JP-2026074541-A - Parking assistance system

JP2026074541AJP 2026074541 AJP2026074541 AJP 2026074541AJP-2026074541-A

Abstract

[Problem] To provide top-view images to drivers of vehicles that do not have an in-vehicle camera for displaying top-view images, or to drivers who do not have a user terminal for displaying top-view images. [Solution] A parking assistance system is configured comprising: a plurality of cameras installed at different locations and with a predetermined location in the parking lot in their field of view; a conversion unit that converts the images from the plurality of cameras into a single top-view image of the predetermined location viewed from a predetermined direction; and a display control unit that displays the top-view image on a first display unit located outside the vehicle and visible from inside the vehicle moving toward the predetermined location. [Selection Diagram] Figure 1

Inventors

李賢徳
和田義之

Assignees

株式会社シーディアイ

Dates

Publication Date: 20260507
Application Date: 20241021

Claims (8)

Multiple cameras are installed at different locations and include the designated area of the parking lot in their field of view. A conversion unit that converts images from multiple cameras into a single top-view image of the predetermined position viewed from a predetermined direction, A display control unit that displays the top-view image on a first display unit located outside the vehicle, which is visible from inside the vehicle as it moves toward the predetermined position, A parking assistance system equipped with the following features.
The display control unit, The top-view image is displayed on a second display unit, different from the first display unit, which is visible to the manager of the aforementioned parking lot. The parking assistance system according to claim 1.
The system further includes a unit that identifies the position of a bounding box circumscribing the vehicle in the top-view image, and identifies the position of the vehicle based on the correspondence between the coordinate systems of the images from the multiple cameras and the world coordinate system, and the position in the world coordinate system corresponding to the position of the bounding box. A parking assistance system according to claim 1 or claim 2.
The specified part is, A pre-prepared 3D model of the vehicle is virtually placed in the world coordinate system, and based on the correspondence, the virtual model position, which is the position of the 3D model virtually placed in the world coordinate system when it is photographed by multiple cameras, is identified, and the position of the vehicle is identified based on the position of the 3D model in the world coordinate system where the virtual model position and the position of the vehicle in the images taken by the multiple cameras best match. The parking assistance system according to claim 3.
The system further includes an acquisition unit that acquires information regarding the color of the vehicle from images of multiple cameras, The display control unit colors the vehicle in the top-view image based on the information regarding the vehicle's color acquired by the acquisition unit. The parking assistance system according to claim 1.
The parking assistance system according to claim 1, wherein the first display unit displays images from multiple cameras and the top-view image side by side.
The parking assistance system according to claim 2, wherein the second display unit displays images from multiple cameras and the top-view image side by side.
The system further includes a recognition unit that recognizes objects included in images from multiple cameras, The display control unit, A warning is displayed when the aforementioned object is in a specific state. The parking assistance system according to claim 1.

Description

This invention relates to a parking assistance system. Conventionally, a technology is known that generates a top-view image of a vehicle from above based on images captured by a camera mounted on the vehicle and provides it to the driver (for example, Patent Document 1). Furthermore, Patent Document 2 discloses that a composite image, synthesized based on images captured by a surveillance camera, may be displayed on a user terminal such as a smartphone. Japanese Patent Publication No. 2020-516100Japanese Patent Publication No. 2023-66220 This is a diagram showing the configuration of the parking assistance system in this embodiment.This is a block diagram of a parking assistance system.This diagram shows the camera image, the corrected image, and the world coordinate system.This is a flowchart for the parking assistance process.Figures 5A to 5D are camera images showing the state after the vehicle image has been identified by the first machine learning model.This figure shows an example of a top-view image segment.Figures 7A and 7B show top-view images, Figure 7C shows a camera image taken of a rendered 3D model, and Figure 7D shows the outline of the vehicle and the outline of the 3D model.This is a flowchart for the parking assistance process.This diagram shows an example of displaying multiple camera images alongside a top-down view image. Here, embodiments of the present invention will be described in the following order. (1) Configuration of the parking assistance system: (2) Parking assistance processing: (3) Other embodiments: (1) Configuration of the parking assistance system: Figure 1 shows the configuration of a parking assistance system according to one embodiment. The parking assistance system in this embodiment is installed in a multi-story parking garage. In this embodiment, the parking garage is one in which vehicles are stopped on pallets, and after the occupants get out of the vehicles, the pallets transport the vehicles to a storage location. The pallets are associated with a position where the vehicle should be stopped, and in this embodiment, this position is called a predetermined position Pf. The predetermined position Pf is installed in a waiting space Sp where vehicles are temporarily kept, and a gate may be provided in front of the waiting space Sp. When parking a vehicle in the parking garage, the driver of the vehicle moves the vehicle to the predetermined position Pf, parks the vehicle in the predetermined position Pf, gets out of the vehicle, and then exits from the waiting space Sp. The parking assistance system is a system that assists the driver in moving the vehicle to the predetermined position Pf. To assist the driver, the parking assistance system includes a first display unit 11. The parking assistance system displays a top-view image of the vehicle on the first display unit 11, thereby assisting the vehicle driver in moving the vehicle to a predetermined position Pf. In this embodiment, the parking assistance system includes four cameras 21, 22, 23, and 24. The cameras 21, 22, 23, and 24 are installed at four different locations above the vehicle's movement plane where the predetermined position Pf is located, and are positioned to include the predetermined position Pf in their field of view. Furthermore, cameras 21, 22, 23, and 24 only need to be installed in positions where there are no (or very few) blind spots when the vehicle is moving within the predetermined position Pf. In this embodiment, when the vehicle's movement plane is divided into four quadrants with the center of the predetermined position Pf as the origin, cameras 21, 22, 23, and 24 are installed so that they exist in each of the four quadrants. The parking assist system generates a top-view image based on images from cameras 21, 22, 23, and 24, and displays it on the first display unit 11. To perform this processing, the parking assist system is equipped with a control system that performs various operations. Figure 2 is a block diagram of the parking assist system, including the control system. The parking assistance system comprises the first display unit 11, a second display unit 12 (different from the first display unit 11), cameras 21, 22, 23, and 24, a storage medium 30, and a control unit 40. The first display unit 11 is a display installed on one of the walls forming the waiting space Sp, and is visible from vehicles surrounding a predetermined position Pf. That is, the first display unit 11 is visible from inside a vehicle moving towards the predetermined position Pf, or from inside a vehicle already within the predetermined position Pf. The second display unit 12 is a display installed in a different location from the first display unit 11. In this embodiment, it is installed in the management room where the parking lot manager is located. That is, the second display unit 12 is a display viewed by the parking lot manager. In this embodiment, the same image displayed on the first display uni