• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for detecting a free parking space from a motor vehicle traveling on a roadway and equipped with an image taking apparatus, said method comprising a learning phase in which characteristics relating to known objects are stored locally in a database (BD) of the vehicle, said method comprising: a step of acquiring a scene image of the roadway and its immediate environment, a processing step of image, in which: at least one known object whose characteristics have been previously learned and stored is detected (1.2), detects (1.3) a parking area comprising a free parking space and estimates (1.4) the length of the place from a correlation between the characteristics extracted from the database relating to the known objects detected in the image.
    公开号:FR3039812A1
    申请号:FR1557491
    申请日:2015-08-03
    公开日:2017-02-10
    发明作者:Mihai Chirca
    申请人:Renault SAS；
    IPC主号:
    专利说明:

    The invention relates to a device and a method for detecting free parking space for a motor vehicle.
    There are two main techniques of detection of free parking spaces, a first technique based on the use of so-called exteroceptive sensors and a second technique based on the use of so-called proprioceptive sensors.
    Among the methods implementing the first technique, it is known, for example from the patent document US20140266803, the use of a video camera located in the vicinity of a parking area to determine the free or occupied places in the area of parking. Other methods based on the use of exteroceptive sensors propose the use of ultrasonic sensors or magnetic sensors, installed in the vicinity of a parking space, so as to detect whether the parking space monitored by the sensor is free or not. However, in order to be used, the detected information must be able to be communicated to the motorists, which implies either to implement a communication with an external system, for example by radio, making it possible to communicate to the motorists the data of availability of the supervised places for example via a mobile application and a geographical map, or to deploy a visible signaling system remotely, for example in the form of illuminated panels capable of indicating the free or occupied status of the monitored parking space. Another disadvantage of the methods using exteroceptive sensors is related to the high costs of installation and maintenance of the sensors used. In addition, the maintenance or replacement of such a sensor may make the parking space unavailable for the duration of the maintenance operation.
    Among the methods based on the use of so-called proprioceptive sensors, it is known, for example, from patent document US20140347196, a system embedded on a vehicle intended to automatically recognize whether a parking space will potentially become free. The onboard system includes a sensor providing a signal used to evaluate a probability that a vehicle parked on a parking space will soon leave this place. The onboard sensor may be a camera, a microphone or an ultrasound sensor or a combination of these sensors. However, this method is directed towards the detection of elements likely to indicate that a vehicle will leave a parking place imminently and not on the detection of an already free parking space.
    Also, there is a need for a device and a method for detecting free parking spaces that do not have the aforementioned drawbacks. For this purpose, the invention relates to a method for detecting a free parking space from a motor vehicle traveling on a roadway, said motor vehicle being equipped with an image taking device of a road scene. road and its immediate environment, said method being characterized in that it comprises a learning phase during which characteristics, among which at least the dimensions, relating to known objects that may be present in the scene are stored locally in a database at said vehicle, and said method comprising: - a step of acquiring, from said image taking apparatus, one or more scene images of the roadway and its immediate environment an image processing step, carried out by a processing element embedded in said vehicle, in which: it is detected in the image of the scene acquired at least one known object whose characteristics have been previously learned and stored locally in the database, the image of the acquired scene detects the presence of at least one parking zone comprising at least one free parking space and the respective lengths of the free parking spaces are estimated from a correlation between the features extracted from the database of known objects detected in the image. The invention thus makes it possible to provide a free parking space detection tool, which can be directly embedded in the vehicle and which does not require any communication with a system external to the vehicle. In addition, thanks to the learning process, which makes it possible to register upstream at the vehicle level, an inventory of known objects that can be perceived by the driver of the vehicle in his driving environment, as well as their characteristics, in particular in terms of dimension, it is possible, by an appropriate image processing implemented by a vehicle-level processing unit, to detect these known objects in the image of the acquired scene and thus to correlate their dimensions so as to estimating relative lengths of potentially free parking spaces detected in the acquired image.
    Advantageously, the known objects previously learned and stored include objects likely to be present in the scene among which at least road signs, markings on the roadway, vehicles, wheels of the vehicle.
    According to one embodiment, the image processing step performs a detection step in the image of the acquired scene of a substantially flat and unobstructed portion of the roadway located on one side or the other of the roadway. and bounded by known objects detected, so as to determine the free parking spaces and a step of comparing the respective dimensions of the known known objects bounding said portion of roadway relative to said portion of roadway to estimate the relative length of said portion of the road.
