Neighboring object information acquisition device, and parking support device using neighboring object information acquisition device

• US 20060167633A1
• Filed: 01/03/2006
• Published: 07/27/2006
• Est. Priority Date: 01/07/2005
• Status: Abandoned Application

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yamaga, Takao, Okuda, Masato, Satonaka, Hisashi
• Application Number:
  US11/322,353
• Publication Number:
  US 20060167633A1
• Time in Patent Office: Days
• US Class Current: 701/300
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 2015/935 for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
• CPC Class Codes: G01S 2015/936 for measuring parking spaces extending transverse or diagonal to the driving direction, i.e. not parallel to the driving direction
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A neighboring object information acquisition device comprises a distance measuring unit measuring a quantity equivalent to a distance to a neighboring object in a predetermined direction. A storage unit stores a sequence of points indicating results of the measurement performed multiple times. An object detection unit detects existence of the object based on the sequence of points. An approximation unit outputs an approximation of the sequence of points by applying a curve or a straight line, so that an approximate curve or an approximate straight line is derived. An evaluation unit outputs a result of evaluation of a reliability of the sequence of points. A determination unit determines object information by selecting one of information derived from the sequence of points and information derived from the result of approximation in accordance with the result of evaluation.

Claims

1. A neighboring object information acquisition device provided in an automotive vehicle to acquire object information of a neighboring object of the vehicle, comprising:

a distance measuring unit measuring a quantity equivalent to a distance to the object in a predetermined direction;

a storage unit storing a sequence of points indicating results of the measurement performed by the distance measuring unit multiple times;

an object detection unit detecting existence of the object based on the sequence of points stored in the storage unit;

an approximation unit outputting an approximation of the sequence of points stored in the storage unit by applying a curve or a straight line, so that an approximate curve or an approximate straight line is derived from the sequence of points;

an evaluation unit outputting a result of evaluation of a reliability of the sequence of points; and

a determination unit determining the object information by selecting one of information derived from the sequence of points and information derived from the approximate curve or the approximate straight line in accordance with the result of evaluation from the evaluation unit.

2. The neighboring object information acquisition device of claim 1 wherein, when the result of evaluation from the evaluation unit indicates that a length of. the sequence of points is above a reference value, the determination unit determines the information derived from the approximate curve or the approximate straight line as being the object information.

3. The neighboring object information acquisition device of claim 1 wherein the result of evaluation is a degree of variation of a distance of the approximate curve or the approximate straight line to a predetermined standard curve, and when the degree of variation is above a predetermined reference value, the determination unit determines the information derived from the approximate curve or the approximate straight line as being the object information.

4. The neighboring object information acquisition device of claim 1 wherein, when both the approximate curve and the approximate straight line are derived by the approximation unit, the result of approximation of the sequence of points with a larger one of a fitness ratio is adopted as the approximation result from which the object information is generated.

5. The neighboring object information acquisition device of claim 1 wherein the approximation unit is configured to determine which of the approximate curve or the approximate straight line is selected to obtain the approximation result, in accordance with a bending angle between two straight lines one of which is formed by connecting one end of the sequence of points and a middle point of the sequence of points while the other of the two straight lines is formed by connecting the other end of the sequence of points and the middle point thereof.

6. The neighboring object information acquisition device of claim 1 wherein the object information includes information related to endpoints of the object derived from the approximate curve or the approximate straight line.

7. A parking support device which supports parking of an automotive vehicle in which a neighboring object information acquisition device is provided, the neighboring object information acquisition device comprising:

a distance measuring unit measuring a quantity equivalent to a distance to the object in a predetermined direction;

a storage unit storing a sequence of points indicating results of the measurement performed by the distance measuring unit multiple times;

an object detection unit detecting existence of the object based on the sequence of points stored in the storage unit;

an approximation unit outputting an approximation of the sequence of points stored in the storage unit by applying a curve or a straight line, so that an approximate curve or an approximate straight line is derived from the sequence of points;

an evaluation unit outputting a result of evaluation of a reliability of the sequence of points; and

a determination unit determining the object information by selecting one of information derived from the sequence of points and information derived from the approximate curve or the approximate straight line in accordance with the result of evaluation from the evaluation unit,

wherein the parking support device determines a target parking position or a target parking direction which is a direction of the vehicle at the target parking position, based on the object information acquired by the neighboring object information acquisition device.