CN102034366B - Parking guide method and device - Google Patents
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Abstract
The invention provides a parking guide method and a parking guide device. The method comprises the following steps of: reading a region image by using an image sensor, detecting running speed by using a speed sensor, and detecting a retransmission distance between the current vehicle and an obstacle through a lateral distance sensor; acquiring the relative coordinate of the current position of the vehicle and a parking lot and the angle and the width of the parking lot by using a processor according to the region image, the running speed and the distance; accordingly, estimating a preset parking guide frame and the relative position between the preset parking guide frame and the parking lot; marking the parking lot and the preset parking guide frame on a display screen, so that a driver can move the vehicle according to the display screen; and moving the preset parking guide frame to be coincided with the parking lot to position the vehicle at the best starting position, namely controlling a steering wheel manually or automatically to stop the vehicle into the parking slot so as to effectively improve the convenience of parking.
Description
Technical field
The present invention is relevant a kind of parking guide method and device, refers to especially a kind of default parking guide frame that can estimate in advance various car-parking models, to assist the driver fast and the parking guide method and the device that stop accurately.
Background technology
Along with science and technology and apparatus are advanced by leaps and bounds, such as automobile, as carrying and means of transport, allow human lives's quality significantly improve, and playing the part of already important and indispensable role.Therefore; automobile quantity fast soaring with face big city's cun ground difficulty and ask lower; institute's traffic congestion that causes and parking space pressure relatively are extraordinarily; commonly pace up and down when many at areal in order to seek the parking stall to the driver; wherein; it is that hardship is looked for without beyond the parking stall that the overwhelming majority is arranged; it may be to have missed the parking stall that part is also arranged; can't turn one's head again and must again look for again new parking space; or; the driver finds the parking stall; but may operate because of bearing circle; barrier observation; the driving experiences such as wheelpath or parking space judgement are not enough; can only by moving back and forth car to be confirmed whether and to stop smoothly, so often cause the awkward situation that to stop smoothly in the parking stall.If still can't stop in the parking stall, except losing time, still can only abandon this parking stall and again look for.Suchlike situation, constantly show every day in streets and lanes, except time and effort consuming, if carry out curb parking on road side bustling with vehicles, hinders unavoidably the moving-wire of back car, causes traffic to hinder, and what is more, traffic accident occurs.
For improving the problem of stopping, in the development of automobile, gradually towards the future development of electronization, safe, attempt to develop the auxiliary driver's driving of all kinds of electronics or mechanism in recent years.Such as tw Taiwan patent of invention I229645 number, be to disclose a kind of parking aid, comprise that an image capturing unit, is disposed near monitor, a yaw angle inspection unit, a guidance unit and the controller the driver's seat; The guiding information of driver Ke Yi parking aid is carried out driver behavior, and vehicle is stopped in the target parking space.Yet in this case, vehicle is can't the auto-measuring parking space, and only uses image sensing unit to carry out environment identification, also only show the reversing boost line during reversing and still must the people for controlling.
Comprehensive above-mentioned parking problem, can find that the action of stopping is the driving behavior that belongs to complicated, the driver is except must quicking observation all around to stopping and judge, for the parking track of vehicle must grasp fine, therefore, how to promote the driver and fast and accurately stop to shorten down time, and to reduce the driver behavior repeat to do various parkings be problem demanding prompt solution.
In view of this, the present invention satisfies the disappearance for above-mentioned prior art, proposes a kind of parking guide method and device, effectively to overcome these above-mentioned problems.
Summary of the invention
Fundamental purpose of the present invention is providing a kind of parking guide method and device, can assist the driver that vehicle guidance is arrived best reference position, makes more fast and accurately vehicle in order of driver, effectively shortens driver's down time.
Another object of the present invention is providing a kind of parking guide method and device, whether can precisely judge the parking grid space enough stops into for vehicle and best stopping guide path is provided, be applicable to multiple car-parking model, stop such as curb parking, reversing warehouse-in and inclined in type, with the demand in response to various shut-down operation.
