Camera-Based Slope Direction Detection for Accurate Auto Parking
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Solution Overview
Problem
Existing methods for estimating the inclination angle of a slope assume the vehicle is orthogonal to the slope's inclination direction, leading to incorrect estimations when the vehicle is not orthogonal, and require a parking frame line on the slope, limiting accurate automatic parking.
Innovation Solution
A driving assistance apparatus using cameras mounted on the vehicle to detect the inclination direction of the road surface by analyzing camera images, allowing for accurate estimation of the slope's inclination angle regardless of its orientation relative to the vehicle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the inclination angle is estimated on the assumption that the inclination direction of the slope is orthogonal to the vehicle, then the estimation process is simplified, but the inclination angle cannot be correctly estimated when the vehicle is not orthogonal to the inclination direction of the slope
Solution Approach 1:
Instead of assuming the vehicle is orthogonal to the slope and calculating inclination based on that assumption, the invention inverts the approach by using the detected inclination information to determine the vehicle's orientation relative to the slope. The inclination detector detects the inclination direction of the slope independently, then the control unit calculates the angle between the vehicle's longitudinal direction and the slope's inclination direction, allowing accurate estimation regardless of vehicle orientation.
2Ease of manufacture
If the inclination angle is estimated on the assumption that the parking frame line is drawn on the slope, then the estimation method is straightforward, but the inclination angle cannot be estimated unless the parking frame line is drawn on the slope
Solution Approach 1:
The system uses the vehicle's own imaging devices (cameras) to detect and image the parking frame lines and slope characteristics. The inclination detector processes images captured by the vehicle's camera to identify the parking frame line orientation and slope inclination, eliminating the need for external marking devices or additional specialized equipment. The vehicle's imaging system serves itself to gather all necessary information for inclination estimation.
Solution Approach 2:
The imaging device serves multiple functions: it captures images for parking frame line detection, slope inclination detection, and vehicle position estimation. By using the same camera system for multiple purposes, the invention achieves versatility across different parking conditions without requiring separate specialized equipment for each function.
3Device complexity
If conventional inclination detection methods are used, then the system structure remains simple, but accurate automatic parking cannot be performed on slopes inclined in any direction
Solution Approach 1:
The invention transitions from one-dimensional inclination detection (assuming orthogonal alignment) to two-dimensional orientation analysis by detecting both the inclination direction of the slope and the vehicle's longitudinal direction. The control unit calculates the angle between these two directions, adding an angular dimension to the detection system that enables accurate parking on slopes inclined in any direction, not just those orthogonal to the vehicle.
Data Source
AI summary
Provided is a driving assistance apparatus that makes it possible to correctly estimate an inclination angle of a slope inclined in any direction and perform more accurate automatic parking by performing inclination direction estimation in which an inclination direction is estimated by analyzing a movement amount of a feature point on an image caused by traveling and then performing inclination angle estimation. The driving assistance apparatus includes an inclination detector that detects an inclination direction of a slope or a road surface around a vehicle on the basis of a camera image showing surroundings of the vehicle taken by a camera mounted on the vehicle, and assists driving of the vehicle on the basis of the inclination direction.