WO2005108171A1 - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
- Publication number
- WO2005108171A1 WO2005108171A1 PCT/JP2005/007988 JP2005007988W WO2005108171A1 WO 2005108171 A1 WO2005108171 A1 WO 2005108171A1 JP 2005007988 W JP2005007988 W JP 2005007988W WO 2005108171 A1 WO2005108171 A1 WO 2005108171A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- parking
- driver
- parking assist
- steering
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/10—Automatic or semi-automatic parking aid systems
Definitions
- the present invention relates to a parking assist device that displays a parking assist guide for assisting a driver to park a vehicle on an image behind the vehicle.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2003-11762 (Pages 7-8, Figure 6-7)
- the present invention has been made to solve the conventional problem, and an object of the present invention is to provide a parking assist device that allows a driver to park a vehicle more easily than in the past.
- a parking assistance device includes an imaging unit that captures an image of the rear of a vehicle, a display unit that displays an image captured by the imaging unit, and a vehicle that assists a driver in parking the vehicle.
- Image processing means for superimposing the parking assistance guide on the image taken by the imaging means and displaying the parking assistance guide on the display means.
- the parking assistance guide is for informing the driver of the start of steering of the vehicle.
- the steering start marker is an intersection of tangents at two different points on a predetermined trajectory, and the predetermined trajectory indicates the vehicle when the vehicle retreats at a maximum steering angle.
- Point to do It has a certain configuration.
- the parking assist device of the present invention can notify the driver of the start timing of steering of the vehicle by the steering start marker, so that when the driver starts the parking operation of the vehicle, the vehicle is started. Even if the vehicle is not substantially perpendicular to the parking place, the driver can park the vehicle more easily than before.
- the parking assist guide includes a current steering angle trajectory that is a trajectory predicted to draw the fixed point when the vehicle retreats at the current steering angle.
- the parking assist device of the present invention can inform the driver of the optimum steering angle for the driver to park the vehicle at the parking place by the current steering angle locus, so that the driver can drive more easily.
- the driver can park the vehicle.
- the parking assist guide includes a fixed guide fixed to the steering start marker, and the fixed guide includes at least the predetermined trajectory and the tangent line. It has a configuration that includes one.
- the parking assist device of the present invention can assist the driver in parking the vehicle with the fixed guide as well as the steering start marker, so that the driver can park the vehicle more easily. be able to.
- the parking assist device of the present invention has a configuration in which the fixed guide includes at least one of the tangents at the two points and includes a tangent displayed integrally with the steering start marker. are doing.
- the parking assist device of the present invention includes the steering start marker and the fixed guide as one parking assist guide, as compared with the case where the steering start marker and the fixed guide are displayed as separate items. Can be easily grasped by the driver.
- the tangents at the two points may be approximately 45 degrees and approximately 90 degrees, respectively, with respect to the trajectory predicted to draw the fixed point when the vehicle goes straight and retreats. ° angle.
- the parking assist device of the present invention provides a state in which the driver has difficulty in predicting the route of the vehicle, as compared to a state in which the vehicle is tilted from 0 ° to less than 45 ° with respect to the parking place, car Even when both vehicles are tilted by more than 45 ° with respect to the parking place, the driver can be notified of the start timing of the vehicle by the steering start marker, so that the vehicle can be parked more easily to the driver. Can be done.
- the parking assistance method of the present invention includes an imaging step of imaging the rear of the vehicle, a display step of displaying an image captured by the imaging means, and assisting a driver in parking the vehicle.
- a steering start marker for notifying wherein the steering start marker is an intersection of tangents at two different points on a predetermined trajectory, and the predetermined trajectory is determined when the vehicle retreats at a maximum steering angle. It is a trajectory predicted to draw a predetermined fixed point with respect to the vehicle, and the fixed point is the same as the rotation center point side of the vehicle when the vehicle retreats at the maximum steering angle.
- a structure is a point located on the opposite side against, Ru.
