Passage direction detecting device

Abstract

The present invention provides a passage direction detection device capable of calculating an appropriate exit route. A passage direction detection device as one example of the present invention includes a road surface marker provided on a road surface in a manner indicating a parking area of a vehicle, and a detection processing section that detects a passage direction in which a passage extending from an exit of the parking area should be traveled after the vehicle exits the parking area.

Description

Technical Field

[0001] This invention relates to a pathway direction detection device. Background Technology

[0002] Previously, it was known that a technique was used to calculate the exit path of a vehicle when it left a parking area, based on information related to obstacles in the surrounding area. In such existing techniques, other vehicles in adjacent parking areas were often used as a reference to detect the direction of the path that the vehicle should travel after leaving the parking area and that connects to the exit of the parking area, and the exit path was calculated based on this path direction.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2018-176910

[0004] However, the size, shape, and parking method of other vehicles that exist as obstacles in adjacent parking areas are always uncertain. Therefore, as with the prior art described above, if the path direction is detected based on other vehicles, the appropriate path direction cannot always be calculated. Summary of the Invention

[0005] Therefore, one of the objectives of this invention is to provide a path direction detection device capable of calculating the appropriate path direction.

[0006] As an example of the present invention, the path direction detection device includes a detection processing unit that detects the path direction of the path extending from the exit of the parking area to which the vehicle should travel after leaving the parking area, based on road markings provided on the road surface in a manner indicating a parking area for the vehicle.

[0007] The aforementioned path direction detection device can detect the appropriate path direction based on road markings that remain in place.

[0008] In the aforementioned path direction detection device, the detection processing unit detects the positions corresponding to both ends of the parking area's exit based on road markings, and uses the direction of a straight line extending through these two corresponding positions as the path direction. With this structure, an appropriate path direction can be detected based on the detection results of the positions corresponding to both ends of the parking area's exit.

[0009] Furthermore, in the aforementioned path direction detection device, the detection processing unit detects the line segment corresponding to the exit of the parking area based on road markings, and detects the direction in which this line segment extends as the path direction. The auxiliary processing unit calculates the exit path for vehicles entering or exiting the parking area, ensuring that they do not enter the parking area from this line segment. With this structure, an appropriate path direction can be detected based on the detection results of the line segment corresponding to the exit of the parking area.

[0010] Furthermore, in the aforementioned path direction detection device, the detection processing unit detects the path direction when the vehicle parks in the parking area and stores the detected path direction in a non-volatile storage device before the vehicle's ignition switch is turned off. With this structure, for example, when the ignition switch is turned back on after leaving the parking area, the path direction stored in the non-volatile storage device can be utilized.

[0011] The aforementioned path direction detection device also includes an auxiliary processing unit, which performs auxiliary processing to assist vehicles in exiting the parking area based on the path direction detected by the detection processing unit. With this structure, vehicles can be appropriately assisted in exiting the parking area based on the appropriate path direction.

[0012] In this scenario, the auxiliary processing unit performs exit assistance based on the angle between the vehicle's forward / backward direction and the passageway direction within the parking area, or the angle between the direction in which the road markings extend along the left and right ends of the parked vehicle and the passageway direction. With this structure, appropriate exit assistance can be performed based on the angle determined using the passageway direction.

[0013] Furthermore, in the aforementioned path direction detection device, the detection processing unit detects the path direction based on road markings detected by image recognition processing of the captured image. The captured image is obtained by capturing road markings that serve as dividing lines for parking areas or as colored areas formed by coloring at least a portion of the parking area with a different color than the road surface. With this structure, the appropriate path direction can be easily detected based on the dividing lines or colored areas detected by image recognition processing.

[0014] Furthermore, the aforementioned path direction detection device also includes a display processing unit, which outputs a marker indicating the path direction detected by the detection processing unit along with the surrounding conditions of the vehicle to the display unit. With this structure, the path direction can be easily identified visually by observing the display device. Attached Figure Description

[0015] Figure 1 This is an exemplary and schematic diagram showing the structure inside the passenger compartment of the vehicle according to the embodiment.

[0016] Figure 2 This is an illustrative and schematic diagram showing the appearance of the vehicle as viewed from above.

[0017] Figure 3 It is an exemplary and schematic block diagram showing the system structure of a vehicle according to an embodiment.

[0018] Figure 4 This is an illustrative and schematic diagram representing an example of a comparative example of outbound assistance.

[0019] Figure 5 This is an illustrative and schematic block diagram showing the function of the outbound assist device in the implementation method.

[0020] Figure 6 This is an illustrative and schematic diagram illustrating one example of an outbound assistance method for implementing an embodiment.

[0021] Figure 7 This is an illustrative and schematic diagram that shows in more detail the method for detecting the path direction and the method for calculating the outbound path of the implementation method.

[0022] Figure 8 This is an illustrative and schematic diagram illustrating an example of the detection time of the path direction in an implementation method.

[0023] Figure 9 This is an exemplary flowchart illustrating an example of the process performed by the exit assist device when a vehicle parks in a parking area according to an embodiment.

[0024] Figure 10 This is an exemplary flowchart illustrating an example of the processing performed by the exit assist device when a vehicle exits a parking area according to an embodiment.

[0025] Figure 11 This is an illustrative and schematic diagram representing an example of a modified road marking.

[0026] Figure 12 It is a road marking that represents a variation. Figure 11 An illustrative and schematic diagram of another different example.

[0027] Figure 13 It is a road marking that represents a variation. Figure 11 as well as Figure 12 An illustrative and schematic diagram of another different example.

[0028] Figure 14 It is a road marking that represents a variation. Figures 11-13 An illustrative and schematic diagram of another different example.

