Parking assistance device and parking assistance method
First Claim
1. A parking assistance apparatus for providing parking assistance for a self-vehicle using image information displayed inside the self-vehicle, the apparatus comprising:
- a memory storing past aerial photographs of a number of parking areas acquired by at least one camera; and
a computer configured to;
detect a position of the self-vehicle;
access the past aerial photographs stored in the memory;
based on the stored past aerial photographs and the detected position of the self-vehicle, generate an aerial photograph corresponding to the detected position of the self-vehicle;
store the aerial photograph corresponding to the detected position of the self-vehicle;
create a distance map on a basis of distance measurement data acquired by scanning a periphery of the self-vehicle using a distance measurement sensor mounted on the self-vehicle, the distance measurement data indicating a distance between the self-vehicle and a peripheral object;
update the stored aerial photograph, on a basis of the created distance map, and generate a latest peripheral map;
display, on a screen, the generated latest peripheral map generated; and
interpolate a pseudo-image formed by folding back an image along a central line in a width direction or a length direction of a parked vehicle, as a region that is not sensed as a result of scanning of the parked vehicle by the distance measurement sensor.
1 Assignment
0 Petitions
Accused Products
Abstract
A vehicle-in-question position detection unit (41) detects the position of the vehicle in question on the basis of GPS data acquired from a GPS receiver (3). An aerial photograph recording unit (43) records aerial photographs corresponding to the position of the vehicle in question. A peripheral object detection unit (42) produces a distance map on the basis of distance measurement data indicating the distance between a peripheral object and the vehicle in question obtained by a distance measurement sensor (2) mounted in the vehicle in question scanning the periphery. A peripheral map generation unit (44) updates past aerial photographs obtained from the aerial photograph recording unit (43) on the basis of the distance map, producing the latest peripheral map. The display device (5) displays the latest peripheral map at a screen.
15 Citations
12 Claims
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1. A parking assistance apparatus for providing parking assistance for a self-vehicle using image information displayed inside the self-vehicle, the apparatus comprising:
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a memory storing past aerial photographs of a number of parking areas acquired by at least one camera; and a computer configured to; detect a position of the self-vehicle; access the past aerial photographs stored in the memory; based on the stored past aerial photographs and the detected position of the self-vehicle, generate an aerial photograph corresponding to the detected position of the self-vehicle; store the aerial photograph corresponding to the detected position of the self-vehicle; create a distance map on a basis of distance measurement data acquired by scanning a periphery of the self-vehicle using a distance measurement sensor mounted on the self-vehicle, the distance measurement data indicating a distance between the self-vehicle and a peripheral object; update the stored aerial photograph, on a basis of the created distance map, and generate a latest peripheral map; display, on a screen, the generated latest peripheral map generated; and interpolate a pseudo-image formed by folding back an image along a central line in a width direction or a length direction of a parked vehicle, as a region that is not sensed as a result of scanning of the parked vehicle by the distance measurement sensor. - View Dependent Claims (3, 4, 5, 6, 7, 8)
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2. A parking assistance apparatus for providing parking assistance for a self-vehicle using image information displayed inside the self-vehicle, the apparatus comprising:
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a memory storing past aerial photographs of a number of parking areas acquired by at least one camera; and a computer configured to; detect a position of the self-vehicle on a basis of a Global Positioning System (“
GPS”
) data acquired from a GPS;access the past aerial photographs stored in the memory; based on the stored past aerial photographs and the detected position of the self-vehicle, acquire an aerial photograph corresponding to the detected position of the self-vehicle; create a distance map on a basis of distance measurement data acquired by scanning a periphery of the self-vehicle using a distance measurement sensor mounted on the self-vehicle, the distance measurement data indicating a distance between the self-vehicle and a peripheral object; update, on a basis of the created distance map, the acquired aerial photograph, and generate a latest peripheral map; display, on a screen, the generated latest peripheral map; and interpolate a pseudo-image formed by folding back an image along a central line in a width direction or a length direction of a parked vehicle, as a region that is not sensed as a result of scanning of the parked vehicle by the distance measurement sensor.
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9. A parking assistance apparatus for providing parking assistance for a self-vehicle, the apparatus comprising:
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a memory storing past aerial photographs of a number of parking areas acquired by at least one camera; and a computer configured to; detect a position of the self-vehicle; access the past aerial photographs stored in the memory; based on the stored past aerial photographs and the detected position of the self-vehicle, generate an aerial photograph corresponding to the detected position of the self-vehicle; superimpose an image in accordance with existence or non-existence of another vehicle in a periphery of the self-vehicle onto the aerial photograph corresponding to the detected position of the self-vehicle; display the superimposed image on a screen; and interpolate a pseudo-image formed by folding back an image along a central line in a width direction or a length direction of a parked vehicle, as a region that is not sensed as a result of scanning of the parked vehicle by a distance measurement sensor.
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10. A parking assistance method for providing parking assistance for a self-vehicle using image information displayed inside the self-vehicle, the method comprising:
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storing past aerial photographs of a number of parking areas acquired by at least one camera; detecting a position of the self-vehicle; accessing the past aerial photographs stored in the memory; based on the stored past aerial photographs and the detected position of the self-vehicle, generating an aerial photograph corresponding to the detected position of the self-vehicle; storing the aerial photograph corresponding to the position of the self-vehicle; creating a distance map on a basis of distance measurement data acquired by scanning a periphery of the self-vehicle using a distance measurement sensor mounted on the self-vehicle, the distance measurement data indicating a distance between the self-vehicle and a peripheral object; updating the aerial photograph on a basis of the distance map, and generating a peripheral map; and displaying the peripheral map on a display apparatus, wherein a pseudo-image formed by folding back an image along a central line in a width direction or a length direction of a parked vehicle, is interpolated as a region that is not sensed as a result of scanning of the parked vehicle by the distance measurement sensor. - View Dependent Claims (12)
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11. A parking assistance method for providing parking assistance for a self-vehicle using image information displayed inside the self-vehicle, the method comprising:
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storing past aerial photographs of a number of parking areas acquired by at least one camera; detecting a position of the self-vehicle on a basis of a Global Positioning System (“
GPS data”
) acquired from a GPS;based on the stored past aerial photographs and the detected position of the self-vehicle, acquiring an aerial photograph corresponding to the position of the self-vehicle, from an outside via a communication section; creating a distance map on a basis of distance measurement data acquired by scanning a periphery of the self-vehicle using a distance measurement sensor mounted on the self-vehicle, the distance measurement data indicating a distance between the self-vehicle and a peripheral object; updating the aerial photograph on a basis of the distance map, and generating a latest peripheral map; and displaying the latest peripheral map on a display apparatus, wherein a pseudo-image formed by folding back an image along a central line in a width direction or a length direction of a parked vehicle, is interpolated as a region that is not sensed as a result of scanning of the parked vehicle by the distance measurement sensor.
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Specification