- the parking assist method of the present invention can notify the driver of the start timing of steering of the vehicle by using the steering start marker, so that when the parking operation of the vehicle is started by the driver, the vehicle is started. Even if the vehicle is not substantially perpendicular to the parking place, the driver can park the vehicle more easily than before.
- the fixed point is a point on an extended line of the rear wheel axle of the vehicle, and is defined as a point on the rotation center point side of the vehicle when the vehicle retreats at a maximum steering angle.
- the distance between the predetermined trajectory and the steering start marker, which is located on the outermost side of the vehicle on the opposite side to the vehicle, is determined by the rotation center of the vehicle when the vehicle retreats at the maximum steering angle.
- the point side has a configuration in which the rearmost end of the vehicle on the opposite side of the vehicle is set to have a predetermined distance from a far boundary line of the parking place.
- the parking assist device of the present invention can effectively assist parking, for example, even in a large vehicle having a large vehicle body or a narrow parking space.
- the present invention can provide a parking assist device that allows a driver to park a vehicle more easily than before.
- FIG. 1 is a configuration diagram of a parking assist device and a vehicle according to a first embodiment of the present invention.
- FIG. 2 is a diagram showing an image displayed on a display device of the parking assist device shown in FIG. 1.
- FIG. 3 An explanatory view of a parking assistance guide of the parking assistance device shown in FIG.
- FIG. 4 is a block diagram showing the configuration of the parking assist device shown in FIG. 1.
- FIG. 5 An explanatory diagram of a parking assist method using the parking assist device shown in FIG. 1 when the distance between the vehicle and the parking place is relatively long at the start of the parking operation
- FIG. 6 is an explanatory diagram of a parking assist method using the parking assist device shown in FIG. 1 in a state after the state shown in FIG. 5
- FIG. 7 is an explanatory diagram of a parking assist method by the parking assist device shown in FIG. 1 in a state after the state shown in FIG. 6
- FIG. 8 is an explanatory diagram of a parking assist method by the parking assist device shown in FIG. 1 in a state after the state shown in FIG. 7;
- FIG. 9 An explanatory diagram of a parking assist method using the parking assist device shown in FIG. 1 when the distance between the vehicle and the parking place is relatively short at the start of the parking operation
- FIG. 10 An explanatory diagram of a parking assist method using the parking assist device shown in FIG. 1 in a state after the state shown in FIG.
- FIG. 11 is a block diagram showing a configuration of a parking assistance device according to a second embodiment of the present invention.
- FIG. 12 An explanatory view of a parking assistance guide of the parking assistance device shown in FIG.
- FIG. 13 is a diagram showing an image displayed on the display device of the parking assistance device shown in FIG. 11
- FIG. 14 An explanatory diagram of a parking assistance method using the parking assistance device shown in FIG.
- FIG. 15 An explanatory diagram of a parking assist method by the parking assist device shown in FIG. 11 in a state after the state shown in FIG.
- FIG. 16 An explanatory diagram of a parking assist method by the parking assist device shown in FIG. 11 in a state after the state shown in FIG.
- FIG. 17 is an explanatory diagram of a parking assist method by the parking assist device shown in FIG. 11 in a state after the state shown in FIG. 16
- FIG. 18 An image displayed on the display device of the parking assistance device according to the third embodiment of the present invention. Diagram showing statue
- FIG. 24 is a diagram showing a relationship between a vehicle and a parking place at the start of a parking operation.
- Imaging device (imaging means)
- Image processing device image processing means
- Image processing device image processing means
- Current rudder angle locus parking support guide
- the parking assistance device 10 displays an image to an operator of the vehicle 80 and an imaging device 11 as an imaging unit for imaging the rear of the vehicle 80.
- a display device 12 as display means and a parking assist guide for assisting the driver in parking the vehicle 80 are displayed on the display device 12 so as to be superimposed on the image captured by the imaging device 11 and displayed on the display device 12.
- An image processing device 20 is provided.
