Nissan Motor Company Limited

Muku Takeda

Yasuhiro Suzuki

Takeshi Watanabe

Yusuke Musha

In a parking assist method, a surrounding image that is a color image obtained by capturing surroundings of an own vehicle is acquired, the surrounding image is converted to a first multi-gradation image in such a way that a luminance difference between a region in which a ratio of a green component is low and a region in which the ratio of the green component is high in the surrounding image increases, a feature point is extracted from the first multi-gradation image, and a relative position of the own vehicle with respect to a target parking position is calculated based on the extracted feature point.

Parking assist method and parking assist device

An image processing method includes: capturing, by a first image capturing device installed at a position located on a side surface outside a vehicle interior of a vehicle and anterior to a rear end of the vehicle, a first image, the first image being an image of a region including a rear lateral side of the vehicle; capturing, by a second image capturing device installed on a rear end of the vehicle, a second image, the second image being an image of a region in a rear of the vehicle; generating a synthetic image serving as an image of a rear view of the vehicle by synthesizing the first image and the second image with each other; and superimposing an outline, the outline being a line segment extending along a contour of a side surface of the vehicle, in the synthetic image.

Image processing method, image displaying method, image processing device, and image displaying device

A parking assistance method includes: storing positions of target objects detected around the target parking position as learned target object positions; when the own vehicle travels in a vicinity of the target parking position after the learned target object positions are stored, counting the number of times that the learned target object position coincides with a surrounding target object position of a target object detected around the own vehicle and providing a higher degree of reliability to the learned target object position having a larger number of times of coincidence with the surrounding target object position; by comparing the learned target object position having a degree of reliability greater than or equal to a predetermined threshold degree of reliability with a position of a target object detected around the own vehicle, calculating a relative position of the own vehicle with respect to the target parking position.

Parking assistance method and parking assistance device

A parking assistance method includes: detecting, from an image of surroundings of a vehicle, a first target object position; detecting a first image capturing situation when the image is captured; with respect to a second target object position of a target object detected from a past image of surroundings of a target parking position in a past, retrieving one or more combinations of a relative positional relationship between the second target object position and the target parking position and a second image capturing situation when the past image is captured; selecting, the relative positional relationship combined with the second image capturing situation having a difference from the first image capturing situation less than or equal to a predetermined difference; and calculating, based on the selected relative positional relationship and the first target object position, a relative position between a current position of the vehicle and the target parking position.

A parking assistance method including: detecting a target object position that is a relative position with respect to the own vehicle; retrieving a known target object and a relative positional relationship between the known target object and a target parking position from a storage device; based on the detected target object position detected and a relative positional relationship between the known target object and a target parking position, estimating a relative position of the target parking position with respect to a current position of the own vehicle; based on the estimated relative position, calculating a target travel trajectory from a current position of the own vehicle to the target parking position; determining estimation precision of the estimated relative position; when the estimation precision is low, limiting a speed limit of movement speed at which the own vehicle is caused to travel along the target travel trajectory to a speed lower.

A plurality of different reference images for specifying a target parking space is preliminarily stored. The different reference images are generated by using an imaging device that captures an image around a subject vehicle. After that, when the subject vehicle is parked in the target parking space, the current image captured around the subject vehicle is verified with at least one reference image of the plurality of different reference images to recognize the target parking space, and the travel operation of the subject vehicle to the target parking space is autonomously controlled based on positional information of the recognized target parking space.

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Kanagawa, Japan

Muku Takeda