Automatic parking apparatus, parking guidance apparatus, automatic parking method, and parking guidance method

• US 10,429,850 B2
• Filed: 05/03/2017
• Issued: 10/01/2019
• Est. Priority Date: 11/09/2016
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Kato, Yoichi, Shimizu, Hirokazu, Takehara, Nariaki
• Primary Examiner(s): Patel, Shardul D
• Application Number:
  US15/585,375
• Publication Number:
  US 20180129218A1
• Time in Patent Office: 881 Days
• Field of Search: 701 28, 701 25, 701 26, 348118, 348E07085, 180204
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G08G 1/14 indicating individual free spaces in parking areas
• CPC Class Codes: G08G 1/142 external to the vehicles
• CPC Class Codes: G08G 1/143 inside the vehicles
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

Provided are an automatic parking apparatus and the like, which are capable of easily setting a target parking area and moving or guiding a vehicle to the target parking area. The automatic parking apparatus includes: a monitor device configured to photograph surroundings of an own vehicle; an image display device including: a display screen configured to display an image obtained through the photographing by the monitor device; an image generation unit configured to generate an image to be displayed on the display screen from the image obtained through the photographing, and to display the image; and an input device; and a vehicle control device configured to control the own vehicle to move to a parking area, which is designated through the input device with respect to the displayed image.

Claims

1. An automatic parking apparatus of a vehicle, comprising:

a monitor device configured to photograph surroundings of the vehicle;

an image display device comprising;

a display screen configured to display an image obtained through the photographing by the monitor device;

a processor configured to generate a new image from the image obtained through the photographing, and to control the display to display the new image; and

an input device comprising a touch panel on the display screen; and

a vehicle control device configured to control the vehicle to move to a parking area, which is designated through the input device with respect to the displayed new image,

wherein the parking area is designated by having an area drawn via the input device or by dragging, via the touch panel, the vehicle displayed in the new image to the area,

wherein the processor is further configured to control the display screen to display the parking area on the display screen based on input exhibiting a rectangular shape drawn via the touch panel based on the parking area being designated by the area drawn via the input device, and

wherein the processor is further configured to control the display screen to display the parking area on the display screen based on a slide operation for moving a location area mark of the vehicle at a start time of a parking operation on the display screen, which is input to the touch panel, based on the parking area being designated by the dragging of the vehicle.

2. The automatic parking apparatus according to claim 1, wherein the processor is configured to generate a birds-eye view image from the image obtained through the photographing by the monitor device, and to control the display to display the bird'"'"'s-eye view image on the display screen.

3. The automatic parking apparatus according to claim 1, further comprising:

a sensor configured to detect an obstruction around the vehicle,

wherein the vehicle control device comprises a moving path calculator configured to;

calculate a moving path of the vehicle from a relationship between the parking area input through the input device and a location area of the vehicle at the start time of the parking operation within the new image; and

issue an alarm when the obstruction detected by the sensor exists on the moving path.

4. The automatic parking apparatus according to claim 1, further comprising:

a sensor configured to detect an obstruction around the vehicle,

wherein;

the vehicle control device comprises a moving path calculator configured to;

calculate a moving path of the vehicle from a relationship between the parking area input from the input device and a location area of the vehicle at the start time of the parking operation within the new image; and

detect that the obstruction detected by the sensor exists on the moving path; and

the processor is configured to conduct display for prompting retry of input of the parking area on the display screen when the obstruction is detected on the moving path by the moving path calculator.

5. The automatic parking apparatus according to claim 1, wherein the processor is configured to display, when an actual parking frame exists at a destination of the slide operation on the display screen within the image obtained through the photographing, the parking area at a position satisfying a preset condition within the parking frame, and wherein the preset condition comprises at least one line of the parking area is set to match a line of the parking frame.

6. The automatic parking apparatus according to claim 1, wherein:

the processor is configured to display a moving path of the vehicle by moving the location area of the vehicle at the start time of the parking operation on the display screen based on the slide operation for moving the location area mark of the vehicle at the start time of a parking operation on the display screen which is input to the touch panel; and

the vehicle control device comprises;

a moving path calculator configured to convert the displayed moving path into a moving path for a vehicle control system; and

a vehicle control processor configured to move the vehicle along the moving path for the vehicle control system.

7. The automatic parking apparatus according to claim 1, wherein:

the processor is further configured to calculate a plurality of moving paths of the vehicle from a relationship between the input parking area and the location area of the vehicle at the start time of the parking operation within the new image,

the processor is further configured to control the display to display the plurality of moving paths calculated by the processor on the display screen,

one of the plurality of moving paths is selected via the touch screen, and

the vehicle control device is a controller which controls the vehicle to automatically move into the parking area without user assistance via the selected one moving path.

8. The automatic parking apparatus according to claim 1, wherein the processor is further configured to determine whether an actual parking frame exists at the parking area designated via the input device, based on white lines demarcations, wherein, based on the processor determining that the actual parking frame exists, automatically correcting the parking area designated via the input device to the actual parking frame, and

wherein the vehicle control device automatically controls the vehicle to move into the parking area.

