CN107792078A - Outbound servicing unit - Google Patents
Outbound servicing unit Download PDFInfo
- Publication number
- CN107792078A CN107792078A CN201710595677.8A CN201710595677A CN107792078A CN 107792078 A CN107792078 A CN 107792078A CN 201710595677 A CN201710595677 A CN 201710595677A CN 107792078 A CN107792078 A CN 107792078A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- outbound
- end points
- distance
- barrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Abstract
The present invention provides a kind of outbound servicing unit.Outbound servicing unit involved by embodiment has calculating part, configuration part and enforcement division, wherein, the calculating part is according to the testing results of the multiple sensors being provided spaced apart on the overall width direction of vehicle, to calculate to the distance of barrier；Vehicle is being instructed to from just in the case of the parking areas outbound that file is parked, the configuration part will be present in the outbound direction side of vehicle and point of the direct of travel away from the vehicle predetermined distance towards vehicle is set as the imaginary end points of barrier；The enforcement division performs the relevant processing of outbound with vehicle according to imaginary end points.Accordingly, as one, by increasing capacitance it is possible to increase the vehicle of the system of auxiliary vehicle outbound can be carried.
Description
Technical field
Embodiments of the present invention are related to a kind of outbound servicing unit.
Background technology
There is a kind of following such system for making vehicle outbound：(vehicle) can be detected to being present in car by being equipped with vehicle
Front, rear and side barrier distance multiple sensors, according to the distance detected by each sensor come really
Surely make path during vehicle outbound, and make vehicle outbound according to the path of the determination.
Patent document 1：Japanese invention Patent Publication No 2014-121984
The content of the invention
However, need to set can be to the sensing that is detected to the distance for the barrier for being present in vehicle side for the system
Device, in terms of cost etc., the limited possibility height of the vehicle (type of vehicle) of the system can be carried.
As one, the outbound servicing unit involved by embodiments of the present invention has calculating part, configuration part and execution
Portion, wherein：The calculating part according to the testing result for the multiple sensors being provided spaced apart on the overall width direction of vehicle come
Calculate to the distance of barrier；Vehicle is being instructed to from just in the case of the parking areas outbound that file is parked, it is described to set
Determine portion to will be present in the outbound direction side of vehicle and towards point of the direct of travel away from the vehicle predetermined distance of vehicle be set as
The imaginary end points of barrier；The enforcement division performs the relevant processing of outbound with vehicle according to imaginary end points.Therefore, as
One, though be not provided with for calculate vehicle and be present in its side the distance between barrier sensor, also can be
Make vehicle from the end points that the barrier for being present in vehicle side is obtained during the parking areas outbound just parked in file, accordingly, it is capable to
Enough increases can carry the vehicle of the system of auxiliary vehicle outbound.
In above-mentioned outbound servicing unit, as one, also with update section, after vehicle starts outbound, only by
In multiple sensors, the 1st sensor being arranged at outbound with vehicle side in opposite direction detects the situation of back wave
Under, the update section updates imaginary end points using the end points of outbound direction side, wherein the end points of outbound direction side be
In the range of back wave can be detected by the 1st sensor, from outbound direction of the vehicle away from the distance calculated by calculating part
The end points of side.Therefore, as one, after vehicle starts outbound, it also can more precisely obtain and be present in outside vehicle
Barrier end points.Also, the barrier end points for being present in outside vehicle is accurately updated, and therefore, is tried to achieve in use
The barrier end points perform vehicle outbound auxiliary in the case of, can by the end points for the barrier tried to achieve be used as whether
Terminate the judgement material of the outbound auxiliary of vehicle.
In above-mentioned outbound servicing unit, as one, configuration part will be present in the side surface of the outbound direction side of vehicle
Extended line on and positioned at vehicle direct of travel on point be set as imaginary end points.Therefore, can be by vehicle as one
The point that the possibility of vehicle and bar contact is changed into minimum during outbound since parking areas is set as imaginary end points, therefore,
Vehicle can be prevented to be in contact from during the outbound of parking areas with barrier.
In above-mentioned outbound servicing unit, as one, it is specified that distance refers to, according to being instructed to from parking areas outbound
Testing result afterwards and before vehicle starts outbound is come the distance that is calculated by calculating part.Therefore, as one, can incite somebody to action
Point closer to the end points of barrier is set as imaginary end points, therefore, when making vehicle from parking areas outbound, can make vehicle
With the path by the point closer to barrier come outbound.
In above-mentioned outbound servicing unit, as one, it is specified that distance refers to, pass through sensing before vehicle starts outbound
In the case that device does not detect back wave, the upper limit of the distance of the barrier of back wave can be extremely detected by sensor
Distance.Therefore, can the possibility of vehicle and bar contact be changed into during outbound since parking areas by vehicle as one
Minimum point is set as imaginary end points, therefore, it is possible to prevent vehicle from being in contact during the outbound of parking areas with barrier.
In above-mentioned outbound servicing unit, as one, after vehicle starts outbound, do not detected by sensor anti-
In the case of ejected wave, update section updates imaginary end points using the point away from vehicle upper distance limit on extended line, wherein described
Upper distance limit refers to the upper distance limit of the distance to the barrier that back wave can be detected by sensor.Therefore, as one,
Vehicle can be started after the outbound of parking areas, the possibility of vehicle and bar contact is changed into minimum point and is set as imagination
End points, therefore, it is possible to prevent vehicle from being in contact during the outbound of parking areas with barrier.
