Novelty in parking assistance system used in vehicles

Abstract

The invention relates to a novel method for detecting distance in parking systems (S) comprising a rear view camera (20) and an ultrasonic parking sensor (30), which are assistant equipment for the driver to park the vehicle, characterized by detecting, under the supervision of at least one controller (10), whether the ultrasonic parking sensors (30) and the rear view camera (20) are receiving the correct data and detecting the obstacle in the image taken from the rear view camera (20) and in line with determining the distance to the said obstacle; comparing the distance measurement result obtained from the ultrasonic parking sensor (30) and the rear view camera (20) by setting a threshold value between the minimum and maximum distance measured by the ultrasonic parking sensor (30) and determining the distance information that is closest to the actual value and warning of the driver via at least one warning unit (40).

Description

[0001] NOVELTY IN PARKING ASSISTANCE SYSTEM USED IN VEHICLES

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to a novelty in a parking assistance system that is provided to the driver by means of an ultrasonic sensor and a rear view camera used in vehicles.

[0004] PRIOR ART

[0005] Vehicles use sensors and cameras to assist drivers during parking. Cameras are positioned in specific areas of the vehicle and show the position of the vehicle to the driver through digital processing, while the distance between obstacles and the vehicle is measured by sensors.

[0006] Rear view cameras and parking sensors are commonly used in the state of the art. Parking sensors are generally ultrasonic distance sensors, measuring the distance between obstacles and the vehicle, and producing information about the distance visually on a screen and as an audible warning to warn the driver.

[0007] In known state of the art applications, image processing is not done via the rear view camera, and the distance is calculated solely based on ultrasonic sensors. Since ultrasonic sensors cannot work with sufficient sensitivity and are easily affected by environmental factors, they cannot provide sufficient accurate warnings to drivers. In addition, if the parking sensors or the rear view camera are blocked due to external factors (dirt, mud, ice, etc.), it cannot provide healthy results.

[0008] In the DMPA patent document with publication number DE19818460A1 , distance detection with ultrasonic sensor, which is widely used in the state of the art, is explained. In the USPTO patent document with publication number US7782179, it is mentioned about placing mono and stereo cameras around the vehicle and scanning the surroundings of the vehicle using these cameras. In the relevant application, direct precise distance measurement is not mentioned. The driver is warned if there are obstacles or different vehicles within a short or medium distance. Additionally, there is no control / warning control mechanism in case the above-mentioned problems occur. In addition, it is obvious that accurate measurements cannot always be made depending only on image processing. (For example, in case of insufficient light)

[0009] Within the scope of the invention, it is aimed to solve the above-mentioned problems. Especially in vehicles where only reversing and parking sensors are used, distance measurement accuracy is improved.

[0010] As a result, all abovementioned problems have made it necessary to make an improvement in the relevant technical field.

[0011] OBJECT OF THE INVENTION

[0012] The present invention aims to eliminate the abovementioned problems and to make a development in the relevant technical field.

[0013] The main object of the present invention is to improve the accuracy of distance measurement in vehicles using reversing and parking sensors and to present a method structure that reduces the error due to environmental factors.

[0014] Another object of the present invention is to provide a method structure that can be integrated into systems where existing rear view cameras and parking sensors are used.

[0015] Another object of the present invention is to eliminate the comfort problem caused by the ultrasonic sensors being easily affected by noise.

[0016] Another object of the present invention is to provide a parking assistant structure that provides two-stage verification.

[0017] Another object of the present invention is to continue measuring distance for parking in cases where sensors are blocked due to environmental factors.

[0018] BRIEF DESCRIPTION OF THE INVENTION

[0019] The present invention relates to a novelty in parking assistance system used in vehicles so as to fulfil all aims mentioned above and will be obtained from the following detailed description.

[0020] The biggest problem encountered with the solutions in the state of the art is to calculate the obstacles with greater precision in cases where the front of the sensors is blocked due to environmental parameters, such as delayed measurement. The invention, in combination with the existing hardware, enables a gradual and more accurate measurement to inform the driver.