In order to achieve the above object, the invention provides a kind of parking guide method, comprise the following steps: to read distance between road speed, vehicle and a barrier of the area image of a vehicle and detecting vehicle to obtain an angle and the width of at least one parking lattice and parking lattice; Judge whether the parking lattice meet the Parking condition of vehicle, if not, then again read new parking lattice, if, then according to area image, road speed and distance, obtain the relational coordinate of a present position and parking lattice, estimate according to this default a parking and guide frame and default the parking to guide the relative position of frame and parking compartment; Indicate default the parking at display screen and guide frame, will preset to stop with guided vehicle and guide frame to move to the parking lattice to carry out superimposedly, this moment, vehicle was positioned at a best initial position; And with on the vehicle parking lattice.Therefore, when the driver is positioned at best parking reference position, can utilize and control manually or automatically wheel steering, allow vehicle fast and effectively in the parking lattice, and then reach the driver and be subject to no longer that driving technology is bad, the parking stall is narrow and small or barrier arranged and the problem of worrying about and fearing.
The present invention more provides a kind of parking guide device, is located on the vehicle, and pilot device for parking comprises a display screen, is located in the vehicle to watch for the driver; At least one image sensor is located on the vehicle, to read an area image; One speed of a motor vehicle sensor is with a road speed of detecting vehicle; One distance sensing device is with the distance of detecting vehicle and at least one parking compartment and the distance between detecting vehicle and a barrier; An and processor, connect display screen, image sensor, speed of a motor vehicle sensor and distance sensing device, processor is according to area image, road speed and distance, obtain the relational coordinate of a present position and parking lattice and an angle and the width of parking lattice, estimate according to this default a parking and guide frame, make default the parking guide frame to move to the parking lattice to carry out superimposedly with guiding driver moving vehicle, this moment, vehicle was positioned at an initial position, again with on the vehicle parking lattice.
Under illustrate in detail by specific embodiment, when the effect that is easier to understand purpose of the present invention, technology contents, characteristics and reaches.
Description of drawings
Fig. 1 is Organization Chart of the present invention;
Fig. 2 is flow chart of steps of the present invention;
Fig. 3 is the synoptic diagram that the present invention detects parking grid space the first embodiment;
Fig. 4 is the synoptic diagram that the present invention detects parking grid space the second embodiment;
Fig. 5 A to 5C is that guided vehicle of the present invention will be preset parking guide frame and the parking lattice carry out superimposed synoptic diagram.
Description of reference numerals: 10-parking guide device; The 12-display screen; The 14-image sensor; 16-speed of a motor vehicle sensor; 18-distance sensing device; The 20-loudspeaker; The 22-processor; 24-steering motor controller; The existing vehicle of 26-; First parking lattice of 28-; The 30-parking vehicle; Second parking lattice of 32-; The 3rd parking lattice of 34-; 36-First parking vehicle; Second parking vehicle of 38-; 40-parking lattice; The default parking of 42-guided frame; 44-turns to sensor.
Embodiment
The present invention proposes the Guidance-Mechanism that can stop fast, accurately, sees also Fig. 1 and Fig. 2, and Fig. 1 is Organization Chart of the present invention, and Fig. 2 is flow chart of steps of the present invention.Parking guide device 10 is provided in a side of on the vehicle, when the driver prepares the suitable parking spot of searching, can start parking guide device 10, parking guide device 10 comprises a display screen 12, at least one image sensor 14, a speed of a motor vehicle sensor 16, at least one distance sensing device 18, loudspeaker 20, a processor 22 and a steering motor controller 24, and processor 22 connects display screen 12, image sensor 14, speed of a motor vehicle sensor 16, distance sensing device 18, loudspeaker 20 and steering motor controller 24.Image sensor 16 (such as video camera or monitor) and distance sensing device 18 be better to be can be a plurality ofly, and is located at respectively headstock, the tailstock or the vehicle body position of vehicle.Display screen 12 is a touch control type LCD display screen, and it is arranged on close driver's seat position in the vehicle, the information that provides the driver to watch driving, and steering motor controller 24 is to be located on the bearing circle of vehicle, in order to control the running of bearing circle.