[0029] Figure 15 This is an illustrative and schematic diagram illustrating an example of a method for visually notifying the direction of a path in a variant example.

[0030] Explanation of reference numerals in the attached figures

[0031] 1…vehicles

[0032] 8… Display Section

[0033] 310b…ROM (Non-volatile ROM)

[0034] 310d…SSD (Non-volatile Storage Device)

[0035] 500…Outbound auxiliary device (pathway direction detection device)

[0036] 502…Detection and Processing Department

[0037] 503…Auxiliary Processing Department (Display Processing Department)

[0038] E600, E800, E1100, E1200, E1300, E1400… Export

[0039] L600, L800, L1100, L1200, L1400… White lines (dividing lines)

[0040] M1300…Colored area

[0041] Parking areas: R600, R800, R1100, R1200, R1300, R1400… Detailed Implementation

[0042] The embodiments and modifications of the present invention will be described below with reference to the accompanying drawings. The structures of the embodiments and modifications described below, as well as the functions and effects brought about by the structures, are merely examples and are not limited to the following description.

[0043] <Implementation Method>

[0044] First, use Figure 1 as well as Figure 2 The following is a brief description of the structure of vehicle 1 in the embodiment. Figure 1 This is an exemplary and schematic diagram showing the structure inside the carriage 2a of the vehicle 1 according to the embodiment. Figure 2 This is an illustrative and schematic diagram showing the appearance of the vehicle 1 as viewed from above.

[0045] like Figure 1 As shown, the vehicle 1 of the embodiment has a passenger compartment 2a containing a driver who is the user. Inside the passenger compartment 2a, in a manner that allows the user to operate from the seat 2b, there are brake operation unit 4, acceleration operation unit 5, steering operation unit 6, and transmission operation unit 7, etc.

[0046] The braking operation unit 4 is an operation input device that receives the driver's input for the braking mechanism used to generate braking force in vehicle 1. The acceleration operation unit 5 is an operation input device that receives the driver's input for the acceleration mechanism used to generate acceleration force in vehicle 1. Additionally, the steering operation unit 6 is an operation input device that receives the driver's input for the steering mechanism used to turn the steering wheels of vehicle 1. The transmission operation unit 7 is an operation input device that receives the driver's input for the transmission mechanism used to change the gear ratio of vehicle 1.

[0047] For example, in Figure 1 In the example shown, the braking control unit 4 is the brake pedal located under the driver's feet, and the acceleration control unit 5 is the accelerator pedal located under the driver's feet. Additionally, the steering control unit 6 is a steering wheel protruding from the instrument panel, and the gear shift control unit 7 is a gear lever protruding from the center console.

[0048] A monitor device 11 is installed inside the carriage 2a. This monitor device 11 has a display unit 8 capable of outputting various images and a sound output unit 9 capable of outputting various sounds. The monitor device 11 is, for example, located in the center of the instrument panel in the width direction (left-right direction) inside the carriage 2a. Furthermore, the display unit 8 is, for example, composed of an LCD (liquid crystal display) or an OLED (organic electroluminescent display).

[0049] Here, an operation input unit 10 is provided on the display screen, which is the area where the image is displayed on the display unit 8. The operation input unit 10 is configured, for example, as a touch panel capable of detecting the coordinates of the position of a finger, stylus, or other pointer approaching (including contacting). As a result, the user (driver) can recognize the image displayed on the display screen of the display unit 8 and can perform various operation inputs by touching (tapping) the pointer on the operation input unit 10.

[0050] Furthermore, in this embodiment, the operation input unit 10 can also be various physical interfaces such as switches, dials, levers, and buttons. Additionally, in this embodiment, other sound output devices can be installed in a different location within the carriage 2a than the monitor device 11. In this case, various sound information can be output from both the sound output unit 9 and the other sound output devices. Furthermore, in this embodiment, the monitor device 11 can also be configured to display information related to various systems such as navigation systems and audio systems.

[0051] In addition, such as Figure 1 as well as Figure 2As shown, the vehicle 1 in this embodiment is configured as a four-wheeled automobile with two front wheels 3F on the left and right, and two rear wheels 3R ​​on the left and right. Hereinafter, for simplicity, the front wheels 3F and the rear wheels 3R ​​will sometimes be collectively referred to as wheels. In this embodiment, part or all of the sideslip angles of the four wheels change (steering) depending on the operation of the steering control unit 303a, etc.

[0052] In addition, vehicle 1 is equipped with multiple cameras for perimeter surveillance. Figure 1 as well as Figure 2 The example shown uses four vehicle-mounted cameras 15a to 15d. Camera 15a is located at the rear end 2e of the vehicle body 2 (e.g., below the trunk door 2h) and captures images of the area behind the vehicle 1. Camera 15b is located at the right end 2f of the vehicle body 2, in the door rearview mirror 2g, and captures images of the right side of the vehicle 1. Camera 15c is located at the front end 2c of the vehicle body 2 (e.g., the front bumper) and captures images of the area in front of the vehicle 1. Camera 15d is located at the left end 2d of the vehicle body 2, in the door rearview mirror 2g, and captures images of the left side of the vehicle 1. Hereinafter, unless otherwise specified, vehicle-mounted cameras 15a to 15d will sometimes be referred to simply as vehicle-mounted camera 15.

[0053] The vehicle-mounted camera 15 is, for example, a so-called digital camera with imaging elements such as a CCD (charge-coupled device) or a CIS (CMOS (complementary metal oxide semiconductor) image sensor). The vehicle-mounted camera 15 captures images around the vehicle 1 at a predetermined frame rate and outputs image data of the captured images. The image data obtained by the vehicle-mounted camera 15 can also be used to construct moving images as frame images.