- the image processing device 20 is configured to display a steering start marker 31 (see FIG. 2) for notifying the driver of the start of steering of the vehicle 80 on the display device 12 as a parking assistance guide. .
- the steering start marker 31 is the intersection of the tangents 33 and 34 at two different points on the predetermined trajectory 32.
- the trajectory 32 is a trajectory predicted to draw a predetermined fixed point 35 with respect to the vehicle 80 when the vehicle 80 moves backward at the maximum steering angle.
- the rotation center point 36 side of the vehicle 80 when reversing is a point located on the opposite side to the vehicle 80.
- the fixed point 35 is a point on the extension line of the rear axle of the vehicle 80, the distance from the side surface of the vehicle 80 being constant, and the rotation of the vehicle 80 when the vehicle 80 retreats at the maximum steering angle.
- the center point 36 side is a point located on the opposite side to the vehicle 80.
- the image processing device 20 Image conversion device 21 that performs various image conversions such as correction of distortion due to lens distortion of the imaging device 11 and a guide that superimposes a parking assistance guide on an image converted by the image conversion device 21 It has a superimposing device 22.
- the guide superimposing device 22 includes a data unit 22a that stores data representing the position, color, and the like of the parking assist guide in the image, and a generation unit 22b that generates an image signal to be output to the display device 12.
- the generation unit 22b is configured to execute the image conversion performed by the image conversion device 21 based on the image data sequentially input from the image conversion device 21 and the data stored by the data unit 22a.
- An image signal in which a parking assistance guide is superimposed is generated. That is, the guide superimposing device 22 can superimpose an arbitrary parking assistance guide on an image by changing data in the data section 22a.
- the driver determines that the angle 37 formed between the straight line extending in the traveling direction of the vehicle 80 and the center line of the parking place 90 is the trajectory that the fixed point 35 draws when the vehicle 80 moves straight back.
- the parking operation using the parking assist device 10 is started. .
- the driver While viewing the image displayed on the display device 12 (see FIG. 4), the driver sets the steering start marker 31 on the straight line 91 a passing through the far boundary 91 of the parking place 90 as shown in FIG. Move vehicle 80 straight back until it is in position.
- the driver starts retreating the vehicle 80 at the maximum steering angle, and then displays the state of the rotation center point 36 outside the vehicle 80 on the side mirror of the vehicle 80.
- the vehicle 80 can be parked at the parking place 90 as shown in FIG. 8 by retreating the vehicle 80 while returning the steering wheel appropriately also with the maximum steering angle force confirmed by the above.
- the driver can move the steering wheel appropriately from the maximum steering angle and move the vehicle 80 backward instead of the method of retreating the vehicle 80.
- the vehicle 80 can be parked at the parking location 90 as shown in FIG. In this method, the driver retreats to the parking area 90 near the entrance 92, and the vehicle 80 moves closer to the front boundary 93 instead of the far boundary 91 of the parking area 90.
- the parking operation can be learned relatively early.
- the angles 39, 40 formed by the tangents 33, 34 with respect to the trajectory 38 which is predicted to draw the fixed point 35 when the vehicle 80 moves straight back, are set arbitrarily. It is possible to do. However, when the angles 39 and 40 between the tangents 33 and 34 and the trajectory 38 are around 90 ° and 45 °, respectively, the effectiveness becomes remarkable.
- the vehicle enters the parking operation after passing ahead of the entrance 92 of the parking place 90 and moving forward. In this case, in many cases, the parking operation starts when the angle 37 between the straight line extending in the traveling direction of the vehicle 80 and the center line of the parking place 90 is 45 ° or more.
- the parking assist device 10 can be used. Vehicle 80 and parking 90 even when not in use
- the relative position between the vehicle and the parking space is relatively easy because the vehicle can park easily.
- the angle 37 between the straight line extending in the direction of travel of the vehicle 80 and the center line of the parking location 90 is 45 ° or more and 90 ° or less. In this case, it is difficult for a driver who is unfamiliar with driving to grasp the positional relationship between the vehicle 80 and the parking place 90 and park the vehicle 80 in the parking place 90.
