US 11,842,548 B2
Parking space recognition system and parking assist system including the same
Yuki Hara, Saitama (JP); and Yasushi Shoda, Saitama (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 29, 2021, as Appl. No. 17/215,851.
Claims priority of application No. 2020-062703 (JP), filed on Mar. 31, 2020.
Prior Publication US 2021/0303881 A1, Sep. 30, 2021
Int. Cl. G06V 20/58 (2022.01); B60W 30/06 (2006.01); B60K 35/00 (2006.01); G08G 1/16 (2006.01); G06V 20/56 (2022.01)
CPC G06V 20/586 (2022.01) [B60K 35/00 (2013.01); B60W 30/06 (2013.01); G06V 20/588 (2022.01); G08G 1/168 (2013.01); B60K 2370/1434 (2019.05); B60W 2552/53 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A parking space recognition system mounted on a vehicle for recognizing at least one parking space between a plurality of substantially parallel parking space lines provided on a side of a road, the parking space recognition system comprising:
an external environment information acquiring device configured to acquire positions of the parking space lines; and
a parking space candidate detecting device configured to detect a parking type and at least one parking space candidate based on the positions of the parking space lines, the parking type including angle parking and perpendicular parking, the parking space candidate being a candidate for an available parking area,
wherein the parking space candidate detecting device includes:
a virtual line calculating unit configured to calculate a virtual line connecting road side ends of the parking space lines adjacent to each other;
an angle calculating unit configured to calculate an angle between the virtual line calculated by the virtual line calculating unit and one of the parking space lines;
a parking type determining unit configured to determine the parking type based on the angle between the virtual line and the one of the parking space lines; and
a parking space candidate setting unit configured to set at least one provisional parking space in an area between the parking space lines based on the positions of the parking space lines, and to set an available parking area among the provisional parking space to the parking space candidate.