At first, in step S 12, can utilize image sensor 14 to read the area image of existing vehicle front, rear or side, recycling speed of a motor vehicle sensor 16, as be the further road speed of the existing vehicle of detecting such as wheel speed perceptron or acceleration perceptron, utilize distance sensing device 18, as be ultrasonic distance sensing device, according to ultrasonic passback distance with the distance that obtains existing vehicle and parking compartment and the distance between existing vehicle and barrier, and can utilize angle and the width of parking lattice location algorithm to calculate the parking lattice, its formula is as follows:
Formula (1) is the minimum required width C of stopping
X1:
c
x1＝(d·count1+H
m·tanθ
1)·cosθ
1≥W+2t
Formula (2) is the minimum required width C of stopping
X2:
c
x2＝(d·count2-H
o·tanθ
1)·cosθ
1≥W+2t
Formula (3) is the minimum required width c that stops
X3〉=W+2t:
Formula (4) is the minimum required width c that stops
X3〉=W+2t:
c
x3＝(d·count2-H
o·tanθ
1+(H
p-H
q)tanθ
2+H
q·tanθ
1)·cosθ
1.....(θ
1＞θ
2)
Wherein, C
X1, C
X2, C
X3Represent the minimum required parking width of vehicle, d represents the facewidth of speed of a motor vehicle sensor, and count1, count2 represent speed of a motor vehicle sensor 16 and detect total number of teeth between Vehicle Driving Cycle, H
m, H
o, H
p, H
qRepresent the distance of distance sensing device 18 detecting vehicles and parking compartment, θ
1, θ
2Represent a vehicle angles in the parking lattice, W represents the overall width of vehicle, and t represents the overall width nargin that vehicle sails required reservation behind the parking lattice into.
Come the angle of computing parking lattice and the embodiment of width for further specifying the above-mentioned formula of collocation, please cooperate simultaneously Fig. 3 and Fig. 4, be respectively the synoptic diagram of detecting parking grid space the first embodiment and the second embodiment, the variation that is planned to owing to present parking lattice, the type such as the parallel right angle parking lattice in side by side right angle parking lattice, front and back and angle parking lattice about having, no matter be any parking lattice type, all can utilize parking lattice of the present invention to locate angle and width that algorithm calculates the parking lattice, can be in response to the purpose of various detecting parking spaces.At this take the angle of detecting angle parking lattice and width as the example explanation, when reading the area image with parking stall, and when existing vehicle 26 runs to first parking lattice 28, be the distance that obtains 28 of existing vehicle 26 and first parking lattice and the distance between existing vehicle 26 and barrier, wherein barrier can be continuous parking case and puts, wherein have a parking vehicle 30 in the parking lattice, and first parking lattice 28 that detect are positioned at the left side of parking vehicle 30.Processor 22 utilizes ultrasonic distance sensing device to obtain the vertical range Parameter H of existing vehicle 26 and 30 ultrasonic passbacks of parking vehicle
m, and then can obtain the tilt angle theta of parking vehicle 30
1, and calculate the existing vehicle 26 parking lattice C that walked
X1Distance parameter dcount1, again according to distance parameter dcount1 and vertical range Parameter H
m, and the computing that cooperates formula (1) can be obtained angle and the width C of the first parking lattice 28
X1
The execution in step that continues S14 is by angle and the width C of processor 22 according to the first parking lattice 28
X1, to judge whether to meet the car body length and width of existing vehicle 26 and the Parking condition that existing vehicle 26 sails the overall width nargin t of the first parking lattice 28 rear required reservations into; Whether in other words, can judge the parking grid space that detects enough.If not, then point out signal to the user by 20 outputs one of processor 22 control loudspeakers, and get back to step S 12, put to seek separately the new parking case of parking.When existing vehicle 26 is walked forward, when detecting second parking lattice 32 and being positioned at the right of parking vehicle 30, processor 22 utilizes ultrasonic distance sensing device to obtain the vertical range Parameter H o of existing vehicle 26 and 30 ultrasonic passbacks of parking vehicle, and calculate the distance parameter dcount2 of existing vehicle 26 second the parking lattice 32 of walking, again according to distance parameter dcount2 and vertical range Parameter H
o, and the computing that cooperates formula (2) can be obtained angle and the width C of second parking lattice 32
X2In addition, be when being positioned at two parking vehicles middle if detect the 3rd new parking lattice 34 positions, then processor 22 can utilize ultrasonic distance sensing device to obtain the vertical range Parameter H of existing vehicle 26 and 36 ultrasonics passbacks of First parking vehicle
m, and then can obtain the tilt angle theta of First parking vehicle 36
1, sequentially detect and obtain the vertical range Parameter H along existing vehicle 26 direction of travel again
o, H
p, H
q, wherein detect distance parameter H
p, can obtain the tilt angle theta of second parking vehicle 38
2, and calculate the distance parameter dcount2 of existing vehicle 26 the 3rd the parking lattice 34 of walking.If θ
1Less than θ
2, then according to distance parameter dcount2 and vertical range Parameter H
o, H
p, and cooperate the computing of formula (3), can obtain angle and the width C of the 3rd parking lattice 34
X3If θ
1Greater than θ
2, then according to distance parameter dcount2 and vertical range Parameter H
o, H
