Parking-assist system using image information from an imaging camera and distance information from an infrared laser camera

• US 20060069478A1
• Filed: 09/14/2005
• Published: 03/30/2006
• Est. Priority Date: 09/30/2004
• Status: Active Grant

• Current Assignee: Clarion Co., Ltd. (Faurecia SA)
• Original Assignee: Clarion Co., Ltd. (Faurecia SA)
• Inventors: Iwama, Takaaki
• Granted Patent: US 7,069,128 B2
• Time in Patent Office: Days
• US Class Current: 701/36
• CPC Class Codes: B62D 15/0245 Means or methods for determination of the central position of the steering system, e.g. straight ahead position
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A parking-assist system for providing parking-assist information, including: a front imaging camera (2-6); a left imaging camera (4-6); a right imaging camera (5-6); a rear imaging camera (3-6); a left infrared laser camera (4-7) configured to obtain information on a distance as to the left side on a pixel to pixel basis; a right infrared laser camera (5-7) configured to obtain information on a distance as to the right side on a pixel to pixel basis; a rear infrared laser camera (3-7) configured to obtain information on a distance as to the rear side on a pixel to pixel basis; and a signal processing portion (13), wherein the parking-assist system provides the parking-assist information according to the information on the images from the imaging cameras (6) and the information on the distances as to each pixel from the infrared laser cameras (7).

Claims

1. A parking-assist system for providing parking-assist information, comprising:

a first imaging camera configured to image a front side of a vehicle;

a second imaging camera configured to image a left side of the vehicle;

a third imaging camera configured to image a right side of the vehicle;

a fourth imaging camera configured to image a rear side of the vehicle;

a first infrared laser camera configured to obtain information on a distance as to the left side of the vehicle on a pixel to pixel basis;

a second infrared laser camera configured to obtain information on a distance as to the right side of the vehicle on a pixel to pixel basis;

a third infrared laser camera configured to obtain information on a distance as to the rear side of the vehicle on a pixel to pixel basis; and

a signal processing portion to which information on images from one or more of the imaging cameras and the information on the distances from one or more of the infrared laser cameras are inputted;

wherein the parking-assist system provides the parking-assist information according to the information on the images from the one or more of the imaging cameras and the information on the distances as to each pixel from the one or more of the infrared laser cameras.

2. The parking-assist system according to claim 1, which further comprises a recording medium, wherein the parking-assist system records the information on the images from one or more of the imaging cameras and the information on the distances as to each pixel from one or more of the infrared laser cameras on the recording medium when a speed of the vehicle is equal to or less than a predetermined value, initiates a parking-assist operation at the time when a gearshift of the vehicle is put into reverse after the vehicle once stops, and automatically detects a parking position by reversely reproducing the recorded image information and the recorded distance information.

3. The parking-assist system according to claim 2, wherein the parking-assist system performs the automatic detection of the parking position by detecting lines indicating a parking space included in the reproduced image and by distinguishing a spacing between the lines and/or a spacing of the parking space according to the distance information and/or existence/nonexistence of an impediment according to the distance information.

4. The parking-assist system according to claim 3, wherein the parking-assist system performs the detection of the lines by converting the reproduced image into a top-view image, by rotating the top-view image so that the lines may extend vertically on a screen for displaying an image, and by integrating brightness in a direction corresponding to a vertical direction of the screen.

5. The parking-assist system according to claim 2, wherein in order to provide parking-assist information for guiding the vehicle to the automatically-detected parking position, the parking-assist system calculates a proper vehicular running guide route from a present position at which the vehicle stops to the parking position and the screen displays thereon the vehicular running guide route together with an image of the rear.

6. The parking-assist system according to claim 5, wherein the parking-assist system calculates a calculated vehicular running route based on a present rudder angle of a steering wheel of the vehicle, superimposes the calculated vehicular running route on the vehicular running guide route, displays the superimposed routes on the screen, and generates a warning sound and/or displays a warning sign when an amount of a deviation between the vehicular running guide route and the calculated vehicular running route is equal to or more than a predetermined value.

7. The parking-assist system according to claim 6, wherein the parking-assist system calculates a tilting angle of a front wheel of the vehicle according to three-dimensional distance information of the front wheel measured by one of the infrared laser cameras located on the both sides of the vehicle, and determines a central point of the steering wheel by relating the tilting angle of the front wheel to the rudder angle of the steering wheel.

8. The parking-assist system according to claim 1, wherein when the vehicle runs forward, the parking-assist system detects a state of another vehicle approaching the vehicle according to images taken by the imaging cameras located on the both sides of the vehicle and distance information obtained by the infrared laser cameras located on the both sides of the vehicle.

9. The parking-assist system according to claim 1, which further comprises a recording medium for recording an image taken by at least one of the imaging cameras when the vehicle runs forward, wherein the recording medium is configured to be used as a drive-recorder for recording a running state of the vehicle.

10. The parking-assist system according to claim 9, wherein when the recording medium is used as the drive-recorder, the image taken when the vehicle runs forward is image-compressed, is encryption-processed/electronic watermark-processed and is recorded on the recording medium.

11. The parking-assist system according to claim 10, wherein the encryption process when the recording medium is used as a drive-recorder is performed by randomly transposing data corresponding to pixels with using a conversion function for obtaining a top-view image.

12. The parking-assist system according to claim 9, which further comprises an acceleration sensor, wherein when acceleration is detected to be equal to or more than a predetermined threshold by the acceleration sensor, images corresponding to a predetermined period around the time when the acceleration is detected are recorded on the recording medium.

13. The parking-assist system according to claim 9, wherein when a situation is judged to be unsafe according to an image from at least one of the imaging cameras and/or distance information from at least one of the infrared laser cameras, images corresponding to a predetermined period around the time when the situation is judged to be unsafe are recorded on the recording medium.

14. The parking-assist system according to claim 9, wherein the recording medium is water-resistant and capable of recording without contact.

15. The parking-assist system according to claim 3, wherein when the lines are white or yellow the lines are distinguished as indication lines for a parking space.