    Advantageously, known objects bounding said detected portion of roadway are vehicles parked on either side of said detected roadway portion.
    Preferably, the determination of the respective dimensions of the vehicles parked on either side of said road portion comprises the detection of the points of contact of the front and rear wheels of the vehicles with the roadway, the detection of the membership of the wheels at the same vehicle and the detection of a corresponding type of vehicle from a classification previously stored at the vehicle level, associating for each type of vehicle an average distance between the front and rear wheels of the vehicle, the indication of the type of vehicle by the said vehicle classification further providing the corresponding length associated with the type of vehicle.
    Advantageously, the method further comprises a step of comparison, by the on-board processing unit, between, on the one hand, at least one of said estimated respective lengths and, on the other hand, information representative of a length of said vehicle, in order to provide an indication to the driver of said vehicle that the detected parking space is sufficiently long to allow the parking of said vehicle.
    According to one embodiment, the detection of the parking zones comprises the identification of a marking on the discontinuous white line pavement arranged on one side or the other of the roadway and the detection of at least one vehicle parked at the road. beyond said discontinuous white line. The invention also relates to a device for detecting a free parking space comprising an on-vehicle image pickup device on a motor vehicle traveling on a roadway, said image taking apparatus being able to acquire images of a roadway scene and its immediate environment, a memory embedded on said vehicle, for storing an information database corresponding to an inventory of known objects that may be present in the scene, said database storing characteristics , among which at least the dimensions, relating to the known objects, and a processing unit on board said vehicle capable of performing an image processing from one or more images acquired by the image taking apparatus, said image processing being adapted to detect at least one known object whose characteristics have been previously stored in the database and, based on a correlation between the characteristics extracted from the database of known objects detected in the image, for detecting the presence of at least one parking zone comprising at least one free parking space and to estimate the respective lengths of the free parking spaces.
    Advantageously, the processing unit is able to make a comparison between, on the one hand, at least one of said estimated respective lengths and, on the other hand, information representative of a length of said vehicle, so as to provide an indication to the driver of said vehicle that the parking space detected is long enough to allow the parking of said vehicle. The processing unit can be implemented by digital processing means, for example a microprocessor, a microcontroller or other. The invention also relates to a motor vehicle characterized in that it comprises a device for detecting a free parking space according to the invention. Other features and advantages of the invention will appear on reading the following description of a particular embodiment of the invention, given by way of indication but not limitation, with reference to the appended figures in which: Figure 1 illustrates an example of scene image acquired by the camera equipping the vehicle in search of a free parking space; Figure 2 illustrates the image of Figure 1 after the application of a pavement detection process; Figure 3 illustrates a detail view of Figure 2; Figure 4 is a schematic overall view of the operation of the algorithm implemented by the present invention.
    Vacant or free or available parking space means a parking space having the minimum dimensions required to allow the vehicle to be parked, in particular in a maximum number of maneuvers previously chosen to park the vehicle.
    The method of detecting free parking space implements an on-vehicle image pickup device, typically a camera, associated with an image processing algorithm, which will be described in detail later, allowing obtain good detection performance, without the need to use a high or very high definition camera.
    Indeed, the operating principle of the image processing algorithm is to borrow the human behavior applied by a driver who seeks to determine if a parking space is free. Typically, the driver intuitively compares a potentially free parking space with objects of known size, for example present in its immediate environment, so as to estimate the length of this parking space and thus determine its free character or not. In other words, the driver does not have precise measurements of the potentially free parking space but, by a cognitive process of learning and comparison with objects known in terms of size, is able to estimate its relative length. For example, a free parking space arranged between two vehicles will be compared by the driver in search of a seat at the size of the two vehicles that bound it. In addition, always by learning, the driver is able to apprehend the size of his vehicle compared to that of the vehicles observed. It is precisely the operating principle of the image processing algorithm implemented that will be described.
    When searching for a free parking space from a motor vehicle traveling on a roadway, the camera equipping the motor vehicle makes it possible to acquire images of a scene of the roadway on which the vehicle is traveling and of its immediate environment, in particular of a frontal scene situated at the front of the vehicle with respect to its direction of displacement, as illustrated by the example of FIG. 1. The image of the scene acquired by the camera illustrated in FIG. shows the roadway 1 on which the vehicle carrying the camera is traveling, vehicles 2 parked on parking areas 3 located on each side of the roadway 1 and defined by a ground marking 4 consisting of a broken white line which is extends substantially in the longitudinal direction of the roadway.