Brief description of the drawings
Fig. 1 is the exemplary solid for representing the state that the compartment of the vehicle involved by present embodiment is locally had an X-rayed
Figure.
Fig. 2 is the top view (aerial view) for representing one, vehicle involved by present embodiment.
Fig. 3 is the instrument board one of the vehicle involved by present embodiment.
Fig. 4 is the block diagram for representing outbound accessory system possessed by the vehicle involved by present embodiment one.
Fig. 5 is to represent the function knot in the outbound servicing unit realized possessed by the vehicle involved by present embodiment in ECU
The block diagram that structure is one.
Fig. 6 is to represent the imaginary end points renewal handling process one that the ECU as possessed by the vehicle involved by present embodiment is carried out
The flow chart of example.
Fig. 7 A are for illustrating that the renewal of the imaginary end points in the vehicle involved by present embodiment handles the figure of one.
Fig. 7 B are for illustrating that the renewal of the imaginary end points in the vehicle involved by present embodiment handles the figure of one.
Fig. 7 C are for illustrating that the renewal of the imaginary end points in the vehicle involved by present embodiment handles the figure of one.
Fig. 7 D are for illustrating that the renewal of the imaginary end points in the vehicle involved by present embodiment handles the figure of one.
Fig. 7 E are for illustrating that the renewal of the imaginary end points in the vehicle involved by present embodiment handles the figure of one.
Fig. 7 F are for illustrating that the renewal of the imaginary end points in the vehicle involved by present embodiment handles the figure of one.
Fig. 7 G are for illustrating that the renewal of the imaginary end points in the vehicle involved by present embodiment handles the figure of one.
Fig. 8 is for illustrating that the renewal of the imaginary end points in the vehicle involved by present embodiment handles the figure of one.
Description of reference numerals
1：Vehicle；14：ECU；14a：CPU；14b：ROM；14c：RAM；14f：SSD；17：Ranging unit；500：Apart from calculating part；
501：Imaginary end points configuration part；502：Enforcement division；503：Imaginary end points update section；L：Predetermined distance；P：Imaginary end points；X：Extend
Line；Y：Outbound direction.
Embodiment
Below, the vehicle of the outbound servicing unit involved by application present embodiment is illustrated referring to the drawings.
In embodiments, vehicle 1 can be the automobile (internal-combustion engines vehicle) for driving source with internal combustion engine (engine),
Can be for the automobile (electric automobile, fuel cell car etc.) of driving source or with internal combustion engine with motor (motor)
With the automobile (hybrid vehicle) that motor both sides are driving source.In addition, vehicle 1 can carry various speed change gears, also can
Various devices (system, parts etc.) enough needed for carrying driving internal combustion engine or motor.In addition, in vehicle 1 with wheel 3
Mode, quantity, layout of relevant device etc. is driven to carry out various settings.
Fig. 1 is the exemplary solid for showing the state that the compartment of the vehicle involved by present embodiment is locally had an X-rayed
Figure.Fig. 2 is the top view (aerial view) for representing one, vehicle involved by present embodiment.Fig. 3 is involved by present embodiment
Vehicle instrument board one.As shown in figure 1, the vehicle body 2 of the vehicle 1 involved by present embodiment forms the car that occupant is taken
Railway carriage or compartment 2a.In compartment 2a, using the state of (facing) relative with the seat 2b of the driver as occupant, it is provided with manoeuvre portion 4, adds
Fast operating portion 5, brake operating portion 6 and variable speed operation portion 7 etc..Manoeuvre portion 4 is, for example, the steering wheel protruded from instrument board 24.Accelerate
Operating portion 5 is, for example, the accelerator pedal positioned at driver underfooting.Brake operating portion 6 is, for example, that the braking positioned at driver underfooting is stepped on
Plate.Variable speed operation portion 7 is, for example, the gear level protruded from central control board.Manoeuvre portion 4, accelerate operating portion 5, brake operating portion 6
This is not limited to variable speed operation portion 7 etc..
In addition, it is defeated that the display device 8 as display output portion, the sound as audio output unit are provided with compartment 2a
Go out device 9.Display device 8 is, for example, LCD (Liquid Crystal Display：Liquid crystal display), OELD (Organic
Electroluminescent Display：Display of organic electroluminescence) etc..Voice output 9 is, for example, loudspeaker.Separately
Outside, display device 8 covers such as the operation inputting part 10 by touch-screen, transparent.Occupant etc. can visual confirmation pass through operation
Input unit 10 and be shown in the image in the display picture of display device 8.In addition, occupant etc. can be touched by using finger etc.,
Pressing, the mobile position corresponding with the image being shown in the display picture of display device 8, to be held by operation inputting part 10
The input of the various operations (operation signal) of row.
Display device 8, voice output 9, operation inputting part 10 etc. are for example arranged at monitoring arrangement 11, wherein the prison
View apparatus 11 is located at the central portion in the overall width direction (left and right directions) of instrument board 24.Monitoring arrangement 11 can also have switch, dial
The operation inputting parts such as disk, control stick, button.In addition, other sound output dresses can be set in the other positions in compartment 2a
Put, from the voice output 9 of monitoring arrangement 11 and other voice outputs output sound.Monitoring arrangement 11 for example can
Navigation system or audio system are done by dual-purpose.
