US 12,033,400 B2
Overhead-view image generation device, overhead-view image generation system, and automatic parking device
Shinya Tagawa, Saitama (JP); Morihiko Sakano, Tokyo (JP); and Yoshihiko Araya, Kanagawa (JP)
Assigned to Faurecia Clarion Electronics Co., Ltd., Saitama (JP)
Filed by Faurecia Clarion Electronics Co., Ltd., Saitama (JP)
Filed on Jul. 9, 2021, as Appl. No. 17/371,516.
Claims priority of application No. 2020-119895 (JP), filed on Jul. 13, 2020.
Prior Publication US 2022/0012509 A1, Jan. 13, 2022
Int. Cl. G06K 9/00 (2022.01); B60W 30/06 (2006.01); B62D 15/02 (2006.01); G06V 20/58 (2022.01)
CPC G06V 20/586 (2022.01) [B60W 30/06 (2013.01); B62D 15/021 (2013.01); B60W 2420/403 (2013.01); B60W 2554/4048 (2020.02); B60W 2554/4049 (2020.02)] 7 Claims
OG exemplary drawing
 
1. An overhead-view image generation device comprising:
a processor,
wherein the processor includes
a data acquisition unit configured to acquire sensor data of a sensor mounted on a vehicle;
a moving amount calculation unit configured to calculate a moving amount of the vehicle using the sensor data acquired by the data acquisition unit;
a linear overhead-view image generation unit configured to use a captured image of a surrounding of the vehicle included in the sensor data acquired by the data acquisition unit to generate an overhead-view image, the overhead-view image being obtained by conversion of a viewpoint of the captured image into an overhead viewpoint, and generate a linear overhead-view image by joining the converted images together in a time-series way along a traveling locus of the vehicle, the linear overhead-view image being obtained by conversion of a shape of the generated overhead-view image into a linear shape by considering only a moving distance of the vehicle calculated by the moving amount calculation unit without considering information on a turning amount indicated by the sensor data of a steering angle sensor;
a moving amount-based turning amount calculation unit configured to calculate the turning amount of the vehicle based on a predetermined moving amount of the vehicle, using the sensor data acquired by the data acquisition unit and indicating a turning amount of the vehicle and the moving amount calculated by the moving amount calculation unit;
a mode switching unit configured to shift an operation mode of the vehicle to a map storage mode and start recording the sensor data when it is determined that the sensor data is not recorded near a point where the vehicle is currently traveling;
a storage unit configured to, in the map storage mode, store the linear overhead-view image and a distance-based turning angle information separately in a memory wherein the linear overhead-view image is generated by the linear overhead-view image generation unit by a reflection of information on the moving amount of the vehicle, and the distance-based turning angle information is registered in a table in which the moving amount and the turning amount are registered in correlation with each other in a coordinate system in which a position of the vehicle at a start time of recording the sensor data is an origin, a traveling direction of the vehicle at the start time of recording is a Y-axis, and a right direction of the vehicle at the start time of the recording is an X-axis; and
an overhead-view image reconstruction unit configured to reconstruct the overhead-view image including turning angle information by using the distance-based turning angle information.