VEHICULAR PARKING FEASIBILITY DETERMINING SYSTEM, VEHICULAR PARKING SPACE DETECTION SYSTEM AND VEHICULAR MOVABLE RANGE DETECTION SYSTEM
First Claim
1. A vehicular parking feasibility determining system comprisingtransceiving means (11) that transmits electromagnetic waves so as to scan a predetermined angular range in the horizontal direction around a subject vehicle at predetermined time intervals, and receives reflected waves of the electromagnetic waves reflected from an object,reflection point detection means (M1) that detects a reflection point at which electromagnetic waves are reflected from the object based on the result of reception of reflected waves by the transceiving means (11),parking space existence determining means (M6) that determines the existence of a parking space (Sp) based on pre-stored subject vehicle body dimensional data and a sequence of the reflection points,parking feasibility determining means (M9) that determines the feasibility of parking the subject vehicle from a current position thereof to the parking space (Sp),movable range calculation means (M8) that calculates a movable range (Wx) in the subject vehicle width direction based on the sequence of reflection points, andparking space width calculation means (M7) that calculates a width (Wy) of the parking space (Sp) in subject vehicle length direction based on the sequence of reflection points,the parking feasibility determining means (M9) determining the feasibility of parking based on the movable range (Wx) and the width (Wy) of the parking space (Sp).
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Accused Products
Abstract
A radar device (11) transmits electromagnetic waves so as to scan a predetermined angular range in the horizontal direction around a subject vehicle at predetermined time intervals, and when reflected waves of the electromagnetic waves reflected from an object are received, a reflection point where the electromagnetic waves are reflected from the object is detected based on the result of receiving the reflected waves, the existence of a parking space is determined based on pre-stored subject vehicle body dimensional data and a sequence of reflection points and, furthermore, the feasibility of parking in the parking space (Sp) is determined In this process, since the feasibility of parking is determined based on a road width (Wx) and a width (Wy) of the parking space (Sp) calculated based on the sequence of reflection points, it is possible to carry out a determination of the feasibility of parking in the parking space (Sp) with better precision.
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Citations
26 Claims
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1. A vehicular parking feasibility determining system comprising
transceiving means (11) that transmits electromagnetic waves so as to scan a predetermined angular range in the horizontal direction around a subject vehicle at predetermined time intervals, and receives reflected waves of the electromagnetic waves reflected from an object, reflection point detection means (M1) that detects a reflection point at which electromagnetic waves are reflected from the object based on the result of reception of reflected waves by the transceiving means (11), parking space existence determining means (M6) that determines the existence of a parking space (Sp) based on pre-stored subject vehicle body dimensional data and a sequence of the reflection points, parking feasibility determining means (M9) that determines the feasibility of parking the subject vehicle from a current position thereof to the parking space (Sp), movable range calculation means (M8) that calculates a movable range (Wx) in the subject vehicle width direction based on the sequence of reflection points, and parking space width calculation means (M7) that calculates a width (Wy) of the parking space (Sp) in subject vehicle length direction based on the sequence of reflection points, the parking feasibility determining means (M9) determining the feasibility of parking based on the movable range (Wx) and the width (Wy) of the parking space (Sp).
