Parking area detecting apparatus and method thereof

• US RE47,559 E1
• Filed: 12/30/2016
• Issued: 08/06/2019
• Est. Priority Date: 11/14/2013
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Industry-University Cooperation Foundation Hanyang University, Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Ryu, Seong Sook, Chang, Eu Gene, Choi, Jae Seob, Yoon, Dae Joong, Suhr, Jae Kyu, Jung, Ho Gi
• Primary Examiner(s): Carlson, Jeffrey D
• Application Number:
  US15/395,158
• Time in Patent Office: 949 Days
• CPC Class Codes: N/A

Abstract

A parking area detecting method includes generating a top view image by capturing images of surroundings of a vehicle, detecting a first directional parking line from the top view image, detecting a second directional parking line having a direction different from a direction of the first directional parking line from the top view image, and detecting a parking area by combining the first directional parking line and the second directional parking line.

Claims

1. A parking area detecting method, comprising:

generating a top view image by capturing images of surroundings of a vehicle;

detecting a first directional parking line from the top view image;

detecting at least one second directional parking line having a direction different from that of the first directional parking line from the top view image; and

detecting a parking area by combining the first directional parking line and the second directional parking line;

wherein the detecting of the parking area includes;

detecting a square area defined by connecting the first directional parking line and the at least one second directional parking line; and

determining the square area as the parking area,

wherein a parking area previously detected exists, and

wherein the method further comprises;

comparing the parking area currently detected with the parking area detected previously;

determining a proportion of an overlapping area between the parking area currently detected and the parking area previously detected; and

registering the parking area currently detected as a new parking area if the overlapping proportion is equal to or less than a pre-set proportion.

2. The method according to claim 1, wherein the detecting of the first directional parking line includes:

detecting edge pixels included in the top view image;

detecting two parallel linear lines minimizing a least square error from the top view image by using the detected edge pixels; and

setting an area between the two parallel linear lines as the first directional parking line.

3. The method according to claim 2, wherein, in the detecting of the edge pixels, edge pixels having a direction within a preset angle on the basis of a movement direction of the vehicle, among edge pixels included in the top view image, are detected.

4. The method according to claim 2, wherein, in the detecting of the edge pixels, edge pixels existing within a pre-set distance from the vehicle, among the edge pixels, are detected.

5. The method according to claim 1, further comprising:

generating a template in at least one of the detected parking areas area and tracking a tracked parking area.

6. A parking area detecting method, comprising:

generating a top view image by capturing images of surroundings of a vehicle;

detecting a first directional parking line from the top view image;

detecting a second directional parking line having a direction different from that of the first directional parking line from the top view image; and

detecting a parking area by combining the first directional parking line and the second directional parking line,

wherein the detecting of the second directional parking line includes;

detecting edge pixels at a pre-set angle with respect to the first directional parking line among the edge pixels included in the top view image;

measuring differences between a linear template and the edge pixels by positions of the first directional parking line by using the linear template; and

determining positions of local minimum points of the differences, as positions of the second directional parking line,

wherein a parking area previously detected exists, and

wherein the method further comprises;

comparing the parking area currently detected with the parking area detected previously;

determining a proportion of an overlapping area between the parking area currently detected and the parking area previously detected; and

registering the parking area currently detected as a new parking area if the overlapping proportion is equal to or less than a pre-set proportion.

7. The method according to claim 6, wherein, in the detecting of the edge pixels, edge pixels having pixel values decreased in the first direction and edge pixels having pixel values increased in the first direction are detected, respectively.

8. A parking area detecting method, comprising:

generating a top view image by capturing images of surroundings of a vehicle;

detecting a first directional parking line from the top view image;

detecting a second directional parking line having a direction different from that of the first directional parking line from the top view image;

detecting a parking area by combining the first directional parking line and the second directional parking line;

calculating reliability of a parking area on the basis of a difference of the second directional parking line constituting the parking area;

calculating occupancy of an interior of the parking area by using position information of an object around the vehicle obtained by an ultrasonic sensor; and

determining a parking area on the basis of the reliability and occupancy, wherein a parking area previously detected exists, and

wherein the method further comprises;

comparing the parking area currently detected with the parking area detected previously;

determining a proportion of an overlapping area between the parking area currently detected and the parking area previously detected; and

registering the parking area currently detected as a new parking area if the overlapping proportion is equal to or less than a pre-set proportion.

9. A parking area detecting method, comprising:

generating a top view image by capturing images of surroundings of a vehicle;

detecting a first directional parking line from the top view images;

detecting a second directional parking line having a direction different from that of the first directional parking line from the top view image;

detecting a an available parking area by combining the first directional parking line and the second directional parking line;

when a parking area detected previously exists, predicting a current location according to a movement of the vehicle with respect to the a parking area detected previously;

comparing the available parking area with the parking area detected previously and determining a proportion of an overlapping area between the available parking area and the parking area detected previously; and

whenupon the overlapping area isproportion being equal to or less than a pre-set proportion, registering the available parking available area as a new parking area, and when upon the overlapping area exceeds proportion exceeding the pre-set proportion, selecting one of the available parking available area and the parking area detected previously.

10. The method according to claim 9, further comprising:

when a parking area is not detected from within the top view image, predicting a current location according to a movement of the vehicle with respect to the parking area detected previously; and

displaying the predicted parking area within the top view image.

11. A parking area detecting method, comprising:

generating a view image by capturing images of surroundings of a vehicle;

detecting a first directional parking line from the view image;

detecting at least one second directional parking line having a direction different from that of the first directional parking line from the view image; and

detecting a parking area by combining the first directional parking line and the second directional parking line;

wherein the first directional parking line and the second directional parking line has a brighter color than a color of a bottom surface,

wherein the second directional parking line is perpendicular with respect to the first directional parking line,

wherein a parking area previously detected exists, and

wherein the method further comprises;

comparing the parking area currently detected with the parking area detected previously;

determining a proportion of an overlapping area between the parking area currently detected and the parking area previously detected; and

registering the parking area currently detected as a new parking area if the overlapping proportion is equal to or less than a pre-set proportion, and

wherein the detecting a parking area includes;

detecting a square area defined by connecting the first directional parking line and the at least one second directional parking line; and

determining the square area as the parking area.

12. The method according to claim 11, wherein the detecting the first directional parking line includes:

detecting edge pixels included in the view image;

detecting two parallel linear lines minimizing a least square error from the view image by using the detected edge pixels; and

setting an area between the two parallel linear lines as the first directional parking line.

13. The method according to claim 12, wherein, in the detecting edge pixels, edge pixels having a direction within a preset angle on the basis of a movement direction of the vehicle, among edge pixels included in the view image, are detected.

14. The method according to claim 12, wherein, in the detecting edge pixels, edge pixels existing within a pre-set distance from the vehicle, among the edge pixels, are detected.

15. The method according to claim 11, further comprising:

generating a template in at least one of the detected parking and a tracked parking area.

16. The method according to claim 11,

the method further comprises:

predicting a current location according to a movement of the vehicle with respect to the parking area detected previously.