In addition, the display device 12 different from display device 8 is provided with compartment 2a.As shown in figure 3, display device 12
Such as the instrument panel part 25 of instrument board 24 is arranged at, it is located at speed display part 25a in the substantial middle of instrument panel part 25 and turns
Between fast display part 25b.Size of the picture 12a of display device 12 size than the picture 8a (reference picture 3) of display device 8
It is small.Main display represents to aid in and the image of information that outbound auxiliary is relevant etc. with parking for vehicle 1 in display device 12.By
The information content that display device 12 is shown can be fewer than the information content shown by display device 8.Display device 12 be, for example, LCD or
OELD etc..The information shown by display device 12 can also be shown in display device 8.
In addition, as shown in Figure 1, 2, vehicle 1 is, for example, four-wheel automobile, there are two trailing wheels of the front-wheel 3F of left and right two and left and right
3R.This four wheels 3 are configured to turn to (structure).Vehicle 1 has the manipulation manipulated at least two wheel 3
System 13 (reference picture 4).
In addition, as shown in Fig. 2 it is used as multiple shoot parts 15 provided with such as 4 shoot part 15a~15d on vehicle body 2.
Shoot part 15 is, for example, to be built-in with CCD (Charge Coupled Device：Charge-coupled device) or CIS (CMOS Image
Sensor：Cmos image sensor) etc. capturing element digital camera head.Shoot part 15 is with defined frame per second (frame rate)
Export live image (shooting image).Shoot part 15 has wide-angle lens or fish eye lens respectively, for example can in the horizontal direction
Enough scopes to 140 °~220 ° are shot.In addition, the optical axis of shoot part 15 can be set obliquely downward.Therefore, clap
Take the photograph portion 15 shoot successively 1 moveable road surface of vehicle, the parking areas that vehicle 1 is parked including its periphery object (barrier, people,
Bicycle, vehicle etc.) vehicle 1 peripheral outer environment, and as shooting image export.
Shoot part 15a is arranged at the end 2e of the rear side of vehicle body 2, and is arranged at the wall below the door 2h of luggage boot
Portion.Shoot part 15b is arranged at the end 2f on the right side of vehicle body 2, and is arranged at the outside rear-view mirror (door mirror) on right side
2g.Shoot part 15c is arranged at the end 2c of the front side of vehicle body 2, and is arranged at front bumper etc..Shoot part 15d is arranged at
The end 2d in the left side of vehicle body 2, and it is arranged at the outside rear-view mirror 2g as left side protuberance.
As shown in Figure 1 and Figure 2,8 ranging unit 17a~17h are provided with vehicle body 2 and are used as multiple ranging unit (sensing
Device).Ranging unit 17 is the sonar launched ultrasonic wave and detect the back wave from the barrier for being present in vehicle periphery.Sonar is also
It is referred to as sonar sensor, ultrasonic detector or ultrasonic wave sonar.For example, in barrier (object) close to vehicle 1 and vehicle 1
To be set in advance in the case of following, ranging unit 17 detects from the anti-of the barrier the distance between the barrier
Ejected wave.In addition, make vehicle 1 park or during outbound, ranging unit 17 detect from be present in around vehicle 1 barrier (such as
Parking vehicles, kerb, step, wall, fence) back wave.
Ranging unit 17a, 17b, 17c, 17d are at the rear portion of vehicle 1 (in the present embodiment, finger ends 2e), in vehicle 1
Overall width is provided spaced apart on direction.Also, ranging unit 17a, 17b, 17c, 17d are to rear (the traveling side of vehicle 1 of vehicle 1
To) transmitting ultrasonic wave, and detect the back wave from barrier.In the present embodiment, ranging unit 17a, 17b is after vehicle 1
Portion, set to the left according to ranging unit 17b, ranging unit 17a order from the substantial middle of vehicle 1.In addition, ranging unit 17c,
17d is set according to ranging unit 17c, ranging unit 17d order at the rear portion of vehicle 1 to the right from the substantial middle of vehicle 1.
Ranging unit 17e, 17f, 17g, 17h are anterior (in present embodiment, finger ends 2c) in vehicle 1, in the overall width of vehicle 1
It is provided spaced apart on direction.Also, ranging unit 17e, 17f, 17g, 17h are sent out to the front (direct of travel of vehicle 1) of vehicle 1
Ultrasonic wave is penetrated, and detects the back wave from barrier.In the present embodiment, ranging unit 17e, 17f is anterior in vehicle 1, from
The substantial middle of vehicle 1 is set according to ranging unit 17f, ranging unit 17e order to the right.In addition, ranging unit 17g, 17h exists
Vehicle 1 is anterior, is set to the left according to ranging unit 17g, ranging unit 17h order from the substantial middle of vehicle 1.In this implementation
In mode, the example using sonar as ranging unit 17 is illustrated, but is not limited to this, as long as vehicle can be detected
With the sensor for the distance of barrier being present in around it.For example, ranging unit 17 can also be in the overall width side of vehicle 1
Spaced up interval setting, to vehicle 1 direct of travel (in present embodiment, referring to front or behind) launch light (such as laser,
Infrared ray) or electric wave (for example, millimetre-wave radar), and detect the back wave from the barrier being present in around vehicle 1
Sensor.
Fig. 4 is the block diagram for representing outbound accessory system possessed by the vehicle involved by present embodiment one.Such as Fig. 4 institutes
Show, in vehicle 1, in addition to monitoring arrangement 11, ranging unit 17 etc., steerable system 13, ECU14, brakes 18, rudder angle pass
The car by being used as electrical communication line such as sensor 19, acceleration sensor 20, shift sensor 21 and vehicle-wheel speed sensor 22
Interior network 23 and be electrically connected.In-vehicle network 23 is CAN (Controller Area Network：Controller zone network) etc..