[0054] Next, use Figure 3 This section will explain the system structure provided in vehicle 1 of the embodiment for implementing various controls. Furthermore, Figure 3 The system structure shown is just an example, so various settings (changes) can be made.

[0055] Figure 3 This is an exemplary and schematic block diagram showing the system structure of vehicle 1 in the embodiment.

[0056] like Figure 3 As shown, the vehicle 1 of the embodiment includes: a braking system 301, an acceleration system 302, a steering control system 303, a transmission system 304, an obstacle sensor 305, a driving status sensor 306, an on-board camera 15, a monitoring device 11, a vehicle control device 310, and an on-board network 350.

[0057] The braking system 301 controls the deceleration of the vehicle 1. The braking system 301 includes a braking unit 301a, a braking control unit 301b, and a braking unit sensor 301c.

[0058] The brake unit 301a is, for example, an actuator for the braking mechanism used to drive the vehicle 1. The brake unit 301a may operate in a manner that assists in the operation of the brake operation unit 4, or it may operate differently from the operation of the brake operation unit 4.

[0059] The braking control unit 301b is configured, for example, as a microcomputer with a hardware processor such as a CPU (central processing unit). The braking control unit 301b activates the braking unit 301a based on an instruction input via the vehicle network 350, thereby controlling the deceleration of the vehicle 1.

[0060] The brake sensor 301c is a sensing and detection device used to detect the status of the brake unit 301a (and the brake operation unit 4). The detection result of the brake sensor 301c is output to the vehicle network 350 and used in various devices on the vehicle network 350.

[0061] The acceleration system 302 controls the acceleration of the vehicle 1. The acceleration system 302 includes an acceleration unit 302a, an acceleration control unit 302b, and an acceleration sensor 302c.

[0062] Acceleration unit 302a is, for example, an actuator for the acceleration mechanism used to drive vehicle 1. Braking unit 301a may operate in a manner that assists in the operation of acceleration operation unit 5, or it may operate differently from the operation of acceleration operation unit 5.

[0063] Acceleration control unit 302b is configured, for example, as a microcomputer with a hardware processor such as a CPU. Acceleration control unit 302b controls the acceleration level of vehicle 1 by activating acceleration unit 302a based on instructions input via vehicle network 350.

[0064] Acceleration sensor 302c is a sensing and detection device used to detect the state of acceleration unit 302a (and acceleration operation unit 5). The detection result of acceleration sensor 302c is output to vehicle network 350 and used in various devices on vehicle network 350.

[0065] The steering system 303 controls the direction of travel of the vehicle 1. The steering system 303 includes a steering control unit 303a, a steering control unit 303b, and a steering control unit sensor 303c.

[0066] The steering control unit 303a is, for example, an actuator for driving the steering mechanism of the vehicle 1. The steering control unit 303a may operate in a manner that assists in the operation of the steering control operation unit 6, or it may operate differently from the operation of the steering control operation unit 6.

[0067] The steering control unit 303b is configured, for example, as a microcomputer with a hardware processor such as a CPU. The steering control unit 303b controls the direction of travel of the vehicle 1 by activating the steering unit 303a based on instructions input via the vehicle network 350.

[0068] The steering control unit sensor 303c is a sensing and detection device used to detect the state of the steering control unit 303a (and the steering control operation unit 6). The detection result of the steering control unit sensor 303c is output to the vehicle network 350 and used in various devices on the vehicle network 350.

[0069] The transmission system 304 controls the gear ratio of the vehicle 1. The transmission system 304 includes a transmission unit 304a, a transmission control unit 304b, and a transmission unit sensor 304c.

[0070] The transmission unit 304a is, for example, an actuator for the transmission mechanism used to drive the vehicle 1. The transmission unit 304a may operate in a manner that assists in the operation of the transmission operation unit 7, or it may operate differently from the operation of the transmission operation unit 7.

[0071] The transmission control unit 304b is configured, for example, as a computer with a hardware processor such as a CPU. The transmission control unit 304b controls the transmission ratio of the vehicle 1 by activating the transmission unit 304a based on instructions input via the vehicle network 350.

[0072] The transmission unit sensor 304c is a sensing and detection device used to detect the status of the transmission unit 304a (and the transmission operation unit 7). The detection result of the transmission unit sensor 304c is output to the vehicle network 350 and can be used in various devices on the vehicle network 350.

[0073] Obstacle sensor 305 is a sensing and detection device used to detect information related to objects (obstacles) that may exist around vehicle 1. Obstacle sensor 305 may include, for example, a ranging sensor that obtains the distance to objects present around vehicle 1. Examples of ranging sensors include sonar, which transmits sound waves and receives sound waves reflected by objects present around vehicle 1 to obtain distance, and lidar, which transmits light or other radio waves and receives radio waves reflected by objects present around vehicle 1 to obtain distance. The detection results of obstacle sensor 305 are output to vehicle network 350 and can be used by various devices on vehicle network 350.

[0074] The driving status sensor 306 is a device used to detect the driving status of vehicle 1. The driving status sensor 306 may include, for example, a wheel speed sensor to detect the wheel speed of vehicle 1, an acceleration sensor to detect the acceleration of vehicle 1 in the forward / backward or left / right directions, and a gyroscope sensor to detect the turning speed (angular velocity) of vehicle 1. The detection results of the driving status sensor 306 are output to the vehicle network 350 and can be used by various devices on the vehicle network 350.

[0075] The vehicle control device 310 is configured, for example, as an ECU (electronic control unit) to uniformly control various systems installed in the vehicle 1 and thereby realize various functions. Although details will be described later, the vehicle control device 310 of the embodiment realizes the exit assistance function to assist the vehicle 1 in leaving the parking area.

