Vehicular parking feasibility determining system, vehicular parking space detection system and vehicular movable range detection system

• US 8,560,169 B2
• Filed: 12/12/2008
• Issued: 10/15/2013
• Est. Priority Date: 12/18/2007
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Sasajima, Takeshi, Aiga, Yoshimitsu, Asaba, Takashi
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US12/745,864
• Publication Number:
  US 20100274446A1
• Time in Patent Office: 1,768 Days
• Field of Search: 701/36, 701/41, 701/300, 701/31.4, 701/117, 701/118, 340/932.2, 340435-437, 340/903, 340/904, 340/425.5, 180/167, 180/199, 180/204, 367/97, 367/118, 367/127, 367/129, 342/70, 342/43
• US Class Current: 701/36
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: G01S 2015/935 for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
• 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: G08G 1/14 indicating individual free spaces in parking areas
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

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.

Claims

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 a 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), wherein the system further comprises

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 a pair of reflection points of the electromagnetic waves with adjacent angles in the horizontal direction is a predetermined value or greater.

2. The vehicular parking feasibility determining system according to claim 1, wherein the system further comprises

boundary line calculation means (M4) that calculates as a vehicle width direction boundary line (Ly) a straight line for which a sum of distances in the 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 a sum of 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 a center, and calculating as a movable range (Wx) a minimum distance among the distances in the vehicle width direction of the left and right vehicle width direction boundary lines (Ly).

3. The vehicular parking feasibility determining system according to claim 2, wherein the system further comprises

reflection point storage means (M2) that, when a pair of reflection points is present within the processing region (R), stores as a first reflection point (P1) a reflection point for which, of the pair of reflection points, a distance from the subject vehicle in the vehicle length direction is near, and stores as a second reflection point (P2) a reflection point for which the distance is far,

the boundary line calculation means (M4) calculating, relative to the first reflection point (P1) stored in one of left and right processing regions (R), the vehicle width direction boundary line (Ly) within the other processing region (R) that is more distant in the vehicle length direction.

4. The vehicular parking feasibility determining system according to claim 3, wherein, when a reflection point is present on the subject vehicle body axis side relative to the vehicle width direction boundary line (Ly) within the left and right processing regions (R), the boundary line calculation means (M4) corrects the vehicle width direction boundary line (Ly) so as to pass through said reflection point.

5. The vehicular parking feasibility determining system according to claim 2, wherein, when a reflection point is present on the subject vehicle body axis side relative to the vehicle width direction boundary line (Ly) within the left and right processing regions (R), the boundary line calculation means (M4) corrects the vehicle width direction boundary line (Ly) so as to pass through said reflection point.

6. The vehicular parking feasibility determining system according to claim 2, wherein the system further comprises

reflection point storage means (M2) that, when a pair of reflection points is present within the processing region (R), stores as a first reflection point (P1) a reflection point for which, of the pair of reflection points, a distance from the subject vehicle in the vehicle length direction is near, and stores as a second reflection point (P2) a reflection point for which it is far, and

intersection point calculation means (M5) that calculates an intersection point (P3) of the vehicle width direction boundary line (Ly) on the parking space (Sp) side with the vehicle length direction boundary line (Lx) calculated based on the second reflection point (P2),

the parking space width calculation means (M7) calculating a distance in the vehicle length direction between the first reflection point (P1) and the intersection point (P3) as the width (Wy) of the parking space (Sp).

7. The vehicular parking feasibility determining system according to claim 6, wherein the parking space existence determining means (M6) determines that the parking space (Sp) exists when a distance in the vehicle width direction between the second reflection point (P2) and the intersection point (P3) is a predetermined value or greater.

8. A vehicular parking space detection 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 a 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 a pair of reflection points of the electromagnetic waves with adjacent angles in the horizontal direction is a predetermined value or greater.

9. The vehicular parking space detection system according to claim 8, wherein the system further comprises

boundary line calculation means (M4) that calculates as a vehicle width direction boundary line (Ly) a straight line for which a sum of 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 a sum of distances in subject vehicle length direction therefrom is a minimum,

reflection point storage means (M2) that, when a pair of reflection points is present within the processing region (R), stores as a first reflection point (P1) a reflection point for which, of the pair of reflection points, a distance from the subject vehicle in the vehicle length direction is near, and stores as a second reflection point (P2) a reflection point for which the distance is far, and

intersection point calculation means (M5) that calculates an intersection point (P3) of the vehicle width direction boundary line (Ly) on the parking space (Sp) side with the vehicle length direction boundary line (Lx) calculated based on the second reflection point (P2),

the parking space existence determining means (M6) determines that the parking space (Sp) exists when a distance in the vehicle width direction between the second reflection point (P2) and the intersection point (P3) is a predetermined value or greater.

10. A vehicular movable range detection 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 a 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 a 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 a sum of 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 a sum of 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 a center, and calculating as a movable range (Wx) a minimum distance among the distances in the vehicle width direction of the left and right vehicle width direction boundary lines (Ly).