ECU(Electronic Control Unit：ECU) 14 by in-vehicle network 23 send control signal, according to
This controls steerable system 13, brakes 18 etc..In addition, ECU14 by in-vehicle network 23 come receive torque sensor 13b,
Braking sensor 18b, rotation angle sensor 19, ranging unit 17, acceleration sensor 20, shift sensor 21, vehicle-wheel speed sensor
Operation signal of the testing results of 22 grades, operation inputting part 10 etc. etc..
ECU14 has CPU (Central Processing Unit) 14a, ROM (Read Only Memory) 14b, RAM
(Random Access Memory) 14c, display control unit 14d, sound control portion 14e, SSD (Solid State Drive：
Solid-state drive, flash memory) 14f etc..CPU14a perform be directed to by display device 8,12 show image image procossing,
The various calculation process such as the computing of the mobile route of vehicle 1, the detection for the barrier being present in around vehicle 1.CPU14a is read
The program for being mounted and being stored in the Nonvolatile memory devices such as ROM14b, and perform calculation process according to the program.
ROM14b stores various programs and performs parameter needed for the program etc..RAM14c temporarily stores the fortune in CPU14a
Various data used in calculation.Display control unit 14d mainly performs the following processing in the calculation process in ECU14：Obtain by
The processing that shoot part 15 shoots obtained shooting image export to CPU14a and the image from CPU14a acquisition displays simultaneously make
Display device 8,12 shows processing of the image etc..
In addition, sound control portion 14e mainly perform it is in the calculation process in ECU14, for defeated by voice output 9
The processing of the voice data gone out.In addition, SSD14f is rewritable non-volatile memories portion.CPU14a, ROM14b, RAM14c etc.
It is integrated in same encapsulation (package).In addition, ECU14 can also be configured to：DSP is used instead of CPU14a
(Digital Signal Processor:Digital signal processor) etc. other logical operation process devices or logic circuit etc..Separately
Outside, SSD14f can also be replaced and HDD (Hard Disk Drive are set:Hard disk drive), and SSD14f or HDD can also
Different circuit substrates are arranged at from ECU14.
Steerable system 13 has actuator (actuator) 13a and torque sensor 13b.Steerable system 13 is by ECU14 etc.
Electrical control is carried out, is acted actuator 13a.Steerable system 13 is, for example, electric boosting steering system (Electric
power steering system)、SBW(Steer By Wire：Steering-by-wire) system etc..Steerable system 13 passes through actuator
13a applies moment of torsion to manoeuvre portion 4, i.e. application auxiliary torque makes 3 turns of wheel to supplement steering force, or by actuator 13a
To.In this case, actuator 13a can be turned to 1 wheel 3, can also be turned to multiple wheels 3.In addition,
Torque sensor 13b for example detects the moment of torsion that driver gives manoeuvre portion 4.
Brakes 18 is the ABS (Anti-lock Brake System) for the pinning (lock) for suppressing brake, suppressed
Anti- side-slip apparatus (the ESC of the sideslip of vehicle 1 during turning (cornering)：Electronic Stability Control:Electricity
Sub- stability contorting), the electrodynamic braking system, BBW (the Brake By Wire that make brake force enhancing (perform braking auxiliary)：Line traffic control
It is dynamic) etc..Brakes 18 gives brake force to wheel 3 by actuator 18a and then to vehicle 1.In addition, the energy of brakes 18
It is enough that the pinning of brake, the idle running of wheel 3, sign for breakking away etc. are detected according to rotational difference of wheel 3 of left and right etc., so as to hold
The various controls of row.Braking sensor 18b is, for example, the sensor of the position for the movable part for detecting brake operating portion 6.Braking sensing
Device 18b can detect the position of the brake pedal as movable part.Braking sensor 18b includes displacement transducer.
Rotation angle sensor 19 is, for example, the sensor for detecting the manipulated variables of manoeuvre portion 4 such as steering wheel.Rotation angle sensor 19
Such as formed using Hall element.ECU14 obtains driver to the manipulated variable of manoeuvre portion 4, automatically behaviour from rotation angle sensor 19
Manipulated variable of each wheel 3 etc. when vertical, to perform various controls.Rotation angle sensor 19 detects the rotating part that manoeuvre portion 4 is included
The anglec of rotation.
Acceleration sensor 20 is, for example, the sensor for the position for detecting the movable part for accelerating operating portion 5.Acceleration sensor 20
Include displacement transducer, position of the detection as the accelerator pedal of movable part.
Shift sensor 21 is, for example, the sensor of the position for the movable part for detecting variable speed operation portion 7.Shift sensor 21
The position of as movable part, bar, arm, button etc. can be detected.Shift sensor 21 can include displacement transducer, can also
It is configured to switch.
Vehicle-wheel speed sensor 22 is the sensor of the revolution of the rotation amount or time per unit that detect wheel 3.Wheel speed
The wheel speed pulses number for the revolution that the degree output of sensor 22 represents to detect is used as sensor values.Vehicle-wheel speed sensor 22
Such as formed using Hall element etc..ECU14 is according to the sensor values got from vehicle-wheel speed sensor 22 come computing vehicle 1
Amount of movement etc., perform various controls.Vehicle-wheel speed sensor 22 is also arranged at brakes 18 sometimes.In this case,
ECU14 obtains the testing result of vehicle-wheel speed sensor 22 by brakes 18.Above-mentioned various sensors and actuator
Structure, configuration, electric connecting mode etc. are used as one, can carry out various settings (change).