[0076] The vehicle control unit 310 includes a CPU 310a, a ROM (Read-Only Memory) 310b, a RAM (Random Access Memory) 310c, an SSD (Solid State Drive) 310d, a display control unit 310e, and a voice control unit 310f.

[0077] CPU 310a is a hardware processor that unifies the control of the vehicle control device 310. CPU 310a reads various control programs (computer programs) stored in ROM 310b, etc., and implements various functions according to the instructions specified by these control programs. Furthermore, the various control programs mentioned herein include a delivery assistance program for implementing the aforementioned delivery assistance functions.

[0078] ROM310b is a non-volatile main memory device that stores parameters required for the execution of the various control programs mentioned above.

[0079] RAM310c is a volatile main memory device that provides the working area of ​​CPU310a.

[0080] SSD310d is a rewritable, non-volatile auxiliary storage device. Furthermore, in the vehicle control device 310 of the embodiment, an HDD (hard disk drive) may be provided as an auxiliary storage device instead of SSD310d (or in addition to SSD310d).

[0081] The display control unit 310e is mainly responsible for various processing tasks that can be performed by the vehicle control device 310, such as image processing of images captured by the vehicle camera 15 and generation of image data to be output to the display unit 8 of the monitor device 11.

[0082] The sound control unit 310f is mainly responsible for generating sound data that can be output to the sound output unit 9 of the monitor device 11 during various processes that can be performed by the vehicle control device 310.

[0083] The vehicle network 350 is connected to the braking system 301, acceleration system 302, steering system 303, transmission system 304, obstacle sensor 305, driving status sensor 306, operation input unit 10 of monitor device 11, and vehicle control device 310 in a communicative manner.

[0084] However, in the past, it was known that techniques for calculating the outbound path based on information related to surrounding obstacles were used to implement the aforementioned outbound assistance function. Examples of such prior art include the following: Figure 4 As shown in the comparative example, other vehicles that exist as obstacles in adjacent parking areas are often used as a reference. The direction of the path that should be traveled after leaving the parking area and that connects to the exit of the parking area is detected, and the exit path is calculated based on the direction of the path.

[0085] Figure 4 This is an illustrative and schematic diagram representing an example of a comparative example of outbound assistance.

[0086] like Figure 4 As shown, the comparative example utilizes the aforementioned prior art to assist a vehicle 400 parked in the central area R400 of adjacent parking areas R400-R402, which are divided by a white line L400, in reversing out of the parking area from the exit E400 of area R400. More specifically, the comparative example detects the direction of the straight line L411 extending from the end E411 of the vehicle 401 parked in area R401 and the end E412 of the vehicle 402 parked in area R402, and calculates an exit path like arrow A400 based on the detected path direction, assisting the vehicle 400 in exiting the parking area along the calculated exit path.

[0087] However, as Figure 4 As shown, the straight line extending in the direction of the actual path P400 that vehicle 400 should travel after leaving area R400 is a straight line L410 that deviates from the aforementioned straight line L411. This deviation is caused by the fact that the size, shape, and parking method of other vehicles 401 and 402 are always uncertain. Therefore, in Figure 4 In the example shown, a path direction that deviates from the actual path direction is detected. Although the path direction may not be consistent with the direction of travel of vehicle 400, if a path direction that deviates from the actual path direction is detected, an inappropriate exit path, such as arrow A400, that would cause vehicle 400 to enter another parking area is calculated.

[0088] Since the size, shape, and parking method of other vehicles that exist as obstacles in adjacent parking areas are always uncertain, as in the prior art described above, if the path direction is detected based on other vehicles, it is often impossible to calculate the appropriate path direction.

[0089] Therefore, the implementation method achieves the following within the vehicle control device 310. Figure 5 The outbound assist device 500, as shown, performs calculations to determine the appropriate path direction. Furthermore, the outbound assist device 500 is an example of a "path direction detection device".

[0090] Figure 5 This is an illustrative and schematic block diagram illustrating the function of the outbound assist device 500 in the implementation method.

[0091] Figure 5 The functions shown are implemented within the vehicle control unit 310 through a combination of software and hardware. That is, Figure 5 The functions shown are implemented as a result of the CPU 310a of the vehicle control device 310 reading and executing a predetermined control program (departure assistance program) stored in the ROM 310b, etc. Furthermore, in the embodiment, Figure 5 At least some of the functions shown can also be implemented using dedicated hardware (circuit).

[0092] like Figure 5 As shown, the outbound assistance device 500 of the embodiment includes an acquisition processing unit 501, a detection processing unit 502, and an auxiliary processing unit 503.

[0093] The acquisition processing unit 501 acquires images from the vehicle-mounted camera 15. More specifically, the acquisition processing unit 501 acquires images of the road surface including road markings that are set on the road surface to indicate the parking area of ​​vehicle 1. The road markings are, for example, the aforementioned white line L400 (see...). Figure 4 While the technology used in this implementation can also be applied to other types of road markings (specific examples will be described later).

[0094] The detection processing unit 502 performs image recognition processing on the captured image obtained by the acquisition processing unit 501, and detects road markings based on the captured image. Furthermore, based on the road markings detected from the captured image, the detection processing unit 502 detects the direction of the path that the vehicle 1 should travel after leaving the parking area, which extends from the exit of the parking area.

[0095] Based on the path direction detected by the detection processing unit 502, the auxiliary processing unit 503 calculates the exit path that vehicle 1 should follow when leaving the parking area, and performs auxiliary processing to assist vehicle 1 in leaving along the exit path.

[0096] Furthermore, in the implementation method, auxiliary processing can also be used as an implementation. Figure 3 The automatic or semi-automatic operation of the vehicle 1 is performed by one or more of the braking system 301, acceleration system 302, steering system 303 and transmission system 304 shown. It can also be performed by outputting images or sounds from the monitor device 11 or the like to guide the operation, based on the premise of manual operation by the driver.