9. An automatic parking method, comprising:

photographing, by a monitor device, surroundings of a vehicle;

generating, by a processor, a new image to be displayed on a display screen obtained from an image obtained through the photographing, and displaying the new image; and

controlling the vehicle to move to a parking area, which is designated through an input device with respect to the displayed image, the input device comprising a touch panel on the display screen,

wherein the parking area is designated by having an area drawn via the input device or by dragging, via the touch panel, the vehicle displayed in the new image to the area,

wherein the displaying of the new image further comprises displaying the parking area on the display screen based on input exhibiting a rectangular shape made to the touch panel when the parking area is designated by having the area drawn via the input device, and

wherein the displaying of the new image further comprises displaying the parking area on the display screen based on a slide operation for moving a location area mark of the vehicle at a start time of a parking operation on the display screen, which is input to the touch panel, when the parking area is designated by the dragging of the vehicle.

10. The automatic parking method according to claim 9, wherein the displaying of the new image comprises generating a birds-eye view image from the image obtained through the photographing, and displaying the birds-eye view image.

11. The automatic parking method according to claim 9, wherein the controlling of the vehicle to move comprises:

calculating a moving path of the vehicle from a relationship between the input parking area and a location area of the vehicle at the start time of the parking operation within the new image;

detecting an obstruction on the moving path; and

issuing an alarm when the obstruction exists on the moving path.

12. The automatic parking method according to claim 9, wherein the controlling of the vehicle to move comprises:

calculating a moving path of the vehicle from a relationship between the input parking area and a location area of the vehicle at the start time of the parking operation within the new image;

detecting an obstruction on the moving path; and

conducting display for prompting retry of input of the parking area on the display screen when the obstruction is detected.

13. The automatic parking method according to claim 9, wherein the displaying of the new image further comprises adjusting displaying, when an actual parking frame exists at a destination of the slide operation on the display screen, of the parking area at a position satisfying a preset condition within the parking frame.

14. The automatic parking method according to claim 9, wherein:

the displaying of the new image further comprises displaying a moving path of the vehicle on the display screen based on a slide operation for moving the location area mark of the vehicle at the start time of the parking operation on the display screen, which is input to the touch panel; and

the controlling of the vehicle to move comprises;

converting the displayed moving path into a moving path for a vehicle control system; and

moving the vehicle along the converted moving path.

15. A parking guidance apparatus, comprising:

a vehicle-side device; and

an operation-side device comprising a communication device configured to communicate with the vehicle-side device,

the vehicle-side device comprising;

a monitor device configured to photograph surroundings of the vehicle;

an processor configured to generate an image to be displayed on a display screen from an image obtained through the photographing; and

a vehicle control device configured to control the vehicle to move,

the operation-side device comprising;

the display screen configured to display the image generated by the vehicle-side device; and

an input device comprising a touch panel on the display screen,

wherein the vehicle control device of the vehicle-side device is configured to control the vehicle to move to a parking area, which is designated by the operation-side device through the input device with respect to the new image, and

wherein the parking area is designated by having an area drawn via the input device or by dragging, via the touch panel, the vehicle displayed in the new image to the area,

wherein the processor is further configured to control the display screen to display the parking area on the display screen based on input exhibiting a rectangular shape drawn via the touch panel based on the parking area being designated by the area drawn via the input device, and

wherein the processor is further configured to control the display screen to display the parking area on the display screen based on a slide operation for moving a location area mark of the vehicle at a start time of a parking operation on the display screen, which is input to the touch panel, base don the parking area being designated by the dragging of the vehicle.

16. A parking guidance method to be performed between a vehicle-side device and an operation-side device comprising a communication device configured to communicate with the vehicle-side device, the parking guidance method comprising:

causing, by the vehicle-side device, a monitor device to photograph surroundings of a vehicle;

generating, by the vehicle-side device, a new image to be displayed on a display screen from an image obtained through the photographing;

causing, by the operation-side device, the display screen to display the new image generated by the vehicle-side device;

designating, by the operation-side device, a parking area through an input device with respect to the new image, the input device comprising a touch panel on the display screen; and

causing, by the vehicle-side device, a vehicle control device to control the vehicle to move to the parking area designated by the operation-side device,

wherein the designated parking area is designated by having an area drawn via the input device or by dragging, via the touch panel, the vehicle displayed in the new image to the area,

wherein the displaying of the new image further comprises displaying the parking area on the display screen based on input exhibiting a rectangular shape made to the touch panel when the sparking area is designated by having the area drawn via the input device, and

wherein the displaying of the new image further comprises displaying the parking area on the display screen based on a slide operation for moving a location area mark of the vehicle at a start time of a parking operation on the display screen, which is input to the touch panel, when the parking area is designated by the dragging of the vehicle.