Parking assistance system and parking assistance method
First Claim
Patent Images
1. A parking assistance system to assist parking a vehicle in a parking area, the parking assistance system comprising:
- a camera; and
a parking assistance device comprising a processor configured to execute instructions to;
detect, from a camera image captured with the camera, marker candidates that are areas in each of which an intensity of a color component or an infrared (IR) component exceeds a threshold;
calculate positions of the marker candidates in the camera image;
determine whether the marker candidates are valid as the markers, based on the positions of the marker candidates and a predetermined positional relationship of the markers indicating the parking area;
calculate a path along which the vehicle is to move, based on positions of the marker candidates which is determined to be valid as the markers and a current position of a vehicle; and
indicate a steering angle for the vehicle to move along the path.
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Abstract
A parking assistance system includes: a color/IR detector which detects, from a camera image captured with a camera, marker candidates that are areas in each of which an intensity of a color component or an infrared (IR) component exceeds a threshold; a marker position calculator which calculates positions of the marker candidates in the camera image; and a validity verifier which determines whether the marker candidates are valid as the markers, based on the positions of the marker candidates and a predetermined positional relationship of the markers.
8 Citations
16 Claims
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1. A parking assistance system to assist parking a vehicle in a parking area, the parking assistance system comprising:
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a camera; and a parking assistance device comprising a processor configured to execute instructions to; detect, from a camera image captured with the camera, marker candidates that are areas in each of which an intensity of a color component or an infrared (IR) component exceeds a threshold; calculate positions of the marker candidates in the camera image; determine whether the marker candidates are valid as the markers, based on the positions of the marker candidates and a predetermined positional relationship of the markers indicating the parking area; calculate a path along which the vehicle is to move, based on positions of the marker candidates which is determined to be valid as the markers and a current position of a vehicle; and indicate a steering angle for the vehicle to move along the path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A parking assistance method to assist parking a vehicle in a parking area, the parking assistance method comprising:
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detecting, from a camera image captured with a camera mounted to the vehicle, marker candidates that are areas in each of which an intensity of a color component or an infrared (IR) component exceeds a threshold; calculating positions of the marker candidates in the camera image; determining whether the marker candidates are valid as the markers, based on the positions of the marker candidates and a predetermined positional relationship of the markers indicating the parking area; calculating a path along which the vehicle is to move, based on positions of the marker candidates which is determined to be valid as the markers and a current position of a vehicle; and indicating a steering angle for the vehicle to move along the path. - View Dependent Claims (10)
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11. A parking assistance system for capturing an image that includes markers indicating a parking area, calculating a path based on positions of the markers and a current position of a vehicle, and indicating a steering angle for the vehicle to move along the path, to assist parking the vehicle in the parking area, the parking assistance system comprising:
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a camera; a parking assistance device comprising a processor; and a marker combination storage which stores a learned marker combination that is a marker combination accepted by a user, wherein the processor is configured to; detect, from a camera image captured with the camera, marker candidates that are areas in each of which an intensity of a color component or an infrared (IR) component exceeds a threshold; calculate positions of the marker candidates in the camera image; determine whether the marker candidates are valid as the markers, based on the positions of the marker candidates and a predetermined positional relationship of the markers; present, if the marker candidates form marker combinations and the marker combinations are determined to be each valid as the markers, a marker combination among the marker combinations to the user; compare the marker combinations with the learned marker combination; and present, to the user, a marker combination among the marker combinations which is shown to match the learned marker combination by a result of the comparison. - View Dependent Claims (12, 13, 14, 15, 16)
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Specification