p, H
q, and cooperate the computing of formula (4), can obtain angle and the width C of the 3rd parking lattice 34
X3
If judge that the parking lattice are when meeting the Parking condition of existing vehicle 26, the parking lattice can be selected to demarcate by a parking spot choice box, as manually choosing demarcation by the driver, and after finishing demarcation, the parking spot choice box can continue at the parking lattice of display screen 12 to show, can carry out next step S16, processor 22 is according to area image, the distance of road speed and existing vehicle and parking compartment, obtain the relational coordinate of a present position and parking lattice, and utilize a parking path planning algorithm to guide frame and default the parking to guide the relative position of frame and parking compartment to estimate default a parking.Owing to can calculate angle and the width of parking lattice through parking lattice location algorithm, and then learn parking lattice type, please cooperate simultaneously Fig. 5 A to 5C, be the example explanation in this stops existing vehicle 26 take auxiliary driver about tool side by side right angle parking lattice, this right angle parking lattice type belongs to the car-parking model that reversing is put in storage.Wherein, parking path planning algorithm is comprised of following formula (4):
e·tanθ＝d；
R
SCos θ+(R-d)=(R
S+ R) cos α; And
(R-d)tanα+{R
S+R-[(R-d)/cosα]}sinα+R
S?sinθ＝e；
Wherein, R represents first turning radius of vehicle, R
sRepresent second turning radius of vehicle, θ represents the angle angle between first turning radius and second turning radius, d represents the reference position of vehicle apart from the vertical range of parking center of a lattice position, e represents this reference position of vehicle apart from the horizontal range of parking center of a lattice position, and α represents the angle angle between reference position and the parking lattice.
Wherein R, R
sParameter preset be the vehicle least radius of gyration, the parameter preset of θ is to produce according to the present position of existing vehicle 26 and the relational coordinate of parking lattice 40, guide frame 42 as default the parking, recycling parking path planning algorithm Extrapolation d, e, α, to obtain the relative position that sails between existing vehicle 26 and the parking lattice 40, shown in Fig. 5 A.Follow execution in step S18, indicate parking lattice 40 and the default guide frame 42 that stops at display screen 12, the driver can move existing vehicle 26 with reference to display screen 12, shown in Fig. 5 B, to preset stop to guide frame 42 move to parking lattice 40 carry out superimposed after, this moment, existing vehicle 26 was positioned at best reference position, shown in Fig. 5 C; Step can be learnt thus, the present invention can provide default the parking to guide frame 42 to assist the driver that existing vehicle 26 is directed into best reference position, the driver can not only be provided the angle trimming movement of stopping, the case of can confirming again to stop is put, and can effectively promote the confidence degree that uses pilot device for parking of the present invention.Last execution in step S20, the driver can select the manual operation bearing circle, because existing vehicle 26 is positioned at best reference position, therefore, the driver can more fast and accurately with in the existing vehicle 26 parking lattice 40, effectively shorten driver's down time.In addition, parking guide device 10 comprises that more one turns to sensor 44, connect processor 22, and be located on the bearing circle of existing vehicle 26, in order to obtain the car body deviation angle of existing vehicle 26 in the middle of the reversing warehouse-in is advanced, when the driver carries out the parking action with the manual operation bearing circle, processor 22 can be according to the car body deviation angle, the obstacle distance that the reverse image that image sensor 14 reads and distance sensing device 18 are detected, and control signal corresponding to output gives display screen 12 and loudspeaker 20, driving states and unusual condition (such as sending phonetic warning or caution cresset etc.) with the existing vehicle 26 of instant repayment to the driver, are used and are improved the security of stopping.Certainly, except the manual operation bearing circle, also can start automatic control bearing circle pattern, processor 22 is according to the input signal of automatically controlling bearing circle, automatically perform existing vehicle 26 and stop running into parking lattice 40 to drive steering motor controller 24 control bearing circle, thus, not only can effectively promote the convenience of parking, can reach time saving and energy saving effect again, especially by street bustling with vehicles, with in the car parking lattice 40, can avoid counteracting rear wagon flow moving-wire fast, reduction accident generation situation.
In sum, utilize parking guidance method and device proposed by the invention, not only can precisely judge the parking grid space whether enough for vehicle stop into, be applicable to detect the parking lattice type of various angles, side by side right angle parking lattice for example, right angle parking lattice and angle parking lattice that front and back are parallel, can specifically provide best stopping guide path again, be applicable to multiple car-parking model, such as curb parking, reversing warehouse-in and inclined in type stop, with the demand in response to various shut-down operation, driving like this does not need to move for a long time vehicle and seeks the angle of stopping, and can effectively save down time yet.
