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Method and device for detecting the frame line of a parking space

A detection method and parking space technology, which is applied to vehicle parts, transportation and packaging, vehicle safety arrangements, etc., can solve the problems of low definition and low detection accuracy of white lines, and achieve the effect of improving the possibility

Active Publication Date: 2022-03-25
NISSAN MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In the case of detecting the edge of a white line based on an image captured by an imaging device installed in the own vehicle (own vehicle), the farther the detection position is from the own vehicle, the lower the sharpness of the white line of the parking space is. The problem that the detection accuracy of the white line decreases

Method used

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  • Method and device for detecting the frame line of a parking space
  • Method and device for detecting the frame line of a parking space
  • Method and device for detecting the frame line of a parking space

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Embodiment Construction

[0032] figure 1 It is a block diagram of a parking assistance system 1000 including a parking assistance device 100 according to an embodiment of the present invention. The parking assistance system 1000 of this embodiment assists the operation of moving (parking) the host vehicle to a parking space. Parking assist system 1000 of this embodiment includes cameras 1 a to 1 d , image processing device 2 , distance measuring device 3 , parking assist device 100 , vehicle controller 30 , drive system 40 , steering angle sensor 50 , and vehicle speed sensor 60 . The parking assistance device 100 of the present embodiment includes a control device 10 and an output device 20 . The output device 20 includes a display 21 , a speaker 22 , and a lamp 23 . These structures are connected via CAN (Controller Area Network) or other in-vehicle LANs for mutual transmission and reception of information.

[0033] The control device 10 of the parking assistance device 100 of the present embodim...

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Abstract

A method for detecting the frame line of a parking space, which detects the frame line of the parking space (PLn, PRn) based on the captured image obtained by the camera (1), wherein the parameter values ​​used for the detection of the above frame line are included in the first In the case of the threshold range, detect the above-mentioned frame line, estimate the position of the undetected above-mentioned frame line based on the detected position of the above-mentioned frame line, and set the threshold range for detecting the above-mentioned frame line at the estimated position of the above-mentioned frame line is a second threshold range wider than the above-mentioned first threshold range.

Description

technical field [0001] The invention relates to a method and device for detecting frame lines of parking spaces. Background technique [0002] As a device for detecting the edge of a white line of a parking space, there is known a configuration in which there is a first pixel whose luminance difference with adjacent pixels is equal to or greater than a threshold value, and there is a position separated from the first pixel by the width of the white line. When there is a second pixel whose luminance difference with an adjacent pixel is equal to or greater than the threshold value, the first pixel or the second pixel is used as the edge of the white line (for example, refer to Patent Document 1). [0003] prior art literature [0004] patent documents [0005] Patent Document 1: Japanese Patent Laid-Open No. 2011-191884 [0006] The problem to be solved by the invention [0007] In the case of detecting the edge of a white line based on an image captured by an imaging devi...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/12G06T7/13G06T7/70G06T7/11G06T7/136G06T7/20G06T7/60G06V20/58B60W30/06B60R21/00
CPCG06T7/13G06T7/73G06T2207/30264G06T2207/30261G06T2207/10016G06T2207/10028G06T7/11G06T7/70G06T2207/30256G06V20/586B60W30/06G06T7/20G06T7/60B60R21/00G06V20/588G06T7/136G06T7/12B60W2420/42
Inventor 早川泰久
Owner NISSAN MOTOR CO LTD