11. The vehicular movable range detection system according to claim 10, wherein the system further comprises

reflection point storage means (M2) that, when a pair of reflection points is present within the processing region (R), stores as a first reflection point (P1) a reflection point for which, of the pair of reflection points, a distance from the subject vehicle in the vehicle length direction is near, and stores as a second reflection point (P2) a reflection point for which the distance is far,

the boundary line calculation means (M4) calculating, relative to the first reflection point (P1) stored in one of left and right processing regions (R), the vehicle width direction boundary line (Ly) within the other processing region (R) that is more distant in the vehicle length direction.

12. The vehicular movable range detection system according to claim 11 wherein, when a reflection point is present on the subject vehicle body axis side relative to the vehicle width direction boundary line (Ly) within the left and right processing regions (R), the boundary line calculation means (M4) corrects the vehicle width direction boundary line (Ly) so as to pass through said reflection point.

13. The vehicular movable range detection system according to claim 10 wherein, when a reflection point is present on the subject vehicle body axis side relative to the vehicle width direction boundary line (Ly) within the left and right processing regions (R), the boundary line calculation means (M4) corrects the vehicle width direction boundary line (Ly) so as to pass through said reflection point.

14. 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 a 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, wherein the system further comprises

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 a pair of reflection points of the electromagnetic waves with adjacent angles in the horizontal direction is a predetermined value or greater.

15. The vehicular parking feasibility determining system according to claim 14, wherein the system further comprises

a boundary line calculator that calculates as a vehicle width direction boundary line a straight line for which a sum of the distances in the 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 a 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 a center, and calculating as a movable range a minimum distance among the distances in the vehicle width direction of the left and right vehicle width direction boundary lines.

16. The vehicular parking feasibility determining system according to claim 15, wherein the system further comprises

a reflection point storage device that, when a pair of reflection points is present within the processing region, stores as a first reflection point a reflection point for which, of the pair of reflection points, a distance from the subject vehicle in the vehicle length direction is near, and stores as a second reflection point a reflection point for which the distance is far,

the boundary line calculator calculating, relative to the first reflection point stored in one of left and right processing regions, the vehicle width direction boundary line within the other processing region that is more distant in the vehicle length direction.

17. The vehicular parking feasibility determining system according to claim 15, wherein, when a reflection point is present on the subject vehicle body axis side relative to the vehicle width direction boundary line within the left and right processing regions, the boundary line calculator corrects the vehicle width direction boundary line so as to pass through said reflection point.

18. The vehicular parking feasibility determining system according to claim 15, wherein the system further comprises

a reflection point storage device that, when a pair of reflection points is present within the processing region, stores as a first reflection point a reflection point for which, of the pair of reflection points, a distance from the subject vehicle in the vehicle length direction is near, and stores as a second reflection point a reflection point for which the distance is far, and

an intersection point calculator that calculates an intersection point of the vehicle width direction boundary line on the parking space side with the vehicle length direction boundary line calculated based on the second reflection point,

the parking space width calculator calculating a distance in the vehicle length direction between the first reflection point and the intersection point as the width of the parking space.

19. The vehicular parking feasibility determining system according to claim 18, wherein the parking space existence determining device determines that the parking space exists when a distance in the vehicle width direction between the second reflection point and the intersection point is a predetermined value or greater.

20. A vehicular parking space detection 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 a 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 a pair of reflection points of the electromagnetic waves with adjacent angles in the horizontal direction is a predetermined value or greater.

21. The vehicular parking space detection system according to claim 20, wherein the system further comprises

a boundary line calculator that calculates as a vehicle width direction boundary line a straight line for which a sum of 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 a sum of distances in subject vehicle length direction therefrom is a minimum,

a reflection point storage device that, when the pair of reflection points is present within the processing region, stores as a first reflection point a reflection point for which, of the pair of reflection points, a distance from the subject vehicle in the vehicle length direction is near, and stores as a second reflection point a reflection point for which the distance is far, and

an intersection point calculator that calculates an intersection point of the vehicle width direction boundary line on the parking space side with the vehicle length direction boundary line calculated based on the second reflection point,

the parking space existence determining device determines that the parking space exists when the distance in the vehicle width direction between the second reflection point and the intersection point is a predetermined value or greater.

22. A vehicular movable range detection 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 sequence of reflection points at which electromagnetic waves are reflected from the object based on a 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 a sum of 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 a sum of 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 a center, and calculating as a movable range a minimum distance among the distances in the vehicle width direction of the left and right vehicle width direction boundary lines.

23. The vehicular movable range detection system according to claim 22, wherein the system further comprises

a reflection point storage device that, when a pair of reflection points is present within the processing region, stores as a first reflection point a reflection point for which, of the pair of reflection points, a distance from the subject vehicle in the vehicle length direction is near, and stores as a second reflection point a reflection point for which the distance is far,

the boundary line calculator calculating, relative to the first reflection point stored in one of left and right processing regions, the vehicle width direction boundary line within the other processing region that is more distant in the vehicle length direction.

24. The vehicular movable range detection system according to claim 22 wherein, when a reflection point is present on the subject vehicle body axis side relative to the vehicle width direction boundary line within the left and right processing regions, the boundary line calculator corrects the vehicle width direction boundary line so as to pass through said reflection point.