A vehicle vision system includes a plurality of cameras having respective fields of view exterior of the vehicle. A processor is operable to process image data captured by the cameras and to generate images of the environment surrounding the vehicle. The processor is operable to generate a three dimensional vehicle representation of the vehicle. A display screen is operable to display the generated images of the environment surrounding the vehicle and to display the generated vehicle representation of the equipped vehicle as would be viewed from a virtual camera viewpoint. At least one of (a) a degree of transparency of at least a portion of the displayed vehicle representation is adjustable by the system, (b) the vehicle representation comprises a vector model and (c) the vehicle representation comprises a shape, body type, body style and/or color corresponding to that of the actual equipped vehicle.

A parking detection method based on visual difference includes: obtaining a video frame of a predetermined monitoring area captured by each camera in real time, and labeling the video frame corresponding to each camera with time information of a current moment; determining vehicle information of a to-be-detected vehicle in each video frame labeled with the time information through a predetermined convolutional neural network model; determining feature point information of the to-be-detected vehicle in each video frame according to the vehicle information of the to-be-detected vehicle in each video frame; calculating a position relationship between the to-be-detected vehicle in each video frame and respective corresponding camera, and constructing current three-dimensional coordinates of the to-be-detected vehicle according to the position relationship; and determining a parking status of the to-be-detected vehicle according to the current three-dimensional coordinates of the to-be-detected vehicle. A parking detection device based on visual difference is further provided.

A parking assist apparatus of a vehicle includes an image recognition ECU and a vehicle control ECU. The image recognition ECU extracts characteristic points contained in an image of a surrounding region of the vehicle captured during a travel. The vehicle control ECU can register, as parking lot information, the position of a parking lot and a piece of information regarding characteristic points contained in an image of a scene of the entrance of the parking lot. The vehicle control ECU can automatically park the vehicle in the registered parking lot. The image recognition ECU extracts the characteristic points contained in the image of the surrounding region when the distance between the vehicle and the entrance of the registered parking lot is equal to or shorter than a threshold distance, and does not extract the characteristic points when the distance is longer than the threshold distance.

A vehicle control system for moving a vehicle to a target location is disclosed. According to examples of the disclosure, a camera captures one or more images of a known object corresponding to the target location. An on-board computer having stored thereon information about the known object can process the one or more images to determine vehicle location with respect to the known object. The system can use the vehicle's determined location and a feedback controller to move the vehicle to the target location.

A parking detection method based on visual difference includes: obtaining a video frame of a predetermined monitoring area captured by each camera in real time, and labeling the video frame corresponding to each camera with time information of a current moment; determining vehicle information of a to-be-detected vehicle in each video frame labeled with the time information through a predetermined convolutional neural network model; determining feature point information of the to-be-detected vehicle in each video frame according to the vehicle information of the to-be-detected vehicle in each video frame; calculating a position relationship between the to-be-detected vehicle in each video frame and respective corresponding camera, and constructing current three-dimensional coordinates of the to-be-detected vehicle according to the position relationship; and determining a parking status of the to-be-detected vehicle according to the current three-dimensional coordinates of the to-be-detected vehicle. A parking detection device based on visual difference is further provided.

The disclosure relates to a method for parking a vehicle in a first perpendicular parking space, wherein the position and/or the orientation of another vehicle is determined in the second perpendicular parking space and, depending thereupon, the target position and/or the target orientation of the vehicle in the first perpendicular parking space is determined, wherein by means of at least one optical detection unit of the vehicle, at least one image of the at least one other vehicle is generated before parking the vehicle in the first perpendicular parking space, and the image is evaluated as to whether a headlight or a taillight of the other vehicle is recognized in the image, and depending thereupon, the orientation of the other vehicle is determined.

An image processor includes an edge detection portion that scans an image and detects, as an edge, an arrangement of pixels in which brightness value difference or color parameter difference between the pixels is equal to or greater than a threshold; a grouping portion that groups the detected edge based on the edge length, a distance between endpoints of the edges, and an angle between the edges; a determination portion that determines the grouped edges as a dashed line edge group when a pattern in which the brightness value difference or color parameter difference between the pixels is detected matches a predetermined pattern; a correction portion that performs a linear approximation process on the dashed line edge group to correct a coordinate value of an endpoint of the dashed line edge; and a parking frame setting portion that sets a parking frame using the corrected dashed line edge.

An image processing device includes: a delimiting line detection unit configured to detect a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle, the delimiting line candidate being a candidate of a delimiting line that delimits a parking space; and an exclusion determination unit configured to determine whether or not to exclude the delimiting line candidate detected by the delimiting line detection unit from the candidate of the delimiting line. In a case where a plurality of the delimiting line candidates is detected within a predetermined range in the image data, the exclusion determination unit determines whether or not to exclude the delimiting line candidate from the candidate of the delimiting line by comparing edge strength of the plurality of delimiting line candidates.

A neural network may be used to determine corner points of a skewed polygon (e.g., as displacement values to anchor box corner points) that accurately delineate a region in an image that defines a parking space. Further, the neural network may output confidence values predicting likelihoods that corner points of an anchor box correspond to an entrance to the parking spot. The confidence values may be used to select a subset of the corner points of the anchor box and/or skewed polygon in order to define the entrance to the parking spot. A minimum aggregate distance between corner points of a skewed polygon predicted using the CNN(s) and ground truth corner points of a parking spot may be used simplify a determination as to whether an anchor box should be used as a positive sample for training.

An automated parking system for a vehicle includes a camera configured to obtain images of objects proximate the vehicle, and a controller configured to review the obtained images of objects proximate the vehicle to classify an environment proximate the vehicle, determine a type of parking lot associated with the classified location and initiate an automated parking function of the vehicle corresponding to the determined type of parking lot.