[0021] Within the scope of the invention, if the detection rate of the rear view camera is greater than 90%, detection will be made with the rear view camera and ultrasonic sensors. In this case, the distances of the rear view camera and ultrasonic sensors will be compared. Ultrasonic and rear view camera will send the distance of the obstacle. If the distance of the rear view camera is shorter than the ultrasonic, the ratios of the rear view camera and ultrasonic sensors will be compared and a warning will be given with the distance with the larger ratio.

[0022] Within the scope of the present invention,

[0023] If there is an error on the rear view camera, the warning is made by ultrasonic sensors.

[0024] If there are errors on the Ultrasonic Sensors, the warning is made by processing the image of the rear view camera.

[0025] The present invention is a novel method for determining the distance in parking systems (S) in vehicles, which comprises a rear view camera (20) and an ultrasonic parking sensor (30), which are assistant equipment during the driver's parking of the vehicle; characterized by the following, detecting, under the supervision of at least one controller (10), whether the ultrasonic parking sensors (30) and the rear view camera (20) are receiving the correct data and detecting the obstacle in the image taken from the rear view camera (20) and in line with determining the distance to the said obstacle; provided that the threshold value is determined at a value between the minimum and maximum distance measured by the ultrasonic parking sensor (30), warning the driver by means of at least one warning unit (40), at distances above the mentioned threshold, if the distance measurement result from the ultrasonic parking sensor (30) is less than or equal to the distance measurement result from the rear view camera (20), using the distance measurement result from the ultrasonic parking sensor (30), if the distance measurement result from the ultrasonic parking sensor (30) is greater than the distance measurement result from the rear view camera (20), using the distance measurement result from the rear view camera (20), at distances below the mentioned threshold using the distance measurement result determined by using the image taken from the rear view camera (20) to detect obstacles that are closer than the distance determined as the threshold value.

[0026] In another preferred embodiment of the invention, the distance to the obstacle is determined simultaneously from the rear view camera (20) and the ultrasonic parking sensor (30) with a threshold value set at 20cm.

[0027] In another preferred embodiment of the invention, if the surface of the rear view camera (20) is not clean, the signals transmitted by multiple ultrasonic parking sensors (30) are compared with each other to check whether the surfaces are clean.

[0028] In another preferred embodiment of the invention, if the surface of the ultrasonic parking sensors (30) is clean, the distance of the obstacles is measured from the ultrasonic parking sensor (30) and the warning unit (40) is triggered and the driver is warned.

[0029] In another preferred embodiment of the invention, if the surfaces of the ultrasonic parking sensors (30) and the rear view camera (20) are not clean, the warning unit (40) is triggered to warn the driver about the situation.

[0030] In alternative embodiments of the invention, it is clear that alternative sensors to ultrasonic distance sensors can similarly be used in combination with the camera.

[0031] The protection scope of the invention is specified in the claims and cannot be limited to the description made for illustrative purposes in this brief and detailed description. It is clear that a person skilled in the art can present similar embodiments in the light of the above descriptions without departing from the main theme of the invention.

[0032] BRIEF DESCRIPTION OF DRAWINGS

[0033] A flow diagram explaining the operation of the invention is given in Figure 1 and Figure 2.

[0034] Figure 3 shows a drawing showing the basic components of the system.

[0035] The drawings are not intended to limit the scope of protection defined in the claims and should not be referred to in isolation without reference to the technical description in the description of the present invention for the purpose of interpreting the scope defined in those claims. The drawings in question are intended to define the invention with clarity. DESCRIPTION OF THE REFERENCES IN FIGURES

[0036] 10. Controller

[0037] 20. Rear view camera

[0038] 30. Ultrasonic parking sensor

[0039] 40. Warning unit

[0040] S. System

[0041] DETAILED DESCRIPTION OF THE INVENTION

[0042] In this detailed description, the inventive novelty in park assistance system (S) used in vehicles is described by means of examples only for clarifying the subject matter such that no limiting effect is created.

