PARKING ASSISTANT AND PARKING ASSISTING METHOD

• US 20100238051A1
• Filed: 09/24/2008
• Published: 09/23/2010
• Est. Priority Date: 10/01/2007
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Akatsuka, Takeshi, Suzuki, Masayasu, Kawai, Satoshi, Seguchi, Hidenori
• Granted Patent: US 8,988,250 B2
• Time in Patent Office: Days
• US Class Current: 340/932.200
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/102 using 360 degree surveillance camera system
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/304 using merged images, e.g. merging camera image with stored images
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/8026 in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/0275 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G06T 15/205 Image-based rendering
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

When a parking assistant assists a driver in carrying out a parking operation, the parking assistant takes an image of vehicle surroundings to generate vehicle surroundings images, converts coordinates of the vehicle surroundings images to generate an overhead view image, and sets a parking target area in the overhead view image. On the overhead view image, the parking assistant superposes a parking target area image which denotes the parking target area. Thereby, the parking assistant generates the parking target area image denoting a partial area in the parking target area, where a solid object is not present in the partial area even when another vehicle included in the overhead view image falls in the set parking target area image. Then, the parking assistant displays the overhead view image and the parking target area image.

Claims

1. A parking assistant, comprising:

a camera for taking a vehicle surroundings image;

an overhead view image generator for generating an overhead view image from the vehicle surroundings image taken by the camera;

a parking target area setter for setting a parking target area in the overhead view image generated by the overhead view image generator;

a parking target area image generator for generating a parking target area image denoting a partial area in the parking target area set by the parking target area setter, where a solid object is not present in the partial area; and

a display for displaying the overhead view image generated by the overhead view image generator and displaying the parking target area image generated by the parking target area image generator.

2. The parking assistant according to claim 1, wherein

based on color information of the parking target area in the overhead view image, the parking target area image generator generates the parking target area image denoting the partial area in the parking target area, where the solid object is not present in the partial area.

3. The parking assistant according to claim 2, further comprising:

a movement sensor for sensing a movement direction of a vehicle and a movement amount of the vehicle,

wherein

based on the movement direction and the movement amount of the vehicle which are sensed by the movement sensor, the overhead view image generator generates the overhead view image where a position of the parking target area in the overhead view image is renewed, and

the parking target area image generator compares;

the color information of the parking target area in the overhead view image, where the color information is obtained when the parking target area is set by the parking target area setter,

with

the color information of the parking target area, where the color information is obtained when the position of the parking target area is renewed,

to thereby generate the parking target area image denoting the partial area in the parking target area, where the solid object is not present in the partial area.

4. The parking assistant according to claim 1, wherein

the parking target area setter includes an operator for allowing a driver to input a position in the overhead view image, and

based on the position in the overhead view image which position inputted by the operator, the parking target area setter sets the parking target area.

5. The parking assistant according to claim 1, further comprising:

an obstacle sensor for sensing a position of the solid object which is present around the vehicle,

wherein

the parking target area setter sets, as the parking target area, an area where the solid object is not sensed by the solid object sensor.

6. The parking assistant according to claim 1, further comprising:

an image recognizer for recognizing a white line included in the vehicle surroundings image taken by the camera,

wherein

based on image information between the white lines recognized by the image recognizer, the parking target area setter sets the parking target area.

7. The parking assistant according to claim 1, further comprising:

a rearward movement sensor for sensing a rearward movement of the vehicle, and

a track generator for generating;

an ideal track line of the vehicle, the ideal track line being from a position of the vehicle to the parking target area, and

an estimated track line based on a steering angle of the vehicle,

wherein

when the rearward movement sensor senses the rearward movement of the vehicle, the display displays the ideal track line and the estimated track line which are generated by the track generator.

8. The parking assistant according to claim 1, wherein

the display includes an information providing area outside a display area of the overhead view image, and

in the information providing area, the display displays a parking target area outside the overhead view image.

9. The parking assistant according to claim 3, wherein

when the parking target area obtained based on the movement direction and movement amount of the vehicle which are sensed by the movement sensor is outside the overhead view image, the display provides an information providing area outside the overhead view image.

10. A parking assisting method, comprising:

setting a parking target area in an overhead view image generated from a vehicle surroundings image;

generating a parking target area image denoting a partial area in the parking target area, where a solid object is not present in the partial area; and

displaying the overhead view image and the parking target area image.