- the parking assist device 10 can notify the driver of the start timing of the steering of the vehicle 80 by the steering start marker 31, so that the parking operation of the vehicle 80 is started by the driver. Even if the vehicle 80 is not substantially perpendicular to the parking place 90 when the vehicle is parked, the driver can park the vehicle 80 more easily than before.
- the parking assist device 10 allows the driver to park the vehicle 80 even when the distance between the vehicle 80 and the parking location 90 is relatively short at the start of the parking operation. A wide area cannot be secured in front of 92! / In the parking lot, the driver can park the vehicle 80.
- the parking assist device 10 is a simple driving operation that allows the driver to move the vehicle 80 straight back until the steering start marker 31 is positioned on a straight line 91a passing through the far boundary 91 of the parking place 90. By itself, the driver can be notified that the steering of the vehicle 80 has started. [0047] Further, since the parking assist device 10 includes the image conversion device 21, a straight line on the road surface such as the boundary 91 of the parking place 90 can be displayed as a straight line in the image displayed by the display device 12. This makes it easier for the driver to make a judgment based on the image displayed by the display device 12, such as judging the parallelism, than when the straight line on the road surface is distorted in the image displayed by the display device 12. Can be Of course, the parking assist device 10 does not need to include the image conversion device 21.
- the same configuration as the configuration of the parking assist device 10 (see FIG. 4) according to the first embodiment is the same as that of the parking assist device 10.
- the detailed description is omitted using the same reference numerals as those of the configuration.
- the configuration of parking assist device 110 according to the present embodiment is such that parking assist device is provided in place of image processing device 120 (see FIG. 4) as image processing device 120 as image processing means. 10 (see Fig. 4) has the same configuration.
- the configuration of the image processing device 120 is such that when the vehicle 80 (see FIG. 12) moves backward at the current steering angle, the current steering angle, which is a trajectory predicted to draw the fixed point 35 (see FIG. 12).
- a trajectory calculation device 121 for calculating a trajectory 131 has the same configuration as that provided in the image processing device 20.
- the trajectory calculation device 121 is a signal that can define the traveling direction of the vehicle 80 such as an angle signal of the steering wheel or the steered wheels of the vehicle 80, and is a signal that specifies a steering angle signal input by an external force and a preset steering angle signal.
- the current steering angle trajectory 131 is calculated by using the atsumi-force one-man model using the specifications of the vehicle 80 such as the wheelbase length and the vehicle width of the vehicle 80. Further, the trajectory calculation device 121 calculates the position where the current steering angle trajectory 131 is projected in the image using camera parameters such as the installation position of the imaging device 11 and the angle of view. Further, the trajectory calculation device 121 inputs the calculated data to the data section 22a of the guide superimposition device 22.
- the image processing device 120 displays the steering start marker 31 and the current steering angle locus 131 on the display device 12 (see FIG. 11) as a parking assistance guide. I'm wearing
- the driver makes an angle 37 between the straight line extending in the traveling direction of the vehicle 80 and the center line of the parking place 90, and the fixed point 35 when the vehicle 80 goes straight back and retreats. If the angle between the tangent 33 to the trajectory 38 and the angle 40 to the tangent 34 to the trajectory 38, the parking assist device 110 (see Fig. 11) is used. Start the parking operation.
- the driver While viewing the image displayed on the display device 12 (see FIG. 11), the driver places the steering start marker 31 on the straight line 9 la passing through the far boundary 91 of the parking place 90 as shown in FIG.
- the vehicle 80 is moved straight back until the vehicle is positioned.
- the trajectory 32 when the steering start marker 31 is located on the straight line 91a is located on the straight line 91a or on the vehicle 80 side with respect to the straight line 91a.
- the driver moves the vehicle 80 straight forward or backward to move the vehicle 80 forward or backward.
- the vehicle 80 can be parked at the parking place 90 as shown in FIG.