[0043] The present invention relates to a novelty in a parking assistance system (S) that is provided to the driver by means of an ultrasonic sensor and a rear view camera used in vehicles.

[0044] In particular, the invention aims to improve the accuracy of distance measurement in parking systems (S) using a rear view camera (20) and an ultrasonic parking sensor (30) and to enable two-stage measurement. In this way, it is possible to make measurements without relying solely on ultrasonic parking sensors (30).

[0045] A flow diagram explaining the operation of the invention is given in Figure 1 and following Figure 2. RVC, rear view camera (20); ultrasonic sensor refers to ultrasonic parking sensors (30).

[0046] The present invention is a novel method for determining the distance in parking systems (S) in vehicles, which comprises a rear view camera (20) and an ultrasonic parking sensor (30), which are assistant equipment during the driver's parking of the vehicle; characterized by the following, detecting, under the supervision of at least one controller (10), whether the ultrasonic parking sensors (30) and the rear view camera (20) are receiving the correct data and detecting the obstacle in the image taken from the rear view camera (20) and in line with determining the distance to the said obstacle; provided that the threshold value is determined at a value between the minimum and maximum distance measured by the ultrasonic parking sensor (30), warning the driver by means of at least one warning unit (40), at distances above the mentioned threshold, if the distance measurement result from the ultrasonic parking sensor (30) is less than or equal to the distance measurement result from the rear view camera (20), using the distance measurement result from the ultrasonic parking sensor (30), if the distance measurement result from the ultrasonic parking sensor (30) is greater than the distance measurement result from the rear view camera (20), using the distance measurement result from the rear view camera (20), at distances below the mentioned threshold using the distance measurement result determined by using the image taken from the rear view camera (20) to detect obstacles that are closer than the distance determined as the threshold value.

[0047] The method is carried out under the control of the controller (10) together with the information received from the reversing sensor. If reverse gear is activated, it is first checked whether the surfaces of the ultrasonic parking sensor (30) and the rear view camera (20) are clean. This control is carried out digitally under the supervision of controller (10).

[0048] In this context, a comparison is made in the data received from multiple ultrasonic parking sensors (30) that the system (S) has. It is checked whether there are any abnormal ultrasonic parking sensors (30) that cannot be measured or that only transmit minimum distance data. Similarly, whether the image taken simultaneously or consecutively from the rear view camera (10) is clear or not is determined by the basic image processing method. If there is no measurement / quality problem in any of the components in question, obstacle detection is made with the ultrasonic parking sensor (30) and the rear view camera (20).

[0049] If an obstacle is detected at a distance close to or equal to the minimum measurement distance of the ultrasonic parking sensor (30), the measurement results made as a result of processing the image taken from the rear view camera (20) are taken into account for distance measurement. In the preferred embodiment of the invention, 20cm is defined as the said distance threshold value. In detecting obstacles that are 20cm or closer, the image taken from the rear view camera (20) is taken into account.

[0050] At distances higher than the mentioned threshold value, the measurement made with the image taken from the ultrasonic parking sensor (30) and the rear view camera (20) is taken into account. In this context, the detection rate of the rear view camera (20) is calculated and if the detection rate is higher than 90%, the measurement results from the ultrasonic parking sensor (30) and the measurement results from the rear view camera (20) are continuously compared in a loop.

[0051] - If the measurement result from the ultrasonic parking sensor (30) is less than or equal to the measurement result from the rear view camera (20), the warning unit (40) is triggered using the measurement result from the ultrasonic parking sensor (30) and the driver is warned.

[0052] - If the measurement result from the ultrasonic parking sensor (30) is greater than the measurement result from the rear view camera (20), the warning unit (40) is triggered using the measurement result from the rear view camera (20) and the driver is warned.