[0097] The following is for reference Figures 6-8 The delivery assistance method will be explained in further detail.

[0098] Figure 6 This is an illustrative and schematic diagram illustrating one example of an outbound assistance method for implementing an embodiment.

[0099] like Figure 6 As shown, the exit assistance in this embodiment is performed when a vehicle 1, parked in the center of area R600, which is an adjacent parking area divided by a long rectangular white line L600, exits the parking area by reversing from the exit E600 of area R600. The white line L600 is configured as a dividing line extending in a direction intersecting with the passage P600.

[0100] In this embodiment, the detection processing unit 502 first detects the positions of the ends E610 of the two white lines L600 in the divided region R400, which correspond to the two ends of the exit E600, through white line detection processing, which is a white line detection process for image recognition of the captured image. Furthermore, the detection processing unit 502 detects the straight line L610 passing through the positions of the aforementioned ends E610 as the path direction.

[0101] exist Figure 6 In the example shown, the straight line representing the direction of the actual path P600 that vehicle 1 should travel after leaving area R600 coincides with the aforementioned straight line L610. Therefore, according to the embodiment, the appropriate path direction can be detected.

[0102] That is, in the implementation, unlike the comparative example described above where the direction of the passage is detected based on other vehicles 601 and 602 whose size, shape, and parking method are not always fixed, the direction of the passage is detected based on the white line L600 whose position remains unchanged.

[0103] Furthermore, in the implementation, the forward and backward direction of vehicle 1 within the parking area R600 is determined by detecting the orientation of vehicle 1, and exit assistance is implemented based on the angle θ between this forward and backward direction and the path direction detected with reference to the white line L600. Additionally, in Figure 6In the example shown, the white line L600 is configured as a straight line along the left and right ends of the parked vehicle 1 in the parking area R600. Therefore, the implementation can also detect the direction of extension of the straight road marking L600 and calculate the angle θ as the angle between the direction of extension of the road marking L600 and the road direction.

[0104] Thus, according to the implementation method, it is possible to detect an appropriate path direction that is consistent with the actual path P600 extension direction, and as a result, it is possible to perform appropriate exit assistance along the arrow A600 that will not cause vehicle 1 to enter other parking areas.

[0105] More specifically, in the implementation method, through the following Figure 7 The method shown is used to perform path direction detection and outbound path calculation.

[0106] Figure 7 This is an illustrative and schematic diagram that shows in more detail the method for detecting the path direction and the method for calculating the outbound path of the implementation method. Figure 7 It's equivalent to only magnifying Figure 6 The diagram shows the area near the end E610 of the white line L600 of the divided region R600 in the example shown.

[0107] like Figure 7 As shown, when the slender rectangular white line L600 is set in an inclined direction relative to the direction orthogonal to the passage 600, the end E601 on the outlet E600 side of the white line L600 has two types: an end E701 that is close to the passage P600, and an end E702 that is far away from the passage P600.

[0108] Both straight lines L711, passing through end E701 of the two white lines L600, and L712, passing through end E702, represent the path direction. Therefore, if only the path direction detection is considered, it can be said that using either line L711 or L712 as the path direction will not produce any particularly adverse results. However, if the calculation of the outbound path is taken into account, it is often more appropriate to use line L711 instead of line L712.

[0109] More specifically, straight line L711 is located on the side closer to the parking area than straight line L712. Therefore, it can be said that the exit path calculated by not entering the side closer to the parking area than straight line L711 is less likely to cause vehicle 1 to enter other parking areas compared to the exit path calculated by not entering the side closer to the parking area than straight line L712. Therefore, in the embodiment, the passage direction detection and exit path calculation are performed based on straight line L711, which is determined with reference to the end E701 close to the passage P600.

[0110] Thus, in this embodiment, the detection processing unit 502 detects road markings detected through image recognition processing of the captured images acquired by the acquisition processing unit 501, and identifies the positions corresponding to both ends of the parking area's exit as the path direction detection for a straight line extending through these positions. Furthermore, the auxiliary processing unit 503 calculates that vehicles 1 entering or exiting the parking area do not follow an exit path that leads them into the parking area via a straight line corresponding to both ends of the exit.

[0111] However, while the detection of the passage direction and the calculation of the outbound path can be performed as a series of processes at the start of outbound operations, the implementation method is as follows: Figure 8 As shown, it is assumed that the path direction is detected in advance when parking, and only the exit path is calculated when exiting the warehouse.

[0112] Figure 8 This is an illustrative and schematic diagram illustrating an example of the detection time of the path direction in an implementation method.

[0113] like Figure 8 As shown, in this embodiment, the detection processing unit 502 can detect the path direction in advance when the vehicle 1 stops in the central area R800 of the adjacent parking areas R800 to R802 divided by the white line L800, following the arrow A800. Even in this case, image recognition processing of the captured image can be used to detect the end E810 of the white line L800 that divides the area where the vehicle 1 should stop as the position corresponding to the two ends of the exit E800 of the area R800, and the direction in which the straight line L810 extends through the end E810 is detected as the path direction.

[0114] Here, when parking is finished, the ignition switch of vehicle 1 is usually turned off, and then when starting to leave the parking space, the ignition switch of vehicle 1 is usually turned on. Therefore, in order to reuse the path direction detected in advance when vehicle 1 is parked when starting to leave the parking space, the path direction needs to be stored non-volatilely regardless of whether the ignition switch of vehicle 1 is turned on or off.

