Target position setting device and parking assist device with the same

• US 7,903,842 B2
• Filed: 04/19/2006
• Issued: 03/08/2011
• Est. Priority Date: 04/22/2005
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Satonaka, Hisashi
• Primary Examiner(s): Bali; Vikkram
• Assistant Examiner(s): Brooks; Julian D
• Application Number:
  US11/663,065
• Publication Number:
  US 20090123028A1
• Time in Patent Office: 1,784 Days
• Field of Search: None
• US Class Current: 382/104
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2015/936 for measuring parking spaces extending transverse or diagonal to the driving direction, i.e. not parallel to the driving direction
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 : using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 : using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0272 : comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G06T 2207/10016 : Video; Image sequence
• CPC Class Codes: G06T 2207/30264 : Parking
• CPC Class Codes: G06T 7/74 : involving reference images or patches
• 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

Abstract

A target position setting device includes a distance meter, an imager, first and second calculating portions, a determination portion, and a setting portion. The distance meter measures a distance to an object around a vehicle. The imager takes an image of an environment around the vehicle. The first calculating portion calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter. The second calculating portion calculates a second candidate of the target position of the vehicle according to an imaging result of the imager. The determination portion determines whether a relationship between the first candidate and the second candidate meets a given condition. The setting portion sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate and the second candidate meets the given condition.

Claims

1. A target position setting device comprising:

a distance meter that measures a distance to an object around a vehicle;

an imager that takes an image of an environment around the vehicle;

a first calculating portion that calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter;

a second calculating portion that calculates a second candidate of the target position of the vehicle according to an imaging result of the imager;

a determination portion that determines whether a relationship between the first candidate of the target position and the second candidate of the target position meets a given condition; and

a setting portion that sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition,

wherein the given condition is a case in which a distance between the first candidate of the target position and the second candidate of the target position is smaller than a first given value for more than a first given time or a case where a difference between a first inclination of a center line of the vehicle passing through the first candidate of the target position and a second inclination of the center line of the vehicle passing through the second candidate of the target position is smaller than a second given value for more than a second given time.

2. The target position setting device as claimed in claim 1, wherein the imager includes a charge coupled device camera that takes the image within a given angle range backward of the vehicle, and the imager converts the image into an image signal which is transmitted to the first calculating portion.

3. The target position setting device as claimed in claim 1, wherein the distance meter includes an ultrasonic sonar or a radar that measures the distance to the object and transmits the measured distance to the second calculating portion.

4. A target position setting device comprising:

a distance meter that measures a distance to an object around a vehicle;

an imager that takes an image of an environment around the vehicle;

a first calculating portion that calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter;

a second calculating portion that calculates a second candidate of the target position of the vehicle according to an imaging result of the imager;

a determination portion that determines whether a relationship between the first candidate of the target position and the second candidate of the target position meets a given condition;

a setting portion that sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition; and

provisional setting portion that sets the target position according to the first candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position does not meet the given condition,

wherein the setting portion sets the target position again according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition after the provisional setting portion sets the target position according to the first candidate of the target position.

5. The target position setting portion as claimed in claim 4, wherein the setting portion changes the target position gradually from the first candidate of the target position to the second candidate of the target position.

6. The target position setting device as claimed in claim 5, wherein the given condition is a case in which a distance between the first candidate of the target position and the second candidate of the target position is smaller than a given value for more than a given time.

7. The target position setting device as claimed in claim 4, wherein the given condition is a case in which a distance between the first candidate of the target position and the second candidate of the target position is smaller than a given value for more than a given time.

8. A parking assistance device comprising:

a target position setting device including a distance meter, an imager, a first calculating portion, a second calculating portion, a determination portion, and a setting portion,

the distance meter measuring a distance to an object around a vehicle,

the imager taking an image of an environment around the vehicle,

the first calculating portion calculating a first candidate of a target position of the vehicle according to a measuring result of the distance meter,

the second calculating portion calculating a second candidate of the target position of the vehicle according to an imaging result of the imager,

the determination portion determining whether a relationship between the first candidate of the target position and the second candidate of the target position meets a given condition,

the setting portion setting the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition; and

a steering assistance portion that starts a steering assistance by an automatic steering when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition,

wherein the given condition is a case in which a distance between the first candidate of the target position and the second candidate of the target position is smaller than a first given value for more than a first given time or a case where a difference between a first inclination of a center line of the vehicle passing through the first candidate of the target position and a second inclination of the center line of the vehicle passing through the second candidate of the target position is smaller than a second given value for more than a second given time.

9. The parking assistance device as claimed in claim 8, further comprising a selection portion that determines whether the steering assistance by the steering assistance portion is to be processed.

10. The parking assistance device as claimed in claim 8, further comprising an information portion that informs starting of the steering assistance to a driver when the steering assistance portion starts the steering assistance.

11. The parking assistance device as claimed in claim 8, wherein the imager includes a charge coupled device camera that takes the image within a given angle range backward of the vehicle, and the imager converts the image into an image signal which is transmitted to the first calculating portion.

12. The parking assistance device as claimed in claim 8, wherein the distance meter includes an ultrasonic sonar or a radar that measures the distance to the object and transmits the measured distance to the second calculating portion.

13. A parking assistance device comprising:

a target position setting device including a distance meter, an imager, a first calculating portion, a second calculating portion, a determination portion, and a setting portion,

the distance meter measures a distance to an object around a vehicle,

the imager takes an image of an environment around the vehicle,

the first calculating portion calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter,

the second calculating portion calculates a second candidate of the target position of the vehicle according to an imaging result of the imager,

the determination portion determines whether a relationship between the first candidate of the target position and the second candidate of the target position meets a given condition,

the setting portion sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition; and

a steering assistance portion that starts a steering assistance by an automatic steering when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition, wherein

the target position setting device further includes a provisional setting portion that sets the target position according to the first candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position does not meet the given condition, and

the setting portion sets the target position again according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition after the provisional setting portion sets the target position according to the first candidate of the target position.

14. The parking assistance device as claimed in claim 13, wherein the setting portion changes the target position gradually from the first candidate of the target position to the second candidate of the target position.

15. The parking assistance device as claimed in claim 14, wherein the given condition is a case in which a distance between the first candidate of the target position and the second candidate of the target position is smaller than a given value for more than a given time.

16. The parking assistance device as claimed in claim 13, wherein the given condition is a case in which a distance between the first candidate of the target position and the second candidate of the target position is smaller than a given value for more than a given time.