Fig. 5 is to represent the work(in the outbound servicing unit realized possessed by the vehicle involved by present embodiment in ECU
The block diagram of one, structure of energy.As shown in figure 5, ECU14 mainly has apart from calculating part 500, imaginary end points configuration part 501, performed
Portion 502 and imaginary end points update section 503.Apart from calculating part 500, imaginary end points configuration part 501, enforcement division 502 and imaginary end points
Update section 503 is performed by the CPU14a possessed by ECU14 and is stored in ROM14b program to realize.These structures can also
It is configured to be realized by hardware.
Testing result apart from calculating part 500 according to ranging unit 17a, 17b, 17c, 17d to back wave, come calculate as from
Vehicle 1 is to the rear of the distance of barrier apart from (for example, the corner at the rear portion of vehicle 1 and the entrance for being present in the parking areas are attached
The distance between near barrier, the rear portion of vehicle 1 and be present in the distance between barrier of inner side of the parking areas).Separately
Outside, the testing result apart from calculating part 500 according to ranging unit 17e, 17f, 17g, 17h to back wave, to calculate as from vehicle 1
To the distance of barrier front distance (for example, from the anterior corner of vehicle 1 to the barrier for the near exit for being present in parking areas
Hinder the distance of thing).
Instruction operation signal of the vehicle 1 from the parking areas outbound just parked in file is being have input from operation inputting part 10
In the case of, imaginary end points configuration part 501 will be present in the outbound direction side of vehicle 1 and remote towards the direct of travel of vehicle 1
The point of the predetermined distance of vehicle 1 is set as imaginary end points (the hereinafter referred to as imaginary end for the barrier being present in around vehicle 1
Point).In the case where vehicle 1 is from simultaneously outbound of just being advanced in the parking areas that file is parked to the front of vehicle 1, imaginary end points is set
Imaginary end points will be set as towards point of the front of vehicle 1 away from the predetermined distance of vehicle 1 by determining portion 501.On the other hand, in vehicle
1 from just advanced in the parking areas that file is parked to the rear of vehicle 1 and outbound in the case of, imaginary end points configuration part 501 is by court
It is set as imaginary end points to point of the rear of vehicle 1 away from the predetermined distance of vehicle 1.Here, predetermined distance be it is set in advance away from
From.In the present embodiment, advanced forwards and, it is specified that distance refers in the case of outbound in vehicle 1：It is being instructed to vehicle 1
After the outbound of parking areas and before outbound vehicle 1, by apart from calculating part 500 according to ranging unit 17 to back wave
Testing result and the front distance calculated.In addition, in the detection according to the respective back wave of ranging unit 17e, 17f, 17g, 17h
As a result, in the case of calculating different front distances, imaginary end points configuration part 501 will be most short in the front distance calculated
Distance as predetermined distance.In addition, in the present embodiment, rearward advanced in vehicle 1 and in the case of outbound, it is specified that away from
From referring to：Vehicle 1 is being instructed to after the outbound of parking areas and before outbound vehicle 1, by apart from calculating part 500
The rear distance calculated according to ranging unit 17 to the testing result of back wave.In addition, according to ranging unit 17a, 17b, 17c,
The testing result of the respective back waves of 17d, in the case of calculating different rear distances, imaginary end points configuration part 501 will count
Most short distance in the rear distance calculated is as predetermined distance.
The testing result detected according to ranging unit 17 to back wave, it can calculate to the distance of barrier, but it is difficult
To determine to have the direction of barrier.Therefore, in the present embodiment, imaginary end points configuration part 501 will be from vehicle 1 away from front
Distance or the position of rear distance are set as imaginary end points, wherein the front distance or rear distance according to ranging unit 17 to anti-
Testing result that ejected wave is detected and calculate.Also, enforcement division 502 is by the way that on the basis of imaginary end points, control vehicle 1 is carried out
Outbound, it can vehicle 1 in the case where the barriers such as vehicle not existing on the direct of travel with vehicle 1 collide
Storehouse.Accordingly, even if being not provided with the ranging unit for calculating the distance between barrier of the vehicle 1 with being present in its side, also can
It is enough to obtain the end points for the barrier for being present in the side of vehicle 1 when making vehicle 1 from the parking areas outbound just parked in file,
Therefore, it is possible to increase the vehicle for the system that can carry the auxiliary outbound of vehicle 1.Specifically, enforcement division 502 is according to by imaginary end points
The imaginary end points that configuration part 501 is set, perform relevant with the parking areas outbound that the vehicle 1 is just being parked from vehicle 1 in file
Processing.For example, enforcement division 502 is according to imaginary end points, it is determined that making vehicle 1 from the path of parking areas outbound, according to the determination
Path moves vehicle 1, or the path of the determination is shown in display device 12.Accordingly, vehicle 1 is aided in from the area that parks
Domain outbound.
In addition, in the case where have input instruction vehicle 1 to the operation signal that parking areas is parked from operation inputting part 10,
Enforcement division 502 according to by apart from calculating part 500 according to ranging unit 17a~17d the testing result of back wave is calculated away from
From execution and park relevant processing of the vehicle 1 to parking areas.For example, enforcement division 502 apart from calculating part 500 according to by counting
The distance calculated, it is determined that making vehicle 1 park to path during parking areas, moved vehicle 1 according to the identified path
It is dynamic, or the path is shown in display device 12.Accordingly, auxiliary vehicle 1 is parked to parking areas.