[0115] Therefore, in this embodiment, the detection processing unit 502 detects the path direction when parking in the parking area, and can store the detected path direction in a non-volatile storage device such as SSD 301d and ROM 310b before the ignition switch of vehicle 1 is turned off. Furthermore, when leaving the parking area, the auxiliary processing unit 503 reads the path direction from the non-volatile storage device after the ignition switch of vehicle 1 is turned on, and can calculate the exit path based on the read path direction, thus performing exit assistance.

[0116] Based on the above structure, the outbound auxiliary device 500 of the embodiment is, for example, as follows: Figure 9 as well as Figure 10 The process shown is executed.

[0117] Figure 9 This is an exemplary flowchart illustrating an example of the process performed by the exit assist device 500 when a vehicle 1 in an embodiment parks in a parking area.

[0118] like Figure 9 As shown, in the embodiment, firstly, in S901, the acquisition processing unit 501 of the exit assist device 500 acquires a photographed image of the road surface from the vehicle-mounted camera 15.

[0119] Then, in S902, the detection processing unit 502 of the exit assist device 500 performs image recognition processing on the captured image obtained in S901 to detect road markings captured in the captured image. For example, if the road markings are configured as dividing lines extending in a direction intersecting with the roadway, the detection processing unit 502 detects the positions of the ends of the two dividing lines that divide the predetermined parking area where the vehicle 1 is parked, as positions corresponding to the two ends of the exit of the parking area.

[0120] Then, in S903, the detection processing unit 502 detects the path direction based on the detection results of the road markings in S902. For example, if the detection processing unit 502 detects the positions of the ends of the two dividing lines as corresponding to the two ends of the exit of the parking area in S902, it will detect the straight line passing through the positions of the ends of the two dividing lines as the path direction.

[0121] Then, in S904, the detection processing unit 502 stores the detection result of the path direction in S903 into a non-volatile storage device such as SSD 301d and ROM 310b. The detection result stored here is as follows. Figure 10 This is used in the outbound processing shown. Then, the processing ends.

[0122] Figure 10 This is an exemplary flowchart illustrating an example of the processing performed by the exit assist device 500 when vehicle 1 exits the parking area according to an embodiment. Figure 10 The process shown, for example, begins when the ignition switch of vehicle 1 is turned on during vehicle exit.

[0123] like Figure 10 As shown, in the embodiment, firstly, in S1001, the auxiliary processing unit 503 of the outbound auxiliary device 500 reads the data from S904 (see above). Figure 9 The detection results of the path direction stored in the non-volatile storage device.

[0124] Then, in S1002, the auxiliary processing unit 503 calculates the exit path that vehicle 1 should follow when exiting the parking area based on the passage direction read in S1001. For example, if the auxiliary processing unit 503 detects the passage direction based on a straight line passing through the positions corresponding to both ends of the exit of the parking area, it calculates an exit path that prevents vehicle 1 from protruding towards the parking area side.

[0125] Then, in S1003, the auxiliary processing unit 503 performs auxiliary processing to assist vehicle 1 in exiting the warehouse along the exit path calculated in S1002. Then, the processing ends. Furthermore, as described above, in this embodiment, the auxiliary processing can be implemented using... Figure 3 The automatic or semi-automatic operation of the vehicle 1 is performed by one or more of the braking system 301, acceleration system 302, steering system 303, and transmission system 304 shown. Alternatively, it can be performed by outputting images or sounds from the monitor device 11 or the like to guide the operation, based on a manual operation performed by the driver.

[0126] Furthermore, as described above, in this embodiment, the detection of the passage direction and the calculation of the exit path can also be performed as a series of processes at the start of vehicle 1's exit. In this case, the processes performed at the time of exit are... Figure 10 The flowchart becomes the process that replaces S1001 and is executed. Figure 9 The same method used in S901 to S903.

[0127] As explained above, the exit assistance device 500 of the embodiment includes a detection processing unit 502 and an assistance processing unit 503. The detection processing unit 502 detects the direction of a path extending from the exit of the parking area, which the vehicle 1 should travel after exiting the parking area, based on road markings provided on the road surface in a manner indicating the parking area of ​​the vehicle 1. The assistance processing unit 503 calculates the exit path that the vehicle 1 should follow when exiting the parking area based on the path direction detected by the detection processing unit 502, and performs assistance processing to assist the vehicle 1 in exiting along that exit path.

[0128] According to the embodiment, the outbound assist device 500 can detect the appropriate route direction based on the road markings that remain in place, and can calculate the appropriate outbound path based on the appropriate route direction.

[0129] More specifically, in this implementation, the detection processing unit 502 detects the positions corresponding to both ends of the parking area's exit based on road markings, and uses the direction of a straight line extending through these two positions as the pathway direction. Furthermore, the auxiliary processing unit 503 calculates exit paths for vehicles entering or exiting the parking area, such as those not entering the parking area from this straight line. With this structure, the detection of pathway directions and the calculation of exit paths can be appropriately performed based on the detection results of the positions corresponding to both ends of the parking area's exit.

[0130] Furthermore, in this embodiment, the detection processing unit 502 detects the path direction when parking in the parking area, and can store the detected path direction in a non-volatile storage device such as SSD 301d and ROM 310b before the ignition switch of vehicle 1 is turned off. Moreover, when leaving the parking area, the assistance processing unit 503 reads the path direction from the non-volatile storage device after the ignition switch of vehicle 1 is turned on. Based on the read path direction, the exit path can be reduced, and exit assistance can be performed. With this structure, it is not necessary to detect the path direction when leaving the parking area, so the exit process can begin more quickly.