[0053] If it is detected that the surface of the ultrasonic parking sensor (30) and any of the rear view camera (20) is not clean, it is first checked whether the surface of the rear view camera (20) is clean.

[0054] - If the surface is clean, it is decided that the data from the ultrasonic parking sensors (30) is not reliable and the distance is measured by detecting obstacles from the rear view camera (20). Using the measurement result from the rear view camera (20), the warning unit (40) is triggered and the driver is warned.

[0055] If the surface of the rear view camera (20) is not clean, the data transmitted by the ultrasonic parking sensors (30) are compared to check whether their surfaces are clean.

[0056] - If the surface of the ultrasonic parking sensors (30) is clean, the distance of the obstacles is measured from the ultrasonic parking sensor (30) and the warning unit (40) is triggered and the driver is warned.

[0057] - If the surfaces of the ultrasonic parking sensors (30) are not clean, the warning unit (40) is triggered and the driver is warned about the situation.

[0058] In the preferred embodiment of the invention, the surface control of the rear view camera (20) and the surface control of the ultrasonic parking sensors (30) are carried out in a loop, and in case of any measurement result, the said distance information can be transferred to the warning unit (40). In the preferred embodiment of the invention, the warning unit (40) may be a unit providing an audible warning. This unit can be either a stand-alone sound generator or speakers integrated with the vehicle multimedia system.

[0059] In a preferred embodiment of the invention, the warning unit (40) may be a vehicle multimedia display for transmitting visual information.

[0060] In a preferred embodiment of the invention, it is possible to use different parking sensors as an alternative to ultrasonic parking sensors (30). In addition, the number of parking sensors (30) in question is at least one and more sensors can be used.

[0061] The protection scope of the invention is specified in the appended claims and cannot be limited to the description made for illustrative purposes in this detailed description. Likewise, it is clear that a person skilled in the art can present similar embodiments in the light of the above descriptions and technical drawings without departing from the main theme of the invention.

Claims

CLAIMS1. Novel method for determining the distance in parking systems (S) in vehicles, which comprise a rear view camera (20) and an ultrasonic parking sensor (30), which are assistant equipment during the driver's parking of the vehicle; characterized by the following, detecting, under the supervision of at least one controller (10), whether the ultrasonic parking sensors (30) and the rear view camera (20) are receiving the correct data and detecting the obstacle in the image taken from the rear view camera (20) and in line with determining the distance to the said obstacle; provided that the threshold value is determined at a value between the minimum and maximum distance measured by the ultrasonic parking sensor (30) warning the driver by means of at least one warning unit (40), at distances above the mentioned threshold- If the distance measurement result from the ultrasonic parking sensor (30) is less than or equal to the distance measurement result from the rear view camera (20), using the distance measurement result from the ultrasonic parking sensor (30);- If the distance measurement result from the ultrasonic parking sensor (30) is greater than the distance measurement result from the rear view camera (20), using the distance measurement result from the rear view camera (20); at distances below the mentioned threshold- using the distance measurement result determined by using the image taken from the rear view camera (20) to detect obstacles that are closer than the distance determined as the threshold value.

2. Method according to claim 1 , wherein the distance to the obstacle is determined simultaneously from the rear view camera (20) and the ultrasonic parking sensor (30) with a threshold value set at 20cm.

3. Method according to claim 1 or claim 2, wherein if the surface of the rear view camera (20) is not clean, the signals transmitted by the plurality of ultrasonicparking sensors (30) are compared with each other to check whether their surfaces are clean.

4. Method according to any one of the preceding claims, wherein if the surface of the ultrasonic parking sensors (30) is clean, the distance of the obstacles is measured by triggering the warning unit (40) using the measurement result from the ultrasonic parking sensor (30) and warning the driver.

5. Method according to any one of the preceding claims, wherein if the surfaces of the ultrasonic parking sensors (30) and the rear view camera (20) are not clean, the warning unit (40) is triggered to alert the driver about the situation.