After vehicle 1 starts outbound, by the feelings that accurate front distance or rear distance have been calculated apart from calculating part 500
Under condition, imaginary end points is preferably updated.Therefore, after being advanced forwards in vehicle 1 and starting outbound, only by ranging unit 17e,
The ranging unit 17 of opposite side in 17f, 17g, 17h, being arranged at the direction (hereinafter referred to as outbound direction) for making the outbound of vehicle 1
In the case of detecting back wave, imaginary end points update section 503 updates vacation using the end points of following such outbound direction side
Think end points, i.e. in the scope (hereinafter referred to as detection range) for can be detected by the ranging unit 17 back wave away from vehicle 1
By the end points of the outbound direction side of front distance calculated apart from calculating part 500.In addition, rearward advance and open in vehicle 1
After beginning outbound, only by the ranging unit 17 of opposite side in ranging unit 17a, 17b, 17c, 17d, being arranged at outbound direction
In the case of detecting back wave, imaginary end points update section 503 updates vacation using the end points of following such outbound direction side
Think end points, i.e. from vehicle 1 away from the rear distance by being calculated apart from calculating part 500 in the detection range of the ranging unit 17
Outbound direction side end points.Accordingly, after vehicle 1 starts outbound, it also can accurately obtain and be present in outside vehicle 1
Barrier end points, the movement of required advance or retrogressing when forward-reverse switches when making 1 outbound of vehicle therefore, it is possible to reduce
Amount, the mobile efficiency thus, it is possible to improve vehicle 1.Also, the end points for the barrier being present in outside vehicle 1 is by accurately more
Newly, therefore, in the case where being aided in using the end points for the barrier tried to achieve performing the outbound of vehicle 1, will can try to achieve
The end points of the barrier is used as the judgement material for the outbound auxiliary for whether terminating vehicle 1.
Then, using Fig. 6, Fig. 7 A~7G and Fig. 8, to the imaginary end points carried out as the ECU14 involved by present embodiment
Renewal handling process one illustrates.Fig. 6 is to represent the vacation that the ECU as possessed by the vehicle involved by present embodiment is carried out
Think the flow chart of end points renewal handling process one.Fig. 7 A~7G and Fig. 8 are for illustrating the vehicle involved by present embodiment
In the renewal of imaginary end points handle the figure of one.In the following description, vehicle 1 is advanced forwards on one side while from the area that parks
In the case of the outbound of domain, imaginary end points renewal processing illustrates, and is rearward advanced on one side in vehicle 1 while from parking areas
Similarly imaginary end points is updated in the case of outbound.
When the parking areas outbound just parked from the input instruction auxiliary vehicle 1 of operation inputting part 10 from the vehicle 1 in file
Operation signal when, obtained apart from calculating part 500 from ranging unit 17e, 17f, 17g, 17h represent ranging unit 17e, 17f, 17g,
Sensor informations (step S601) of the 17h to the testing result of back wave.In addition, in the present embodiment, not from operation
In the case of the operation signal of the input instruction auxiliary outbound of vehicle 1 of input unit 10, ECU14 does not perform the processing shown in Fig. 6.Connect
, apart from the testing result of back wave of the calculating part 500 according to acquired sensor information, calculate to being present in vehicle
The front distance (step S602) of the barrier in 1 front.
Then, imaginary end points configuration part 501 judges whether not set imaginary end points (step S603).It is being judged as not having
(step S603 in the case of setting imaginary end points：Yes), imaginary end points configuration part 501 will be present in the outbound side of vehicle 1 and court
It is set as imaginary end points (step S604) to point of the front of vehicle 1 away from the predetermined distance of vehicle 1.
In the present embodiment, as shown in Figure 7 A, imaginary end points configuration part 501 will be present in the outbound direction Y sides of vehicle 1
Side surface extended line X on and the point positioned at the front of vehicle 1 be set as imaginary end points P.Hereby it is possible to by vehicle 1 from parking
The point that the possibility of vehicle 1 and bar contact is changed into minimum when region starts outbound is set as imaginary end points, therefore, it is possible to anti-
Only vehicle 1 is in contact from during the outbound of parking areas with barrier.Now, front distance is set as by imaginary end points configuration part 501
Predetermined distance L, wherein the front distance refers to according to being instructed to vehicle 1 after the outbound of parking areas and opened in vehicle 1
The distance that ranging unit 17e, 17f, 17g, 17h calculate to the testing result of back wave before beginning outbound.Also, such as Fig. 7 A institutes
Show, imaginary end points configuration part 501 will be present in being set as imaginary end on extended line X and from point of the vehicle 1 away from predetermined distance L
Point P.Hereby it is possible to the point closer to the end points of barrier is set as into imaginary end points, therefore, when making vehicle 1 from parking areas
During outbound, vehicle 1 can be made with by the path outbound of the point closer to barrier.
On the other hand, survey is passed through after the outbound of parking areas and before outbound vehicle 1 being instructed to vehicle 1
(that is, the situation of barrier is not present in the front of vehicle 1 in the case of not detecting back wave away from portion 17e, 17f, 17g, 17h
Under), as shown in Figure 7 B, imaginary end points configuration part 501 is by upper distance limit LmaxIt is set as predetermined distance L, wherein the upper distance limit
LmaxIt is the upper distance limit of the distance for the barrier that back wave is able to detect that to ranging unit 17e, 17f, 17g, 17h.Also, such as
Shown in Fig. 7 B, imaginary end points configuration part 501 will be present on extended line X and from vehicle 1 away from upper distance limit LmaxPoint be set as
Imaginary end points P.Hereby it is possible to the possibility of vehicle 1 and bar contact is changed into most during outbound since parking areas by vehicle 1
Low point is set as imaginary end points, therefore, it is possible to prevent vehicle 1 from being in contact during the outbound of parking areas with barrier.
