INFORMATION PROCESSING DEVICE AND RECORDING MEDIUM RECORDING VEHICLE PARKING SUPPORT PROGRAM

• US 20200133297A1
• Filed: 12/24/2019
• Published: 04/30/2020
• Est. Priority Date: 07/24/2017
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Ando, Toshiaki, MURASHITA, Kimitaka, OKADA, YASUTAKA, KANETAKE, Jun
• Granted Patent: US 11,378,974 B2
• Time in Patent Office: Days
• CPC Class Codes: B60R 21/00 Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks safety belts or body harnesses in vehicles B60R22/00; devices, apparatus or methods for life-saving in general A62B; safety devices for propulsion unit control specially adapted for, or arranged in, vehicles B60K28/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19; harnessing in aircraft B64D25/00
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 3/06 Use of electric means to obtain final indication
• CPC Class Codes: G05D 1/0253 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow determining position or orientation from images G06T7/70
• 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

Abstract

An information processing device includes: a memory; and a processor coupled to the memory and configured to: acquire a first image at a first time and a second image at a second time later than the first time from a monocular camera mounted on a vehicle; calculate an amount of movement of the vehicle, based on a sensor value acquired during a measurement period between the first time and the second time; output a result of distance measurement using a first distance measurement method to perform distance measurement using the first image or the second image, or a second distance measurement method to perform distance measurement using the first image and the second image, depending on the amount of movement; and output a result of calculation of a route to guide the vehicle to a parking space, based on the result of distance measurement.

Claims

1. An information processing device comprising:

a memory; and

a processor coupled to the memory and configured to;

acquire, as a first process, a first image at a first time and a second image at a second time later than the first time from a monocular camera mounted on a vehicle;

calculate, as a second process, an amount of movement of the vehicle, based on a sensor value acquired during a measurement period between the first time and the second time;

output, as a third process, a result of distance measurement using a first distance measurement method to perform distance measurement using the first image or the second image, or a second distance measurement method to perform distance measurement using the first image and the second image, depending on the amount of movement; and

output, as a fourth process, a result of calculation of a route to guide the vehicle to a parking space, based on the result of distance measurement.

2. The information processing device according to claim 1, wherein the processor is configured to:

calculate, in the second process, a moving distance of the vehicle between the first time and the second time as the amount of movement of the vehicle; and

,

in the third process, output a result of distance measurement using the first distance measurement method when the moving distance calculated in the second process is shorter than a threshold, and output a result of distance measurement using the second distance measurement method when the moving distance is not shorter than the threshold.

3. The information processing device according to claim 1, wherein the processor is configured to:

calculate, in the second process, an amount of turning generated by movement of the vehicle between the first time and the second time as the amount of movement of the vehicle;

output, in the third process, a result of distance measurement using the first distance measurement method when the amount of turning calculated in the second process is smaller than a threshold; and

output, in the third process, a result of distance measurement using the second distance measurement method when the amount of turning is not smaller than the threshold.

4. The information processing device according to claim 1, wherein the processor is configured to:

calculate, in the second process, a moving distance of the vehicle between the first time and the second time as the amount of movement of the vehicle;

output, in the third process, a result of distance measurement result using the first distance measurement method when the moving distance calculated in the second process is shorter than a threshold;

calculate, in the second process, when the moving distance is not shorter than the threshold, an amount of turning generated by movement of the vehicle between the first time and the second time as the amount of movement of the vehicle;

output, in the third process, a result of distance measurement using the first distance measurement method when the amount of turning calculated in the second process is smaller than a threshold; and

output, in the third process, a result of distance measurement using the second distance measurement method when the amount of turning is not smaller than the threshold.

5. The information processing device according to claim 4, wherein the memory is configured to store installation information indicating an optical axis direction of each monocular camera in a plurality of the monocular cameras mounted on the vehicle, wherein the processor is configured to:

acquire, in the first process, the first image and the second image, from each of the monocular cameras mounted on the vehicle, which are associated with the respective monocular cameras;

determine, in the third process, the optical axis direction of each monocular camera, based on the installation information corresponding to the monocular camera; and

,

when the optical axis direction of the monocular camera is orthogonal to a moving direction of the vehicle, output a result of distance measurement using the first distance measurement method when the moving distance calculated in the second process is shorter than the threshold, and output a result of distance measurement using the second distance measurement method when the moving distance is not shorter than the threshold.