[0131] Furthermore, in the embodiment, the auxiliary processing unit 503 can base its processing on the angle between the forward / backward direction of the vehicle 1 within the parking area and the aforementioned passageway direction. Figure 6 As shown in θ), exit assistance is performed. With this structure, appropriate exit assistance can be performed based on the angle determined using the path direction. Furthermore, in this embodiment, if the road markings are included in a straight line along the left and right ends of the parked vehicle 1 in the parking area, the assistance processing unit 503 can also perform exit assistance based on the angle between the direction of the straight line and the aforementioned path direction.

[0132] Furthermore, the outbound assistance program executed in the vehicle control device 310 of the embodiment can also be provided or distributed via a network such as the Internet. That is, the outbound assistance program executed in the vehicle control device 310 of the embodiment can also be provided by means of downloading via the network while stored on a computer connected to a network such as the Internet.

[0133] <Variation Example>

[0134] In the above embodiments, as an example of road marking, a dividing line extending in a direction intersecting with the road is illustrated. However, the technology of the present invention can also be applied to the following... Figures 11-14 Other types of road markings as shown.

[0135] Figure 11 This is an illustrative and schematic diagram representing an example of a modified road marking.

[0136] exist Figure 11 In the variation shown, as an example of a different way of using road marking lines than in the above-described embodiment, a white line L1100, an elongated rectangle extending in a direction orthogonal to the passage P1100 connecting the exit E1100 of the parking area R1100, is shown, thus separating the area R1100 from the other parking areas R1101 and R1102. Based on this white line L1100, with the same concept as in the above-described embodiment, the passage direction indicating the direction of the passage P1100 can be appropriately detected, and the exit route can be appropriately calculated.

[0137] That is, in Figure 11 In the modified example shown, during the detection of the passage direction, firstly, through image recognition processing of the captured image, the positions of the ends E1111 or E1112 on the passage P1100 side of the two white lines L1100 dividing the region R1100 are detected as the positions corresponding to the two ends of the exit E1100 of the region R1100. Then, the straight line L1110 passing through the positions of these ends E1111 or E1112 is detected as the passage direction. Then, the exit path is calculated as a path that the vehicle 1 entering or exiting the exit E1100 does not enter the region R1100~R1102 side from the straight line L1110.

[0138] Thus, according to Figure 11 The modified example shown is the same as the above embodiment, and can also appropriately perform the detection of the passage direction and the calculation of the exit path based on the detection results of the positions corresponding to the two ends of the exit E1100 of the area R1100 which is the parking area.

[0139] In addition, Figure 11 In the modified example shown, the dividing line differs from the above embodiment where it intersects the path direction, and the proximity of ends E1111 and E1112 to the path P1100 is the same. Therefore, in this modified example, either end E1111 or E1112 can be used as a reference for detecting the path direction.

[0140] Figure 12 It is a road marking that represents a variation. Figure 11 An illustrative and schematic diagram of another different example.

[0141] exist Figure 12In the illustrated variation, another example of a road marking line is shown: a white line L1200 with a U-shaped front end. The white line L1200 extends in an inclined direction relative to the path P1200, which is orthogonal to the exit E1200 of the parking area R1200, thereby dividing the area R1200 with the other parking areas R1201 and R1202. Based on this white line L1200, with the same concept as in the embodiment described above, the path direction indicating the direction of the path P1200 can be appropriately detected, and the exit route can be appropriately calculated.

[0142] That is, in Figure 12 In the modified example shown, during the detection of the passage direction, firstly, through image recognition processing of the captured image, the position of the end E1210 on the passage P1200 side of the two white lines L1200 dividing the region R1200 is detected as the position corresponding to the two ends of the exit E1200 of the region R1200. Then, the straight line L1210 passing through the position of this end E1210 is detected as the passage direction. Then, the exit path is calculated as a path that the vehicle 1 entering or exiting the exit E1200 does not enter the region R1200~R1202 side from the straight line L1210.

[0143] Thus, according to Figure 12 The modified example shown is the same as the above embodiment, and can also appropriately perform the detection of the passage direction and the calculation of the exit path based on the detection results of the positions corresponding to the two ends of the exit E1200 of the area R1200 which is the parking area.

[0144] Figure 13 It is a road marking that represents a variation. Figure 11 as well as Figure 12 An illustrative and schematic diagram of another different example.

[0145] exist Figure 13 In the illustrated variation, as an example of road markings other than the dividing line, a colored area M1300 is shown, which is formed by coloring the parking areas R1300, R1301, and R1302 in a color different from the road surface. Furthermore, the colored area M1300 can be the entire shape of the parking area or only a portion of it, as long as the shape of the parking area (especially the two ends of the exit) can be discerned. Based on such a colored area M1200, with the same concept as the embodiment described above, the direction of the passage P1300 connecting to the exit E1300 of area R1300 can be appropriately detected, and the exit route can be appropriately calculated.

[0146] That is, in Figure 13In the modified example shown, during path direction detection, firstly, through image recognition processing of the captured image, the position of the end E1310 on the path P1300 side of the colored area M1300 is detected as the position corresponding to both ends of the exit E1300 of the area R1300. Furthermore, the straight line L1310 passing through the position of this end E1310 is detected as the path direction. Then, the exit path is calculated as a path for vehicle 1 entering or exiting the exit E1300 that does not enter the area R1300~R1302 side from the straight line L1310.

[0147] Thus, according to Figure 13 The modified example shown is the same as the above embodiment, and can also appropriately perform the detection of the passage direction and the calculation of the exit path based on the detection results of the positions corresponding to the two ends of the exit E1300 of the area R1300 which is the parking area.

[0148] Figure 14 It is a road marking that represents a variation. Figures 11-13 An illustrative and schematic diagram of another different example.