After setting imaginary end points P, return to step S601, apart from calculating part 500 from ranging unit 17e, 17f, 17g,
17h obtains sensor information, the testing result of the back wave according to the sensor information, calculates to before being present in vehicle 1
The front distance of the barrier of side.In this case, it is judged as setting imaginary end points (step S603：No), therefore, imaginary end points
Update section 503 judges whether vehicle 1 is retreating and (walked according to acceleration sensor 20 and the testing result of the grade of shift sensor 21
Rapid S605).(the step S605 in the case where being judged as that vehicle 1 retreats：Yes), imaginary end points update section 503 does not update vacation
Think end points P.
For example, as seen in figure 7 c, in the case where the rear vehicle 1 of the beginning outbound of vehicle 1 retreats, even if passing through ranging
Portion 17e, 17f, 17g, 17h detect the back wave from barrier, and the front of vehicle 1 has barrier, imaginary end points update section
503 do not update imaginary end points P yet.In addition, as illustrated in fig. 7d, after vehicle 1 starts outbound, in the case that vehicle 1 retreats,
Even if ranging unit 17e, 17f, 17g, 17h do not detect the back wave from barrier, barrier is not present in the front of vehicle 1,
Imaginary end points update section 503 does not update imaginary end points P yet.Advanced forwards in vehicle 1 and from parking areas outbound in the case of,
In a part for the process, when advancing and (that is, retreat) to side in opposite direction with outbound, vehicle 1, which is gradually distance from, to be present in
The barrier in storehouse direction.In this case, ranging unit 17 and the distance of barrier become remote, and ranging unit 17 is to from the anti-of barrier
The accuracy of detection of ejected wave reduces, or ranging unit 17 includes the possibility height of error to the testing result of the back wave of barrier.
Therefore, in the present embodiment, in the case where vehicle 1 is advanced to direction (front or behind) opposite side of outbound,
Imaginary end points update section 503 does not update imaginary end points P.In addition, rearward being advanced in vehicle 1 and in the case of outbound, imaginary end
Point update section 503 does not update imaginary end points P when being judged as that vehicle 1 advances.In addition, though in the present embodiment,
In the case that vehicle 1 is advanced to direction (front or behind) opposite side of outbound, imaginary end points update section 503 does not update
Imaginary end points P, but be not limited to this, can also in the case where vehicle 1 is advanced to the side in opposite direction of outbound,
Update imaginary end points P.
In addition, (the step S605 in the case where being judged as vehicle 1 without retreating：No), the imaginary basis of end points update section 503
The testing result of acceleration sensor 20 and the grade of shift sensor 21, to judge whether vehicle 1 advances (step S606).Sentencing
Break (step S606 in the case of advancing for vehicle 1 is no：No), imaginary end points update section 503 does not update imaginary end points P.It is another
Aspect, (the step S606 in the case where being judged as that vehicle 1 advances：Yes), imaginary end points update section 503 will be counted by distance
The front distance that calculation portion 500 finally calculates is carried out as the 1st imaginary end points correcting value on imaginary end points P extended line X
Calculate (step S607).In addition, ranging unit 17e, 17f, 17g, 17h do not detect the feelings of back wave after the advance of vehicle 1
Under condition, imaginary end points update section 503 is by upper distance limit LmaxCalculated as the 1st imaginary end points correcting value.
Then, imaginary end points update section 503 judges whether only according to the sensor information by being obtained apart from calculating part 500
By opposite side in ranging unit 17e, 17f, 17g, 17h, being arranged at outbound direction Y ranging unit 17 (in present embodiment,
Ranging unit 17h) detect back wave (step S608).Be judged as only by it is in ranging unit 17e, 17f, 17g, 17h, be arranged at
(step S608 in the case that the ranging unit 17 of outbound direction Y sides detects back wave：No), the imaginary basis of end points update section 503
1st imaginary end points correcting value, to update the position (step S609) of the imaginary end points P on extended line X.
Specifically, as seen in figure 7e, imaginary end points P is updated on extended line X from car by imaginary end points update section 503
1 anterior (for example, end 2c) is towards the point of the front of vehicle 1 away from the 1st imaginary end points correcting value.In addition, advance in vehicle 1
In the case of not detecting back wave by ranging unit 17e, 17f, 17g, 17h afterwards, imaginary end points update section 503 such as Fig. 7 F
It is shown, imaginary end points P is updated on extended line X anterior towards the remote upper distance limit L in the front of vehicle 1 from vehicle 1max's
Point.Accordingly, after vehicle 1 starts outbound, the possibility of vehicle 1 and bar contact can be changed into minimum point as false
End points is thought, therefore, it is possible to prevent vehicle 1 from being in contact during the outbound of parking areas with barrier.
In addition, (the step S608 in the case where being judged as only detecting back wave by ranging unit 17h：Yes), imaginary end points
Update section 503 will be on the Y of outbound direction, from extended line X to the end of outbound direction Y sides in ranging unit 17h detection range
Distance calculates (step S610) as the 2nd imaginary end points correcting value.Then, imaginary end points update section 503 is according to the 1st imaginary end
Point calibration amount and the 2nd imaginary end points correcting value, to update imaginary end points P position (step S609).