    A first step 1.1 implemented by the image processing algorithm concerns the detection in the image of the acquired scene of the pattern corresponding to the roadway proper. To do this, knowing the intrinsic and extrinsic parameters of the camera and assuming that the roadway is flat in the immediate vicinity of the vehicle, we extract the corresponding pattern of the road, symbolized by the rectangle 5 on the image of the vehicle. Figure 1. It should be noted that the intrinsic parameters are parameters internal to the camera (for example the focal length, the magnification factors of the image, the coordinates of the projection of the optical center of the camera on the image plane). , and the extrinsic parameters are parameters that can vary according to the position of the camera in the workspace (for example the components of the translation vector allowing to go from the reference linked to the workspace to the reference linked to the camera ).
    Then, by extension, the entire visible pavement is detected in the image as illustrated by the shaded area of FIG. 2. An optical flow calculation algorithm is preferably used to determine that the previously learned roadway is approximately flat and that it is does not contain obstacles. In other words, an obstacle detection by optical flow is implemented inside the perimeter of the roadway detected in the image. The estimation of the optical flow is based for example on an SFM algorithm (acronym for "Structure From Motion" in English), which is not used to reconstruct the entire structure of the scene but simply to detect the obstacles inside. the perimeter of the shaded area corresponding to the detected roadway.
    A second step 1.2 implemented by the image processing algorithm then concerns the detection of known objects in the acquired scene whose characteristics, in particular of size or size, have been previously learned and stored locally in a database. BD known object data stored in the motor vehicle. Known objects stored in the database are objects that may be present in the scene. These objects include, for example, traffic signs, pavement markings such as continuous or broken lines, and words painted on the ground (eg the word "fee"), vehicles, vehicle wheels, obstacles known. The step of detecting known objects in the scene can be implemented by image processing and pattern recognition.
    To detect free parking spaces, the algorithm implements an intermediate step 1.3 for detecting parking zones. In the example illustrated in FIGS. 1 and 2, the parking zones 3 are arranged on both sides of the roadway 1. Also, after the step of detecting the known objects in the scene, the algorithm is able to extracting and correlating the information related to the detected known objects relating to the presence of one or more parking zones in the acquired scene image. For example, the detection of discontinuous white lines 4 on either side of the roadway and the detection of vehicles 2 parked beyond these white lines leads to identifying in the scene parking zones 3 located on both sides of the road. the roadway 1.
    Then, a step 1.4 of correlation between the characteristics extracted from the database relating to the known objects detected in the image is implemented, which aims to provide an indication to the driver about the presence of free parking spaces and their length. respectively. More specifically, this step implements a process for comparing known detected objects and their size. Indeed, once we have detected in the image of the acquired scene a known object that is stored in the database BD, we can compare its size to other detected objects that are around. Thus, this step comprises first of all the detection of a parking space, consisting for example of detecting a substantially flat and unobstructed portion of the roadway located at the detected parking zones, and bounded by known objects detected, typically parked vehicles. The zone delimited by the square 6 in FIG. 2 illustrates such an example of detecting a potential parking space 7. In fact, the parking space 7 is detected firstly because a portion of the carriageway defining a parking space is observed. empty space between two obstacles. Moreover these two obstacles are vehicles and the dimension of the empty space observed is substantially comparable to the size of these two vehicles. Then, in order to estimate the relative length of this detected portion of the roadway, the algorithm implements a step of comparing the respective dimensions of the detected vehicles bounding this portion of roadway.
    However, because of the angle of view and the distance to the camera, the objects are more or less easily detectable. Also, to facilitate the detection of vehicles limiting a potential free parking space and the determination of their length dimension, the algorithm is designed to focus on the detection of simple shapes in the image of the acquired scene, and in particular , according to a preferred embodiment, on the detection of the wheels of the vehicles and their respective position. To do this, we make the following two assumptions, which aim to facilitate the corresponding computer processing, namely that the wheels are in contact with the roadway and that the angle between the wheels and the roadway is 90 degrees. Referring to FIG. 3, which illustrates an enlarged view of the area 6 of FIG. 2, a detection step 1.41 is implemented in the image of the points of contact between the roadway and detected vehicle wheels. Thus, the points A, B, C, D in the image correspond to the points of contact with the roadway of the front wheels Rv and rear Rr of the vehicles 2 limiting the potential free parking space 7 previously detected. The absolute position of these points in space is calculable by trigonometry, from which we can deduce the distance between these points. In particular, the fact that the road is flat and the intrinsic and extrinsic parameters of the camera are known, the determination of the position of these contact points is the calculation of a homography. However, these contact points are detected with some uncertainty due in particular to the quality of the camera used. To reduce this uncertainty, a step 1.42 for detecting the belonging of the wheels detected to the same vehicle is implemented, as well as in parallel, a detection step 1.43 of the corresponding type or model of vehicle, preferably from a classification. CL previously stored at the vehicle level and associating for each type of vehicle stored, an average distance between the front and rear wheels of the vehicle, the indication of the type of vehicle in the classification further providing the corresponding length associated with the type of vehicle. This classification will thus make it possible to determine the approximate length of the vehicle, starting from the determination of the position of the points of contact with the roadway of the front and rear wheels of this vehicle, even if this length is not entered in the database BD , or even if the vehicle in question is not accurately detected, being approximated to a similar type of vehicle in the classification. Additional precision can be provided to the device by knowing the distance between the front end and the front of the vehicle, as well as knowing the distance between the rear axle and the rear of the vehicle. The algorithm is then able to estimate the length of the potential free parking space relative to the lengths of vehicles bounding it.