- the parking assist device 110 can notify the driver of the optimal steering angle for the driver to park the vehicle 80 at the parking location 90 by the current steering angle locus 131. As a result, the driver can park the vehicle 80 more easily than the parking assist device 10 (see FIG. 4) according to the first embodiment.
- the parking assist device 110 includes the image conversion device 21, a straight line on the road surface such as the boundary 91 of the parking place 90 can be displayed as a straight line in the image displayed by the display device 12. If the straight line on the road surface is distorted in the image displayed by the display device 12, As compared with the case, the driver's determination based on the image displayed by the display device 12, such as determination of parallelism, can be facilitated. Of course, the parking support device 110 does not need to include the image conversion device 21.
- the configuration of the parking assist device according to the present embodiment is substantially the same as the configuration of the parking assist device 10 (see FIG. 4) according to the first embodiment.
- the detailed description is omitted by using the same reference numerals.
- the image processing device 20 (see FIG. 4) of the parking assist device according to the present embodiment includes a steering start marker 31 and a tangent 3 displayed integrally with the steering start marker 31.
- the tangent line 34 constitutes a fixed guide fixed to the steering start marker 31.
- the driver sets the angle 37 between the straight line extending in the traveling direction of the vehicle 80 and the center line of the parking place 90 at the fixed point 35 when the vehicle 80 goes straight and retreats.
- the parking assist device according to the present embodiment is used. Start the parking operation.
- the driver While viewing the image displayed on the display device 12 (see FIG. 1), the driver sets the steering start marker 31 on a straight line 91a passing through the far boundary 91 of the parking place 90 as shown in FIG. Move vehicle 80 straight back until it is in position.
- the driver may make the extending direction of the tangent 34, which is a fixed guide, and the extending direction of the straight line 9la in the same direction.
- the vehicle 80 is retracted at the maximum steering angle.
- FIG. 20 since the track 32 when the steering start marker 31 is located on the straight line 91a is located on the straight line 91a or on the vehicle 80 side with respect to the straight line 91a, FIG. To As shown, when the extending direction of the tangent line 34 and the extending direction of the straight line 91a are in the same direction, the tangent line 34 is located on the straight line 91a or on the vehicle 80 side with respect to the straight line 91a.
- FIG. 1 When the tangent line 34 is located on the vehicle 80 side with respect to the straight line 9 la when the extending direction of the tangent line 34 and the extending direction of the straight line 91 a are in the same direction, FIG. The vehicle 80 is moved straight back until the tangent line 34 is on the straight line 91a as shown.
- the driver moves the vehicle 80 straight forward or backward to move the vehicle 80 forward or backward.
- the vehicle 80 can be parked at the parking place 90 as shown in FIG.
- the parking assist device can assist the driver in parking the vehicle 80 not only by the steering start marker 31 but also by the tangent line 34 that is a fixed guide. In comparison with the parking assist device 10 according to the first embodiment (see FIG. 4), the driver can park the vehicle 80 more easily.
- the parking assist device drives vehicle 80 at the maximum steering angle or ⁇ straight ahead from the start of the parking operation to the adjustment of the front-rear position of vehicle 80 relative to parking location 90.
- the first embodiment does not require the driver to reverse the gear, and does not require the driver to switch gears to the reverse force forward or the driver to properly return the steering wheel from the maximum steering angle.
- the driver can more easily park the vehicle 80.
- the parking assist device according to the present embodiment does not need to input an external force steering angle signal
- the configuration of the vehicle 80 can be simplified as compared with the parking assist device 110 that does not need to include the configuration for detecting the steering angle of the vehicle 80 in the vehicle 80.
- the parking assist device uses the tangent 34 displayed integrally with the steering start marker 31 as a fixed guide, so that the steering start marker 3
- the steering start marker 31 and the fixed guide can be easily recognized by the driver as one parking assist guide as compared with the case where 1 and the fixed guide are displayed separately.
