Method and apparatus for recognizing parking slot by using bird's eye view and parking assist system using the same

• US 7,659,835 B2
• Filed: 09/14/2007
• Issued: 02/09/2010
• Est. Priority Date: 09/14/2006
• Status: Active Grant

• Current Assignee: HL Mando Corporation (Halla Holdings Corporation)
• Original Assignee: Mando Corporation
• Inventors: Jung, Hogi
• Primary Examiner(s): PHAM, TOAN NGOC
• Application Number:
  US11/901,001
• Publication Number:
  US 20080136673A1
• Time in Patent Office: 879 Days
• Field of Search: 340/932.2, 340/995.1, 340/995.24, 340/995.12, 340/995.17, 382/104, 382/154, 382/276, 382/287, 382/295, 384/143, 384/144, 384/148, 384/293, 384/295, 384/294
• US Class Current: 340/932.2
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G06T 2207/30264 Parking
• CPC Class Codes: G06T 7/13 Edge detection
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

Disclosed are a method and an apparatus for recognizing a parking slot by using a bird'"'"'s-eye view and a parking assist system using the same.

Claims

1. An apparatus for recognizing a parking slot by using a bird'"'"'s-eye view, the apparatus comprising:

a camera for photographing a parking space at a vehicle and creating and transferring an input image;

a user interface unit for receiving an input of a seed point as a desired parking location in the parking space from a driver and transferring the seed point; and

a parking slot recognition unit for receiving the input image from the camera and the seed point from the user interface unit, converting the input image into the bird'"'"'s-eye view, estimating a number of marking line segments and a direction of the marking line segments by using a directional intensity gradient regarding a distance on the bird'"'"'s-eye view, recognizing the marking line segment closer to the camera as a guideline among at least one marking line segment intersecting with a direction of view from the camera to the seed point, and recognizing a number of separating line segments in a direction of the guideline so as to recognize the guideline and the separating line segments as the parking slot.

2. The apparatus as claimed in claim 1, wherein the parking slot recognition unit is adapted to measure the directional intensity gradient on the line segment joining the seed point and the camera on the bird'"'"'s-eye view and to detect points as the marking line segments, the points being spaced from the seed point as much as a distance of a positive peak having a directional intensity gradient value above a predetermined threshold.

3. The apparatus as claimed in claim 2, wherein the threshold is obtained by subtracting an average value from a maximum vale of intensity on the line segment joining the seed point and the camera and by dividing a resulting difference by a predetermined integer.

4. The apparatus as claimed in claim 1, wherein the parking slot recognition unit is adapted to measure a directional intensity gradient near intersection points between a line segment joining the seed point and the camera and the marking line segments, to estimate a direction of a ridge constituted by directional intensity gradient values near the intersection points, and to estimate the direction of the ridge as the direction of the marking line segments.

5. The apparatus as claimed in claim 4, wherein the parking slot recognition unit is adapted to select a marking line segment only in the direction of the marking line segments based on the intersection points between the line segment joining the seed point and the camera and the marking line segments and the direction of the marking line segment and to conduct edge following so as to re-estimate the direction of the marking line segments.

6. The apparatus as claimed in claim 1, wherein the parking slot recognition unit is adapted to project the seed point onto the guideline, to search in both directions of a unit vector extending in the direction of the guideline from the projected point, and to conduct T-shaped template matching so that the separating marking line segments are recognized.

7. The apparatus as claimed in claim 6, wherein the parking slot recognition unit is adapted to recognize a first section as the separating line segments, the first section having a ratio of average intensity of a region outside the guideline to intensity of a region inside the guideline, the ratio being larger than a predetermined threshold.

8. A method for recognizing a parking slot based on a bird'"'"'s-eye view by a parking slot recognition unit connected to a camera and a user interface unit to recognize the parking slot, the camera photographing a parking space at a vehicle and creating and transferring an input image, the user interface unit receiving an input of a seed point from a driver as a desired parking location in the parking space and transferring the seed point, the method comprising the steps of:

(a) receiving the input image and the seed point and converting the input image into the bird'"'"'s-eye view;

(b) estimating a number of marking line segments and a direction of the marking line segments by using a directional intensity gradient regarding a distance on the bird'"'"'s-eye view;

(c) recognizing the marking line segment closer to the camera as a guideline among at least one marking line segment intersecting with a direction of view from the camera to the seed point; and

(d) recognizing a number of separating line segments in a direction of the guideline so as to recognize the guideline and the separating line segments as the parking slot.

9. The method as claimed in claim 8, wherein step (b) comprises the steps of:

(b1) measuring the directional intensity gradient on the line segment joining the seed point and the camera on the bird'"'"'s-eye view;

(b2) recognizing points as the marking line segments, the points being spaced from the seed point as much as a distance of a positive peak having the directional intensity gradient value above a predetermined threshold;

(b3) measuring the directional intensity gradient near intersection points between the line segment joining the seed point and the camera and the marking line segments; and

(b4) estimating a direction of a ridge constituted by directional intensity gradient values near the intersection points as the direction of the marking line segments.

10. The method as claimed in claim 9, wherein, after step (b4), the method further comprises the steps of:

(b5) selecting the marking line segment only in the direction of the marking line segments based on the intersection points between the line segment joining the seed point and the camera and the marking line segments and the direction of the marking line segments; and

(b6) conducting edge following with regard to the selected marking line segment so as to re-estimate the direction of the marking line segments.

11. The method as claimed in claim 8, wherein step (d) comprises a step of (d1) projecting the seed point onto the guideline, searching in both directions of a unit vector extending in the direction of the guideline from the projected point, and conducting T-shaped template matching so that the separating marking line segments are recognized.

12. A system for assisting parking of a vehicle by recognizing a parking slot based on a bird'"'"'s-eye view, the system comprising:

a parking slot recognition unit having a camera and a user interface unit, the parking slot recognition unit receiving an input image from the camera and a seed point from the user interface unit, converting the input image into the bird'"'"'s-eye view, estimating a number of marking line segments and a direction of the marking line segments by using a directional intensity gradient regarding a distance on the bird'"'"'s-eye view, recognizing the marking line segment closer to the camera as a guideline among at least one marking line segment intersecting with a direction of view from the camera to the seed point, recognizing a number of separating line segments in a direction of the guideline so as to recognize the guideline and the separating line segments as the parking slot, and transferring a target parking slot;

a detection unit having a number of sensors for recognizing a driving condition of the vehicle, the detection unit creating and transferring information regarding the driving condition of the vehicle;

a parking assist control unit for estimating a location of the vehicle based on the information regarding the driving condition from the detection unit, receiving the target parking slot so as to create a path plan for parking the vehicle at the parking slot, and creating and transferring a control signal for parking the vehicle at the parking slot based on consideration of the location; and

an active steering unit for steering the vehicle according to the control signal after receiving the control signal.