view exterior of the vehicle. An image processor is operable to process image data captured by the camera to detect parking space markers indicative of a parking space and to identify empty or available parking spaces. The image processor includes a parking space detection algorithm that detects parking space markers by (i) extracting low level features from captured image data, (ii) classifying pixels as being part of a parking space line or not part of a parking space line, (iii) performing spatial line fitting to find lines in the captured images and to apply parking space geometry constraints, and (iv) detecting and selecting rectangles in the captured images.
368 Citations
20 Claims
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1. A parking assist system of a vehicle, said parking assist system comprising:
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a camera configured to be disposed at a vehicle, wherein said camera, when disposed at the vehicle, has a field of view exterior of the vehicle; a control comprising an image processor operable to process image data captured by said camera when said camera is disposed at the vehicle; wherein said control, responsive to processing by said image processor of captured image data, detects parking space markers indicative of a parking space and identifies empty or available parking spaces; wherein said control uses a parking space detection algorithm that detects parking space markers by (i) extracting low level features from captured image data, (ii) classifying pixels as being part of a parking space line or not part of a parking space line, (iii) performing spatial line fitting to find lines in the captured images and to apply parking space geometry constraints, and (iv) detecting and selecting rectangles in the captured images; wherein said parking space detection algorithm employs a recursive temporal stabilization mechanism that predicts parking space markers when the parking space markers of a detected parking space disappear from the field of view of said camera; and wherein said control, responsive to identification of an empty or available parking space, at least in part controls the vehicle to park the vehicle in the identified empty or available parking space. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A parking assist system of a vehicle, said parking assist system comprising:
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a plurality of cameras configured to be disposed at a vehicle so as to have respective fields of view exterior of the vehicle; a control comprising an image processor operable to process image data captured by said cameras when said cameras are disposed at the vehicle; wherein said control, responsive to processing by said image processor of captured image data, (i) detects parking space markers indicative of a parking space and (ii) identifies empty or available parking spaces; and wherein said control uses a parking space detection algorithm that detects parking space markers by (i) extracting low level features from captured image data, (ii) classifying pixels as being part of a parking space line or not part of a parking space line, (iii) performing spatial line fitting to find lines in the captured images and to apply parking space geometry constraints, and (iv) detecting and selecting rectangles in the captured images; wherein said parking space detection algorithm employs a recursive temporal stabilization mechanism that predicts parking space markers when the parking space markers of a detected parking space disappear from the field of view of said cameras; and wherein said control, responsive to identification of an empty or available parking space, at least in part controls the vehicle to park the vehicle in the identified empty or available parking space. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A parking assist system of a vehicle, said parking assist system comprising:
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a plurality of cameras configured to be disposed at a vehicle so as to have respective fields of view exterior of the vehicle; wherein said plurality of cameras comprises at least a front camera disposed at a forward portion of the vehicle and having a field of view forward of the vehicle, and a rear camera disposed at a rear portion of the vehicle and having a field of view rearward of the vehicle; an image processor operable to process image data captured by said front and rear cameras when said cameras are disposed at the vehicle; wherein said image processor processes captured image data to (i) detect parking space markers indicative of a parking space and (ii) identify empty or available parking spaces; wherein said image processor comprises a parking space detection algorithm that detects parking space markers by (i) extracting low level features from captured image data, (ii) classifying pixels as being part of a parking space line or not part of a parking space line, (iii) performing spatial line fitting to find lines in the captured images and to apply parking space geometry constraints, and (iv) detecting and selecting rectangles in the captured images; wherein the detected rectangles are processed to construct hypothesized parking rectangles, whereby said parking space detection algorithm selects an optimal rectangle using machine learning concepts; wherein said parking space detection algorithm employs a recursive temporal stabilization mechanism that produces a stable rectangle parking space and that predicts parking lines and rectangles when the parking space markers of a detected parking space disappear from the field of view of said cameras; and a control that, responsive to identification of an empty or available parking space, at least in part controls the vehicle to park the vehicle in the identified empty or available parking space. - View Dependent Claims (19, 20)
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Specification