More than explanation is just illustrative for the purpose of the present invention, and nonrestrictive, those of ordinary skills understand; in the situation that does not break away from the spirit and scope that following claims limit, can make many modifications, change; or equivalence, but all will fall within the scope of protection of the present invention.
Claims (4)
1. a parking guide method is characterized in that, comprises the following steps:
A. read the area image of a vehicle and detect distance between road speed, this vehicle and a barrier of this vehicle to obtain an angle and the width of at least one parking lattice and these parking lattice;
B. judge whether these parking lattice meet the Parking condition of this vehicle, if, then carry out next step C, if not, execution in step A then;
C. according to this area image, this road speed and this distance, obtain the relational coordinate of a present position and these parking lattice, estimate according to this relative position that a default parking is guided frame and should be preset stop guide frame and this parking compartment;
D. indicate these parking lattice and should defaultly stop at display screen and guide frame, the driver moves existing vehicle with reference to display screen, should preset the guide frame that stops and moving to these parking lattice and carry out superimposedly, and this vehicle is positioned at an initial position at this moment; And
E. this vehicle is stopped on these parking lattice; Wherein:
This step B is one of them via following parking lattice location algorithm, whether meets the Parking condition of this vehicle to judge these parking lattice:
c
x1＝(d·count1+H
m·tanθ
1)·cosθ
1≥W+2t；
c
x2＝(d·count2-H
o·tanθ
1)·cosθ
1≥W+2t；
c
x3＝(d·count2-H
o·tanθ
1+(H
p-H
q)tanθ
2+H
q·tanθ
1)·cosθ
1，(θ
1＞θ
2)；
Wherein, c
X1, c
X2, c
X3Represent the minimum required parking width of this vehicle, d represents the facewidth of speed of a motor vehicle sensor, and count1, count2 represent this speed of a motor vehicle sensor and detect total number of teeth between this Vehicle Driving Cycle, H
m, H
o, H
p, H
qRepresent the distance sensing device and detect the distance of this vehicle and this parking compartment, θ
1, θ
2Represent a vehicle angles of having stopped into the parking lattice, W represents the overall width of this vehicle, and t represents the overall width nargin that this vehicle sails required reservation behind these parking lattice into;
This step C utilizes a parking path planning algorithm to guide the position of frame and should preset the relative position that stops between guide frame and this parking lattice to estimate this default parking, and this parking path planning algorithm is comprised of following formula:
e·tanθ＝d；
R
SCos θ+(R-d)=(R
S+ R) cos α; And
(R-d)tanα+{R
S+R-[(R-d)/cosα]}sinα+R
Ssinθ＝e；
Wherein, R represents first turning radius of this vehicle, R
sRepresent second turning radius of this vehicle, θ represents the angle angle between this first turning radius and this second turning radius, d represents this present position of this vehicle apart from the vertical range of this parking center of a lattice position, e represents this present position of this vehicle apart from the horizontal range of this parking center of a lattice position, and α represents the angle angle between this present position and this parking lattice; R, R
sParameter preset be this vehicle least radius of gyration, the parameter preset of θ is that this relational coordinate according to this present position of this vehicle and these parking lattice produces, guide frame as this default parking, recycle this parking path planning algorithm Extrapolation d, e, α.
