Parking support device
First Claim
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1. A parking support device which supports running of an automotive vehicle to a target parking position, comprising:
- a distance measuring unit measuring a quantity equivalent to a distance from the vehicle to an object existing 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, wherein the sequence of points is based on a geometry of an object;
a first object specifying unit which makes a determination of whether a length of the sequence of points increasing with a movement of the vehicle has exceeded a first reference length, and which generates a first object information of the object based on the sequence of points when the length has exceeded the first reference length; and
a second object specifying unit which makes a determination of whether a length of the sequence of points increasing with a further movement of the vehicle has exceeded a second reference length larger than the first reference length, and which generates a second object information of the object based on the sequence of points when the length has exceeded the second reference length,wherein a target parking position is determined based on the first object information in a stage where the first object information is generated by the first object specifying unit, and wherein, after the second object information is generated by the second object specifying unit, the target parking position based on the first object information is corrected based on the second object information, andwherein the first and second object information are approximations of the geometry of the object.
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Abstract
In a parking support device, a distance measuring unit measures a quantity equivalent to a distance from an automotive vehicle to an object existing in a predetermined direction. A storage unit stores a sequence of points indicating results of the measurement performed multiple times. A first object specifying unit generates first object information based on the sequence of points when a length of the sequence of points has exceeded a first reference length. A second object specifying unit generates second object information based on the sequence of points when a length of the sequence of points has exceeded a second, larger reference length. A target parking position is determined based on the first object information in a stage where the first object information is generated.
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Citations
18 Claims
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1. A parking support device which supports running of an automotive vehicle to a target parking position, comprising:
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a distance measuring unit measuring a quantity equivalent to a distance from the vehicle to an object existing 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, wherein the sequence of points is based on a geometry of an object; a first object specifying unit which makes a determination of whether a length of the sequence of points increasing with a movement of the vehicle has exceeded a first reference length, and which generates a first object information of the object based on the sequence of points when the length has exceeded the first reference length; and a second object specifying unit which makes a determination of whether a length of the sequence of points increasing with a further movement of the vehicle has exceeded a second reference length larger than the first reference length, and which generates a second object information of the object based on the sequence of points when the length has exceeded the second reference length, wherein a target parking position is determined based on the first object information in a stage where the first object information is generated by the first object specifying unit, and wherein, after the second object information is generated by the second object specifying unit, the target parking position based on the first object information is corrected based on the second object information, and wherein the first and second object information are approximations of the geometry of the object. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16)
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2. A parking support device which supports running of an automotive vehicle to a target parking position, comprising:
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a distance measuring unit measuring a quantity equivalent to a distance from the vehicle to an object existing 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, wherein the sequence of points is based on a geometry of an object; a first object specifying unit which makes a determination of whether a length of the sequence of points increasing with a movement of the vehicle has exceeded a first reference length, and which generates a first object information of the object based on the sequence of points when the length has exceeded the first reference length; and a second object specifying unit which makes a determination of whether a length of the sequence of points increasing with a further movement of the vehicle has exceeded a second reference length larger than the first reference length, and which generates a second object information of the object based on the sequence of points when the length has exceeded the second reference length, wherein, when a sequence of points appearing at an interval of more than a predetermined length following the sequence of points the length of which exceeded the second reference length indicates a length larger than the first reference length, a target parking position in a space corresponding to the interval is determined based on both the first object information generated by the first object specifying unit and the second object information generated by the second object specifying unit, and wherein, after the length of the sequence of points having exceeded the first reference length has further exceeded the second reference length, the target parking position is corrected based on the second object information generated based on the sequence of points the length of which exceeded the second reference length, and wherein the first and second object information are approximations of the geometry of the object. - View Dependent Claims (17, 18)
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14. A parking support device which supports running of an automotive vehicle to a target parking position, comprising:
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a distance measuring unit measuring a quantity equivalent to a distance from the vehicle to an object existing 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, wherein the sequence of points is based on a geometry of an object; a first object specifying unit which makes a determination of whether a length of the sequence of points increasing with a movement of the vehicle has exceeded a first reference length and which generates a first object information of the object based on the sequence of points when the length has exceeded the first reference length; and a second object specifying unit which makes a determination of whether a length of the sequence of points increasing with a further movement of the vehicle has exceeded a second reference length larger than the first reference length, and which generates a second object information of the object based on the sequence of points when the length has exceeded the second reference length, wherein a target parking position is determined based on both the second object information generated by the second object specifying unit and the first object information generated by the first object specifying unit after the second object information is generated, and wherein the first and second object information are approximations of the geometry of the object.
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Specification
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Current AssigneeToyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
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Original AssigneeToyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
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InventorsOkuda, Masato, Toyoda, Hiroshi, Satonaka, Hisashi
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Primary Examiner(s)Tran; Khoi
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Assistant Examiner(s)Kiswanto; Nicholas
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Application NumberUS11/324,583Publication NumberTime in Patent Office1,623 DaysField of Search180/167, 180/199, 180/204, 180/313, 318/587, 340/435, 340/436, 340/465, 340/903, 340/932.2, 340/995.18, 701/25, 701/300, 701/42US Class Current701/300CPC Class CodesB62D 15/0285 Parking performed automatic...G01S 2013/9314 Parking operationsG01S 2015/935 for measuring the contour, ...G01S 2015/936 for measuring parking space...