- the parking assist device may use the trajectory 32 and the tangent 33 as a fixed guide.
- the parking assist device according to the present embodiment includes the image conversion device 21, a straight line on the road surface such as the boundary 91 of the parking place 90 is directly displayed in the image displayed by the display device 12.
- the operation based on the image displayed by the display device 12, such as determination of parallelism, can be displayed as a line, and compared with a case where a straight line on the road surface is displayed distorted in the image displayed by the display device 12. Judgment of the person can be facilitated.
- the parking assist device according to the present embodiment uses straight tangent lines 33 and 34 as the fixed guide, it is effective to include the image conversion device 21.
- the parking assist device according to the present embodiment may not include the image conversion device 21.
- the fixed point 35 is a point on the extension of the rear wheel axle of the vehicle 80 and the distance from the side surface of the vehicle 80 is constant.
- the rotation center point 36 of the vehicle 80 when the vehicle 80 reverses at the maximum steering angle has been described as being located on the opposite side to the vehicle 80, the present invention is not limited to this.
- the fixed point 35 has a constant relationship with the vehicle 80, and is the same as long as the vehicle 80 retreats at the maximum steering angle and is located on the opposite side of the vehicle 80 from the rotation center point 36 side of the vehicle 80. The effect of is obtained. For example, as shown in FIG.
- the fixed point 35 is a point on the extension line of the rear axle of the vehicle 80, and the rotation center point 36 side of the vehicle 80 when the vehicle 80 retreats at the maximum steering angle is relative to the vehicle 80. May be located on the opposite side of the vehicle.
- the distance L between the trajectory 32 and the steering start marker 31 is equal to the distance between the left side surface of the vehicle 80 and the far boundary 91 of the parking place 90 as shown in FIG.
- the distance L is set in consideration of the width of the vehicle 80 and the width of the parking place 90, for example, it is possible to effectively assist parking even in a large car having a large body or a narrow parking lot. .
- the rotation center point 36 side of the vehicle 80 when the vehicle 80 retreats at the maximum steering angle is the rearmost end of the vehicle 80 on the opposite side of the vehicle 80.
- the rearmost end on the left side of the vehicle 80 has such a distance that it does not touch the distant boundary 91 of the parking place 90 during parking.
- the distance L may be set as described above.
- the rearmost end T on the left side corresponds to the bumper part of the vehicle 80 that is most likely to come into contact with the distant boundary 91 of the parking location 90 when parking at the parking location 90 on the left rear of the vehicle 80. It will be possible to effectively support parking even in large vehicles with large body widths and parking spaces with narrow width.
- the distance L may be set shorter if the driver is skilled in driving, or longer if the driver has little driving experience. It is also possible.
- the parking assist device according to the present invention has an effect that a driver can park a vehicle more easily than before, and is useful as a parking assist device for an automobile or the like.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2006512964A JPWO2005108171A1 (ja) | 2004-05-06 | 2005-04-27 | 駐車支援装置 |