2. a pilot device for parking is characterized in that, is located on the vehicle, and this pilot device for parking comprises:
One display screen is located in this vehicle and watches for the driver;
At least one image sensor is located on this vehicle, to read an area image;
One speed of a motor vehicle sensor is to detect a road speed of this vehicle;
At least one distance sensing device, with the distance of detecting this vehicle and at least one parking compartment and detect this vehicle and a barrier between distance; And
One processor, connect this display screen, this image sensor, this speed of a motor vehicle sensor and this distance sensing device, this processor is according to this area image, this road speed and this distance, obtain the relational coordinate of a present position and these parking lattice and a angle and width that should the parking lattice, estimate according to this default a parking and guide frame, and at these display screen these parking lattice of sign and the guide frame that should defaultly stop, the driver moves existing vehicle with reference to display screen, should preset and stop guide frame to move to these parking lattice to carry out superimposed, this moment, this vehicle was positioned at an initial position, this vehicle is stopped on these parking lattice, wherein again:
This processor be utilize parking lattice location algorithm with computing should the parking lattice this angle and this width; This processor is this distance according to this road speed and this vehicle and this parking compartment, via following should the parking lattice one of them of location algorithm, whether meet the Parking condition of this vehicle to judge these parking lattice:
c
x1＝(d·count1+H
m·tanθ
1)·cosθ
1≥W+2t；
c
x2＝(d·count2-H
o·tanθ
1)·cosθ
1≥W+2t；
c
x3＝(d·count2-H
o·tanθ
1+(H
p-H
q)tanθ
2+H
q·tanθ
1)·cosθ
1，(θ
1＞θ
2)；
Wherein, c
X1, c
X2, c
X3Represent the minimum required parking width of this vehicle, d represents the facewidth of this speed of a motor vehicle sensor, and count1, count2 represent this speed of a motor vehicle sensor and detect total number of teeth between this Vehicle Driving Cycle, H
m, H
o, H
p, H
qRepresent this distance sensing device and detect the distance of this vehicle and this parking compartment, θ
1, θ
2Represent a vehicle angles of having stopped into the parking lattice, W represents the overall width of this vehicle, and t represents the overall width nargin that this vehicle sails required reservation behind these parking lattice into;
This processor is to utilize a parking path planning algorithm to guide the position of frame and should preset the relative position that stops between guide frame and this parking lattice to estimate this default parking, and this parking path planning algorithm is comprised of following formula:
e·tanθ＝d；
R
SCos θ+(R-d)=(R
S+ R) cos α; And
(R-d)tanα+{R
S+R-[(R-d)/cosα]}sinα+R
Ssinθ＝e；
Wherein, R represents first turning radius of this vehicle, R
sRepresent second turning radius of this vehicle, θ represents the angle angle between this first turning radius and this second turning radius, d represents this present position of this vehicle apart from the vertical range of this parking center of a lattice position, e represents this present position of this vehicle apart from the horizontal range of this parking center of a lattice position, and α is on behalf of the angle angle between this present position and this parking lattice; R, R
sParameter preset be this vehicle least radius of gyration, the parameter preset of θ is that this relational coordinate according to this present position of this vehicle and these parking lattice produces, guide frame as this default parking, recycle this parking path planning algorithm Extrapolation d, e, α.
3. pilot device for parking according to claim 2 is characterized in that, this processor is manually controlled wheel steering or automatically controlled wheel steering by this driver according to an operation signal, allows this vehicle stop in these parking lattice.
4. pilot device for parking according to claim 2, it is characterized in that, this processor provides curb parking, reversing is put in storage and the car-parking model of inclined in type parking, and estimates in advance the respectively guide frame that should defaultly stop of this car-parking model, and it is shown on this display screen.
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|---|---|---|---|
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| WO2005102823A1 (en) * | 2004-04-19 | 2005-11-03 | Kabushiki Kaisha Toyota Jidoshokki | Parking assistance apparatus |
| WO2007122863A1 (en) * | 2006-04-25 | 2007-11-01 | Toyota Jidosha Kabushiki Kaisha | Parking assistance device and parking assistance method |
| CN101281037A (en) * | 2007-04-05 | 2008-10-08 | 财团法人车辆研究测试中心 | Automatic stop |
| EP2119602A1 (en) * | 2007-02-15 | 2009-11-18 | Toyota Jidosha Kabushiki Kaisha | Parking assistance device and parking assistance method |
| CN101727754A (en) * | 2008-10-28 | 2010-06-09 | 财团法人车辆研究测试中心 | Parking guiding system and guiding method thereof |
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| WO2005102823A1 (en) * | 2004-04-19 | 2005-11-03 | Kabushiki Kaisha Toyota Jidoshokki | Parking assistance apparatus |
| WO2007122863A1 (en) * | 2006-04-25 | 2007-11-01 | Toyota Jidosha Kabushiki Kaisha | Parking assistance device and parking assistance method |
| EP2119602A1 (en) * | 2007-02-15 | 2009-11-18 | Toyota Jidosha Kabushiki Kaisha | Parking assistance device and parking assistance method |
| CN101281037A (en) * | 2007-04-05 | 2008-10-08 | 财团法人车辆研究测试中心 | Automatic stop |
| CN101727754A (en) * | 2008-10-28 | 2010-06-09 | 财团法人车辆研究测试中心 | Parking guiding system and guiding method thereof |
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