    Finally, in a step 1.5, the algorithm implements a step of comparison between, on the one hand, this estimated respective length and, on the other hand, information representative of a length of the vehicle in search of a seat. parking, that is to say the vehicle carrying the camera, so as to provide an indication to the driver that the parking space detected is long enough to allow parking of said vehicle. The invention therefore proposes an image processing that extracts the free parking spaces and estimates their respective length by a process of learning and comparison based on known objects detected in the image whose characteristics in particular in terms of size or dimension, are stored. Free parking spaces and their estimated lengths shall be used in such a way as to indicate to the driver a free parking space the length of which is sufficient to allow him to park his vehicle. The information provided on the length of the free parking space will allow the driver to park easily and without wasting time, by trying to park only on free parking spaces adapted to the length of his vehicle. The invention is also particularly advantageous in that the proposed image processing thus makes it possible to detect from a distance a potentially free parking space, which makes it possible to drive faster in the search phase of a parking space. then slow down only once the indication provided that a potentially free place and at the right length has been detected and possibly refine the determination of the length of this potentially free place at its approach and at low speed, by means, for example, an ultrasonic sensor system fitted to the vehicle and dedicated for this purpose, in a manner known per se. Also, the detection system of the invention is a useful complement to parking detection systems based on ultrasonic obstacle detection, which, in contrast to the system of the invention, have good performance only for short distances (less than 2.5 m) and low speeds (less than 25 km / h).
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. A method of detecting a free parking space from a motor vehicle traveling on a roadway (1), said motor vehicle being equipped with an image taking device of a roadway scene and its immediate environment, said method being characterized in that it comprises a learning phase in the course of which characteristics, among which at least the dimensions, relative to known objects likely to be present in the scene are stored locally in a database (BD) at said vehicle, and said method comprising: - a step of acquiring, from said image taking apparatus, one or more scene images of the roadway and its immediate environment, an image processing step, carried out by a processing element embedded in said vehicle, in which: (1.2) is detected in the image of the scene acquired at least one known object whose characteristics have been previously learned and stored locally in the database (BD), it is detected (1.3) in the image of the acquired scene the presence of at least one parking area comprising at least one place of free parking and estimated (1.4) the respective lengths of the free parking spaces, from a correlation between the characteristics extracted from the database of known objects detected in the image.
    [2" id="c-fr-0002]
    2. Method according to claim 1, characterized in that the known objects previously learned and stored include objects likely to be present in the scene among which at least road signs, markings on the roadway, vehicles, wheels vehicle.
    [3" id="c-fr-0003]
    3. Method according to claim 1 or 2, characterized in that the image processing step performs a detection step in the image of the scene acquired, a portion of roadway (7) substantially flat and without obstacles. located on one side or the other of the roadway (1) and bounded by known objects detected, so as to determine the free parking spaces and a step (1.4) of comparison of the respective dimensions of the known known objects bounding said portion of pavement (7) relative to said portion of roadway to estimate the relative length of said portion of roadway (7).
    [4" id="c-fr-0004]
    4. Method according to claim 3, characterized in that the known objects bounding said detected portion of roadway are vehicles (2) parked on either side of said detected road portion (7).