EP05736504A EP1743808A4 (en) | 2004-05-06 | 2005-04-27 | PARKING ASSISTANCE APPARATUS |
US10/580,791 US7599771B2 (en) | 2004-05-06 | 2005-04-27 | Parking assisting apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004137651 | 2004-05-06 | ||
JP2004-137651 | 2004-05-06 |
Publications (1)
Publication Number | Publication Date |
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WO2005108171A1 true WO2005108171A1 (ja) | 2005-11-17 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2005/007988 WO2005108171A1 (ja) | 2004-05-06 | 2005-04-27 | 駐車支援装置 |
Country Status (5)
Country | Link |
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US (1) | US7599771B2 (ja) |
EP (1) | EP1743808A4 (ja) |
JP (1) | JPWO2005108171A1 (ja) |
CN (1) | CN100572145C (ja) |
WO (1) | WO2005108171A1 (ja) |
Cited By (4)
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WO2009147920A1 (ja) * | 2008-06-03 | 2009-12-10 | アイシン精機株式会社 | 駐車支援装置 |
US8049778B2 (en) | 2007-05-30 | 2011-11-01 | Aisin Seiki Kabushiki Kaisha | Parking assistance device |
US8258933B2 (en) | 2007-04-30 | 2012-09-04 | Hyundai Motor Company | Parking guidance method for vehicle |
CN112348718A (zh) * | 2020-10-26 | 2021-02-09 | 上汽通用五菱汽车股份有限公司 | 智能辅助驾驶指导方法、装置和计算机存储介质 |
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JP5105149B2 (ja) * | 2007-04-18 | 2012-12-19 | アイシン精機株式会社 | 駐車支援装置 |
US8378850B2 (en) * | 2009-09-11 | 2013-02-19 | Ford Global Technologies, Llc | Vehicle park assist system and method for parking a vehicle using such system |
JP5035321B2 (ja) * | 2009-11-02 | 2012-09-26 | 株式会社デンソー | 車両周辺表示制御装置および車両周辺表示制御装置用のプログラム |
US9207677B2 (en) * | 2014-01-02 | 2015-12-08 | Automotive Research & Testing Center | Vehicle positioning method and its system |
US20150375786A1 (en) * | 2014-06-27 | 2015-12-31 | Shu-Chen Chan | Automatic turning deceleration device for a mobility aid |
KR101795151B1 (ko) | 2015-10-05 | 2017-12-01 | 현대자동차주식회사 | 주차안내 장치 및 방법 |
KR101745152B1 (ko) * | 2015-10-13 | 2017-06-08 | 현대자동차주식회사 | 전자동 주차 시스템 및 그 동작 방법 |
US10683035B2 (en) * | 2015-12-08 | 2020-06-16 | Panasonic Intellectual Property Management Co., Ltd. | Parking assistance device, parking assistance method, and non-transitory computer readable medium |
JP6854095B2 (ja) * | 2016-07-01 | 2021-04-07 | フォルシアクラリオン・エレクトロニクス株式会社 | 駐車支援装置 |
CN110837814B (zh) * | 2019-11-12 | 2022-08-19 | 深圳创维数字技术有限公司 | 车辆导航方法、装置及计算机可读存储介质 |
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- 2005-04-27 EP EP05736504A patent/EP1743808A4/en not_active Withdrawn
- 2005-04-27 WO PCT/JP2005/007988 patent/WO2005108171A1/ja not_active Application Discontinuation
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8258933B2 (en) | 2007-04-30 | 2012-09-04 | Hyundai Motor Company | Parking guidance method for vehicle |
US8049778B2 (en) | 2007-05-30 | 2011-11-01 | Aisin Seiki Kabushiki Kaisha | Parking assistance device |
WO2009147920A1 (ja) * | 2008-06-03 | 2009-12-10 | アイシン精機株式会社 | 駐車支援装置 |
JP2009292228A (ja) * | 2008-06-03 | 2009-12-17 | Aisin Seiki Co Ltd | 駐車支援装置 |
US8907815B2 (en) | 2008-06-03 | 2014-12-09 | Aisin Kabushiki Kaisha | Parking support device |
CN112348718A (zh) * | 2020-10-26 | 2021-02-09 | 上汽通用五菱汽车股份有限公司 | 智能辅助驾驶指导方法、装置和计算机存储介质 |
CN112348718B (zh) * | 2020-10-26 | 2024-05-10 | 上汽通用五菱汽车股份有限公司 | 智能辅助驾驶指导方法、装置和计算机存储介质 |
Also Published As
Publication number | Publication date |
---|---|
EP1743808A4 (en) | 2010-01-20 |
US20070112490A1 (en) | 2007-05-17 |
US7599771B2 (en) | 2009-10-06 |
JPWO2005108171A1 (ja) | 2008-03-21 |
CN100572145C (zh) | 2009-12-23 |
CN1906063A (zh) | 2007-01-31 |
EP1743808A1 (en) | 2007-01-17 |
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