[0149] exist Figure 14 In the variation shown, as another example of a road marking line, a white line L1400 is illustrated, which, in addition to having a white line L1401 that divides the parking area R1400 into parking areas R1401 and R1402, also has a white line L1402 extending laterally from the exit E1400 of area R1400 in the same direction as the passage P1400. Based on this white line L1400, with a concept similar to, but different from, the above embodiment, the passage direction indicating the direction of passage P1400 can be appropriately detected, and the exit route can be appropriately calculated.

[0150] That is, in Figure 14 In the modified example shown, during path direction detection, firstly, by image recognition processing of the captured image, the line segment S1400 representing the exit E1400 of region R1400 is detected. Then, the direction in which this line segment S1400 extends is detected as the path direction. Then, the exit path is calculated as a path that prevents vehicle 1 from entering or exiting exit E1400 from entering the region R1400–R1402 side via the straight line L1410 along line segment S1400.

[0151] Thus, according to Figure 14 The modified example shown can appropriately perform path direction detection and outbound path calculation based on the detection results of line segment S1400 corresponding to the outlet E1400 of region R1400.

[0152] Furthermore, the path direction detected in the above embodiments can be used not only for outbound assistance, as shown below Figure 15 As shown in the variant example, it is also possible to visually notify the passengers of vehicle 1.

[0153] Figure 15 This is an illustrative and schematic diagram illustrating an example of a method for visually notifying the direction of a path in a variant example.

[0154] Figure 15 The image 1500 shown is, for example, displayed on the display unit 8 of vehicle 1 (see reference). Figure 3 The display of the image 1500 on the display unit 8 can be used with an outbound assist device 500, which is implemented as an example of a path direction detection device (see reference). Figure 5 The display processing unit (not shown), one of the functions of which is executed together with the control of the display processing unit. Furthermore, the display processing unit can also be used as a component... Figure 5 The functional modules shown are implemented to perform different functions, and can also be used as auxiliary processing unit 503 (see reference). Figure 5 It includes one of the functions of the auxiliary processing unit 503. That is, the display of the image 1500 to the display unit 8 can also be performed by the auxiliary processing unit 503 as part of the outbound assistance.

[0155] like Figure 15 As shown, image 1500 includes: based on vehicle-mounted cameras 15a-15d (refer to...) Figure 2 as well as Figure 3 The image 1511, generated from the above-ground viewpoint showing the surroundings of vehicle 1, and the vehicle-mounted camera 15d (referencing the above-ground viewpoint) showing the situation from behind vehicle 1, are both generated based on the captured images. Figure 2 The resulting rear image is 1512.

[0156] exist Figure 15 In the example shown, both the overhead view 1511 and the rear view 1512 show the path direction detected by the detection processing unit 502. More specifically, the overhead view 1511 shows vehicle 1, other vehicles 1501 and 1502 parked side by side on either side of vehicle 1, a white line L1500 dividing the parking area of ​​vehicle 1, and a straight line marker L1510 indicating the path direction detected using the same method as described in the above embodiment, based on the white line L1500. Similarly, the rear view 1512 also shows the white line L1500 dividing the parking area of ​​vehicle 1, and a straight line marker L1520 indicating the path direction detected using the same method as described in the above embodiment, based on the white line L1500.

[0157] according to Figure 15As shown in the example, by viewing the display unit 8, the direction of the path can be easily identified visually.

[0158] Furthermore, in the above description, examples of road markings were shown as white lines and painted areas. However, in this invention, road markings, as long as they are markings placed on the road surface to indicate parking areas for vehicles, include not only planar markings such as painted road surfaces, but also three-dimensional markings such as blocks, bushes, and ropes.

[0159] While the embodiments and modifications of the present invention have been described above, these embodiments and modifications are merely examples and are not intended to limit the scope of the invention. The new embodiments and modifications described above can be implemented in various forms, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. The above embodiments and modifications are included within the scope and spirit of the invention, and are also included within the scope of the invention described in the technical solution and its equivalents.

Claims

1. A path direction detection device, characterized in that, have: The detection and processing unit, based on road markings on the road surface indicating parking areas for vehicles, detects the direction of the path extending from the exit of the parking area that the vehicle should travel after leaving the parking area. The aforementioned road markings consist of two thin rectangular dividing lines that separate the parking area from the adjacent parking areas on either side. These lines are positioned at an angle relative to a direction perpendicular to the aforementioned roadway. Based on the dividing lines of the two rectangles, the detection processing unit detects the end of the passage that is close to the exit on one side of the parking area, and takes the direction of the straight line extending through the position corresponding to the two ends as the direction of the passage.

2. The path direction detection device according to claim 1, characterized in that, When the vehicle is parked in the parking area, the detection and processing unit detects the direction of the passage and stores the detected direction of the passage in a non-volatile storage device before the ignition switch of the vehicle is turned off.

3. The path direction detection device according to claim 1, characterized in that, It also has: The auxiliary processing unit performs auxiliary processing to assist the vehicle in exiting the parking area, based on the path direction detected by the detection processing unit.

4. The path direction detection device according to claim 3, characterized in that, The aforementioned auxiliary processing unit performs the exit assistance based on the angle between the front-to-back direction of the vehicle in the parking area and the direction of the passage, or the angle between the direction of the straight line extending from the left and right ends of the parked vehicle when the road markings are included in the parking area and the direction of the passage.

5. The path direction detection device according to claim 1, characterized in that, The detection processing unit detects the road markings detected by image recognition processing of the captured image and detects the direction of the passage. The captured image is obtained by capturing the road markings, which are either dividing lines that define the parking area or colored areas that are at least a portion of the parking area colored with a different color than the road surface.

6. The path direction detection device according to claim 1, characterized in that, It also has: The display processing unit outputs the markings indicating the direction of the path detected by the detection processing unit, along with the conditions around the vehicle, to the display unit.

Images