    [5" id="c-fr-0005]
    5. Method according to claim 4, characterized in that the determination of the respective dimensions of the vehicles (2) parked on either side of said road portion comprises the detection (1.41) of the contact points of the front and rear wheels of the vehicles. vehicles with the roadway, detecting (1.42) the belonging of the wheels to the same vehicle and detecting (1.43) a corresponding type of vehicle from a classification (CL) previously stored at the level of the vehicle associating for each type of vehicle an average distance between the front and rear wheels of the vehicle, the indication of the type of vehicle by said classification further providing the corresponding length associated with the type of vehicle.
    [6" id="c-fr-0006]
    6. Method according to any one of the preceding claims, characterized in that it further comprises a comparison step (1.5), by the on-board processing unit, between on the one hand, at least one of said respective lengths estimated and, on the other hand, information representative of a length of said vehicle, so as to provide an indication to the driver of said vehicle that the detected parking space is sufficiently long to allow the parking of said vehicle.
    [7" id="c-fr-0007]
    7. Method according to any one of the preceding claims, characterized in that the detection of the parking areas comprises the identification of a marking on the discontinuous white line type pavement disposed on one side or the other of the roadway and detecting at least one vehicle parked beyond said discontinuous white line.
    [8" id="c-fr-0008]
    8. Device for detecting a free parking space comprising an on-board image pickup device on a motor vehicle traveling on a roadway (1), said image taking apparatus being able to acquire images of a a roadside scene and its immediate environment, a memory embedded on said vehicle, for storing an information database (BD) corresponding to an inventory of known objects that may be present in the scene, said database ( BD) storing features, among which at least the dimensions, relating to the known objects, and a processing unit on board said vehicle capable of performing an image processing from one or more images acquired by the apparatus of image processing, said image processing being designed to detect at least one known object whose characteristics have been previously stored in the database ( BD) and, based on a correlation between the characteristics extracted from the database relating to the known objects detected in the image, for detecting the presence of at least one parking area (3) comprising at least one parking space. free parking and to estimate the respective lengths of the free parking spaces.
    [9" id="c-fr-0009]
    9. Device according to claim 8, characterized in that the processing member is adapted to perform a comparison between on the one hand, at least one of said respective estimated lengths and, on the other hand, information representative of a length said vehicle, so as to provide an indication to the driver of said vehicle that the parking space detected is long enough to allow the parking of said vehicle.
    [10" id="c-fr-0010]
    10. Motor vehicle characterized in that it comprises a detection device of a free parking space according to any one of claims 8 or 9.
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    同族专利:
    公开号 | 公开日
    EP3332352B1|2019-09-04|
    WO2017021601A1|2017-02-09|
    EP3332352A1|2018-06-13|
    FR3039812B1|2017-07-28|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1701323A1|2005-02-28|2006-09-13|Alcatel|Method for detecting a parking place|FR3107024A1|2020-02-12|2021-08-13|Psa Automobiles Sa|Method and device for controlling a vehicle|
    DE102017206311A1|2017-04-12|2018-10-18|Ford Global Technologies, Llc|Method and device for supporting the search for available parking spaces|
    TWI631537B|2017-05-12|2018-08-01|合盈光電科技股份有限公司|Parking space identification system|
    TWI644290B|2017-07-04|2018-12-11|中興保全股份有限公司|Apparatus and system for detecting parking spots|
    TWI644296B|2017-07-04|2018-12-11|中興保全股份有限公司|Parking-space status updating system|
    TWI656518B|2017-12-05|2019-04-11|財團法人工業技術研究院|Marked parking space identification system and method thereof|
    法律状态:
    2016-08-22| PLFP| Fee payment|Year of fee payment: 2 |
    2017-02-10| PLSC| Publication of the preliminary search report|Effective date: 20170210 |
    2017-08-22| PLFP| Fee payment|Year of fee payment: 3 |
    2018-08-27| PLFP| Fee payment|Year of fee payment: 4 |
    2019-08-22| PLFP| Fee payment|Year of fee payment: 5 |
    2021-05-07| ST| Notification of lapse|Effective date: 20210405 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1557491A|FR3039812B1|2015-08-03|2015-08-03|DEVICE AND METHOD FOR DETECTING FREE PARKING SPACE FOR A MOTOR VEHICLE.|FR1557491A| FR3039812B1|2015-08-03|2015-08-03|DEVICE AND METHOD FOR DETECTING FREE PARKING SPACE FOR A MOTOR VEHICLE.|
    PCT/FR2016/051754| WO2017021601A1|2015-08-03|2016-07-08|Device and method for detecting a parking space that is available for a motor vehicle|
    EP16744811.7A| EP3332352B1|2015-08-03|2016-07-08|Device and method for detecting a parking space that is available for a motor vehicle|
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