6. The information processing device according to claim 1, wherein the processor is configured to:

set, in the third process, a first region and a second region in each of the first image and the second image acquired in the first process and output a result of distance measurement using the first distance measurement method with respect to the first region.

7. The information processing device according to claim 6, wherein,

a pixel which is located at an upper position in the first image and the second image is a pixel that captures a location at a longer distance from the vehicle, and

a width of an upper end of the first region is equal to or greater than a width of a lower end of the first region.

8. A non-transitory computer-readable recording medium recording a vehicle parking support program for causing a computer to perform a process of:

acquiring, as a first process, a first image at a first time and a second image at a second time later than the first time from a monocular camera mounted on a vehicle;

calculating, as a second process, an amount of movement of the vehicle, on the basis of a sensor value acquired during a measurement period between the first time and the second time;

outputting, as a third process, a result of distance measurement using a first distance measurement method for performing distance measurement using the first image or the second image, or a second distance measurement method for performing distance measurement using the first image and the second image, depending on the amount of movement; and

outputting, as a fourth process, a result of calculation of a route for guiding the vehicle to a parking space, on the basis of the result of distance measurement.

9. The non-transitory computer-readable recording medium according to claim 8, further comprising:

calculating, in the second process, a moving distance of the vehicle between the first time and the second time as the amount of movement of the vehicle;

outputting, in the third process, a result of distance measurement using the first distance measurement method when the moving distance calculated in the second process is shorter than a threshold; and

outputting, in the third process, a result of distance measurement using the second distance measurement method when the moving distance is not shorter than the threshold.

10. The non-transitory computer-readable recording medium according to claim 8, further comprising:

calculating, in the second process, an amount of turning generated by movement of the vehicle between the first time and the second time as the amount of movement of the vehicle;

outputting, in the third process, a result of distance measurement using the first distance measurement method when the amount of turning calculated in the second process is smaller than a threshold; and

outputting, in the third process, a result of distance measurement using the second distance measurement method when the amount of turning is not smaller than the threshold.

11. The non-transitory computer-readable recording medium according to claim 8, further comprising:

calculating, in the second process, a moving distance of the vehicle between the first time and the second time as the amount of movement of the vehicle;

outputting, in the third process, a result of distance measurement result using the first distance measurement method when the moving distance calculated in the second process is shorter than a threshold;

calculating, in the second process, when the moving distance is not shorter than the threshold, an amount of turning generated by movement of the vehicle between the first time and the second time as the amount of movement of the vehicle; and

outputting, in the third process, a result of distance measurement using the first distance measurement method when the amount of turning calculated in the second process is smaller than a threshold; and

outputting a result of distance measurement using the second distance measurement method when the amount of turning is not smaller than the threshold.

12. The non-transitory computer-readable recording medium according to claim 11, further comprising:

acquiring, in the first process, the first image and the second image, from each monocular camera in a plurality of the monocular cameras mounted on the vehicle, which are associated with the respective monocular cameras;

acquiring, in the third process, installation information corresponding to each monocular camera mounted on the vehicle from a memory that stores the installation information indicating an optical axis direction of the monocular camera;

determining the optical axis direction of the monocular camera based on the installation information; and

when the optical axis direction of the monocular camera is orthogonal to a moving direction of the vehicle, outputting a result of distance measurement using the first distance measurement method when the moving distance calculated in the second process is shorter than the threshold, and outputting a result of distance measurement using the second distance measurement method when the moving distance is not shorter than the threshold.

13. The non-transitory computer-readable recording medium according to claim 8, further comprising:

setting, in the third process, a first region and a second region in each of the first image and the second image acquired in the first process; and

outputting a result of distance measurement using the first distance measurement method with respect to the first region.

14. The non-transitory computer-readable recording medium according to claim 13, wherein,

a pixel which is located at an upper position in the first image and the second image is a pixel that captures a location at a longer distance from the vehicle, and

a width of an upper end of the first region is equal to or greater than a width of a lower end of the first region.