Parking assist apparatus, parking assist method, and computer program product

• US 9,741,250 B2
• Filed: 09/27/2013
• Issued: 08/22/2017
• Est. Priority Date: 09/28/2012
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Inventors: Tachibana, Hiroyuki, Tanaka, Yu, Kuboyama, Tsuyoshi, Yamashita, Tomohisa
• Primary Examiner(s): Garcia, Santiago
• Application Number:
  US14/431,608
• Publication Number:
  US 20150254981A1
• Time in Patent Office: 1,425 Days
• Field of Search: 3409322
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/8026 in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: G06T 2207/30264 Parking
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/14 indicating individual free spaces in parking areas

Abstract

A parking assist apparatus of an embodiment includes an area detection unit, a line detection unit, and a target position calculation unit. The area detection unit detects a parking allowable area where the parking of a vehicle is allowable. The line detection unit detects a parking section line provided on a track surface. The target position calculation unit calculates a target parking position by using a detection result of the parking allowable area by the area detection unit when the parking allowable area is detected by the area detection unit, the parking section line is detected by the line detection unit, and the parking section line is located outside the parking allowable area.

Claims

1. A parking assist apparatus comprising:

an area detection unit that detects a parking allowable area where parking of a vehicle is allowable;

a line detection unit that detects a pair of parking section lines provided on a track surface; and

a target position calculation unit that calculates a target parking position by using a detection result of the parking allowable area by the area detection unit and sets the target parking position closer to one of the pair of parking section lines when;

the parking allowable area is detected by the area detection unit,

the parking section lines are detected by the line detection unit, and

one of the pair of parking section lines is located outside the parking allowable area, and another one of the pair of parking section lines is located in the parking allowable area,

wherein an obstacle located in a rear side direction of the vehicle is detected in backward traveling, and the parking allowable area is corrected on basis of the detection result, and

the target position calculation unit calculates the target parking position by using the corrected parking allowable area and sets the target parking position closer to the one of the pair of parking section lines located in the parking allowable area.

2. The parking assist apparatus according to claim 1, wherein

the area detection unit detects the parking allowable area by using a detection result output from an emission unit that is provided on the vehicle, emits waves in a side direction of the vehicle, and detects reflections of the waves,

the line detection unit detects the parking section line by using data that is taken by an imaging unit in backward traveling of the vehicle and output from the imaging unit, the imaging unit being provided on the vehicle and imaging an area behind the vehicle, and

the target position calculation unit repeats calculation of the target parking position in the backward traveling of the vehicle.

5. The parking assist apparatus according to claim 1, wherein the target position calculation unit calculates the target parking position after detecting the parking allowable area in a side direction of the vehicle during forward traveling.

3. A parking assist method comprising:

detecting a parking allowable area where parking of a vehicle is allowable with an area detection unit;

detecting a pair of parking section lines provided on a track surface with a line detection unit;

calculating a target parking position by using a detection result of the parking allowable area generated by the area detection unit, with a target position calculation unit, and setting the target parking position closer to one of the pair of parking section lines when;

the parking allowable area is detected by the area detection unit,

the parking section lines are detected by the line detection unit, and

one of the pair of parking section lines is located outside the parking allowable area, and another one of the pair of parking section lines is located in the parking allowable area;

detecting an obstacle located in a rear side direction of the vehicle in backward traveling, and correcting the parking allowable area on basis of the detection result; and

calculating the target parking position by using the corrected parking allowable area by the target position calculation unit, and setting the target parking position closer to the one of the pair of parking section lines located in the parking allowable area.

6. The parking assist method according to claim 3, wherein detecting a parking allowable area comprises detecting the parking allowable area in a side direction of the vehicle during forward traveling.

4. A computer program stored on a non-transitory computer readable medium including programmed instructions, wherein the instructions, when executed by a computer, cause the computer to perform:

detecting a parking allowable area where parking of a vehicle is allowable;

detecting a pair of parking section lines provided on a track surface;

calculating a target parking position by using a detection result of the parking allowable area when;

the parking allowable area is detected,

the parking section lines are detected, and

one of the parking section lines is located outside the parking allowable area, and another one of the pair of parking section lines is located in the parking allowable area;

detecting an obstacle located in a rear side direction of the vehicle in backward traveling, and correcting the parking allowable area on basis of the detection result; and

calculating the target parking position by using the corrected parking allowable area and setting the target parking position closer to the one of the pair of parking section lines located in the parking allowable area.

7. The computer program stored on a non-transitory computer readable medium according to claim 4, wherein detecting a parking allowable area comprises detecting the parking allowable area in a side direction of the vehicle during forward traveling.