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8. A vehicular parking space detection system comprising:
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transceiving means (11) that transmits electromagnetic waves so as to scan a predetermined angular range in the horizontal direction around a subject vehicle at predetermined time intervals, and receives reflected waves of the electromagnetic waves reflected from an object, reflection point detection means (M1) that detects a reflection point at which electromagnetic waves are reflected from the object based on the result of reception of reflected waves by the transceiving means (11), parking space existence determining means (M6) that determines the existence of a parking space (Sp) based on pre-stored subject vehicle body dimensional data and a sequence of the reflection points, processing region setting means (M3) that sets a predetermined processing region (R) formed from a first range in the subject vehicle width direction and a second range in subject vehicle length direction, the parking space existence determining means (M6) determining that the parking space (Sp) exists when, among reflection points present within the processing region (R), a distance in the vehicle length direction between the pair of reflection points of the electromagnetic waves with adjacent angles in the horizontal direction is a predetermined value or greater. - View Dependent Claims (9)
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10. A vehicular movable range detection system comprising:
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transceiving means (11) that transmits electromagnetic waves so as to scan a predetermined angular range in the horizontal direction around a subject vehicle at predetermined time intervals, and receives reflected waves of the electromagnetic waves reflected from an object, reflection point detection means (Ml) that detects a reflection point at which electromagnetic waves are reflected from the object based on the result of reception of reflected waves by the transceiving means (11), movable range calculation means (M8) that calculates a movable range (Wx) in the subject vehicle width direction based on the sequence of reflection points, processing region setting means (M3) that sets a predetermined processing region (R) formed from a first range in the subject vehicle width direction and a second range in subject vehicle length direction, and boundary line calculation means (M4) that calculates as a vehicle width direction boundary line (Ly) a straight line for which the sum of the distances in the subject vehicle width direction to the reflection points present within the processing region (R) is a minimum, and calculates as a vehicle length direction boundary line (Lx) a straight line for which the sum of the distances in subject vehicle length direction therefrom is a minimum, the movable range calculation means (M8) setting the processing region (R) on left and right with the subject vehicle body axis as the center, and calculating as a movable range (Wx) the minimum distance among the distances in the vehicle width direction of the left and right vehicle width direction boundary lines (Ly). - View Dependent Claims (11, 12, 13)
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15. A vehicular parking feasibility determining system comprising
a transceiver that transmits electromagnetic waves so as to scan a predetermined angular range in the horizontal direction around a subject vehicle at predetermined time intervals, and receives reflected waves of the electromagnetic waves reflected from an object, a reflection point detector that detects a reflection point at which electromagnetic waves are reflected from the object based on the result of reception of reflected waves by the transceiver, a parking space existence determining device that determines the existence of a parking space based on pre-stored subject vehicle body dimensional data and a sequence of the reflection points, a parking feasibility determining device that determines the feasibility of parking the subject vehicle from a current position thereof to the parking space, a movable range calculator that calculates a movable range in the subject vehicle width direction based on the sequence of reflection points, and a parking space width calculator that calculates a width of the parking space in subject vehicle length direction based on the sequence of reflection points, the parking feasibility determining device determining the feasibility of parking based on the movable range and the width of the parking space.
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22. A vehicular parking space detection system comprising:
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a transceiver that transmits electromagnetic waves so as to scan a predetermined angular range in the horizontal direction around a subject vehicle at predetermined time intervals, and receives reflected waves of the electromagnetic waves reflected from an object, a reflection point detector that detects a reflection point at which electromagnetic waves are reflected from the object based on the result of reception of reflected waves by the transceiver, a parking space existence determining device that determines the existence of a parking space based on pre-stored subject vehicle body dimensional data and a sequence of the reflection points, a processing region setting device that sets a predetermined processing region formed from a first range in the subject vehicle width direction and a second range in subject vehicle length direction, the parking space existence determining device determining that the parking space exists when, among reflection points present within the processing region, a distance in the vehicle length direction between the pair of reflection points of the electromagnetic waves with adjacent angles in the horizontal direction is a predetermined value or greater. - View Dependent Claims (23)
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24. A vehicular movable range detection system comprising:
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a transceiver that transmits electromagnetic waves so as to scan a predetermined angular range in the horizontal direction around a subject vehicle at predetermined time intervals, and receives reflected waves of the electromagnetic waves reflected from an object, a reflection point detector that detects a reflection point at which electromagnetic waves are reflected from the object based on the result of reception of reflected waves by the transceiver, a movable range calculator that calculates a movable range in the subject vehicle width direction based on the sequence of reflection points, a processing region setting device that sets a predetermined processing region formed from a first range in the subject vehicle width direction and a second range in subject vehicle length direction, and a boundary line calculator that calculates as a vehicle width direction boundary line a straight line for which the sum of the distances in the subject vehicle width direction to the reflection points present within the processing region is a minimum, and calculates as a vehicle length direction boundary line a straight line for which the sum of the distances in subject vehicle length direction therefrom is a minimum, the movable range calculator setting the processing region on left and right with the subject vehicle body axis as the center, and calculating as a movable range the minimum distance among the distances in the vehicle width direction of the left and right vehicle width direction boundary lines. - View Dependent Claims (25, 26)
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Specification