Specifically, as shown in Figure 7 G, imaginary end points P is updated on extended line X from car by imaginary end points update section 503
1 it is anterior towards the front of vehicle 1 away from the 1st imaginary end points correcting value, and from extended line X towards opposite with outbound direction Y's
Point of the side away from the 2nd imaginary end points correcting value.That is, as shown in figure 8, imaginary end points P is updated to by imaginary end points update section 503
In the detection range A that can be detected by ranging unit 17h to the distance of barrier, from ends of the ranging unit 17h away from front distance
Point P '.Thereafter, the processing shown in ECU14 repeat steps S601, step S602, step S603, step S605 and step S609, directly
Completed to vehicle 1 from the outbound of parking areas.
In the present embodiment, imaginary end points update section 503 is being judged as only being detected the feelings of back wave by ranging unit 17h
Under condition, the 2nd imaginary end points correcting value of calculating, but other ranging unit 17e, 17f, 17g that can also be beyond by ranging unit 17h
Also continue to calculate the 2nd imaginary end points correcting value in the case of detecting back wave, and according to the 1st imaginary end points correcting value and the 2nd
Imaginary end points correcting value updates imaginary end points P position.Specifically, before only back wave is detected by ranging unit 17h,
In the case where detecting back wave by middle sonar (for example, ranging unit 17f or ranging unit 17g), imaginary end points update section 503
Using on the Y of outbound direction from extended line X to the end of outbound direction Y sides in the detection range of middle sonar distance as the 2nd
Imaginary end points correcting value calculates.Also, imaginary end points update section 503 is by ranging unit 17h before only back wave is detected,
Imaginary end points P is continued to be updated to correct away from the 1st imaginary end points towards the front of vehicle 1 from vehicle 1 is anterior on extended line X
Amount, and from extended line X towards point of the outbound direction Y opposite side away from the 2nd imaginary end points correcting value.Accordingly, even in only by
Before ranging unit 17h detects back wave, the position of the imaginary end points P on the Y of outbound direction can also approach actual barrier
Endpoint location, therefore, it is possible to further reduce the possibility of vehicle 1 and bar contact.
So, the vehicle 1 according to involved by present embodiment, even if being not provided with being used to calculate vehicle 1 and being present in its side
The ranging unit of the distance between the barrier of side, can also be obtained and deposit when making vehicle 1 from the parking areas outbound that file is parked
It is the end points of the barrier of the side of vehicle 1, therefore, it is possible to increase the vehicle for the system that can carry the auxiliary outbound of vehicle 1.
In addition, by by possessed by the vehicle 1 by present embodiment ECU14 perform program pre-deposit ROM etc. come
The program is provided.It can also be configured to：By the way that the program of the ECU14 execution by present embodiment installation form or can be held
The file record of capable form is in the computer such as CD-ROM, floppy disk (FD), CD-R, DVD (Digital Versatile Disk)
The program is provided in readable recording medium.
Also, it can also be configured to：The program of ECU14 execution by present embodiment is stored in and the network such as internet
On the computer of connection, the program is provided by being downloaded by network.Alternatively, it is also possible to be configured to：Pass through internet etc.
Network come provide or issue by present embodiment ECU14 execution program.
It is (apart from calculating part 500, imaginary end points comprising above-mentioned each portion by the ECU14 of the present embodiment programs performed
Configuration part 501, enforcement division 502 and imaginary end points update section 503) modular structure, as the hardware of reality, CPU14a is from above-mentioned
ROM reads program and performed, and accordingly, above-mentioned each portion is loaded into main storage means, is set apart from calculating part 500, imaginary end points
Determine portion 501, enforcement division 502 and imaginary end points update section 503 to generate in main storage means.
Above example goes out embodiments of the present invention, but above-mentioned embodiment only one, it is not intended to limits hair
Bright scope.Above-mentioned embodiment can be implemented in a manner of others are various, in the range of the main idea without departing from invention,
Various omissions, displacement, combination, change can be carried out.In addition, the structure and shape of each embodiment can also aliquot replacement realities
Apply.
Claims (6)
- A kind of 1. outbound servicing unit, it is characterised in thatWith calculating part, configuration part and enforcement division, wherein：The calculating part is according to the testing results of the multiple sensors being provided spaced apart on the overall width direction of vehicle, to calculate Go out to the distance of barrier；The vehicle is being instructed to from just in the case of the parking areas outbound that file is parked, the configuration part will be present in institute State the outbound direction side of vehicle and be set as barrier to point of the direct of travel away from the vehicle predetermined distance of the vehicle Imaginary end points；The enforcement division performs the processing relevant with the outbound of the vehicle according to the imaginary end points.
- 2. outbound servicing unit according to claim 1, it is characterised in thatAlso there is update section, after the vehicle starts outbound, only by it is in the multiple sensor, be arranged at it is described In the case that 1st sensor of the outbound side in opposite direction of vehicle detects the back wave, described in the update section utilization The end points of outbound direction side updates the imaginary end points, wherein the end points of outbound direction side refers to can by the described 1st In the range of sensor detects the back wave, from outbound side of the vehicle away from the distance calculated by the calculating part To the end points of side.
- 3. outbound servicing unit according to claim 1 or 2, it is characterised in thatThe configuration part will be present on the extended line of the side surface of the outbound direction side of the vehicle and be located at the car Direct of travel on point be set as the imaginary end points.
- 4. outbound servicing unit according to any one of claim 1 to 3, it is characterised in thatThe predetermined distance refers to, according to be instructed to after the parking areas outbound and the vehicle outbound it The preceding testing result, come the distance calculated by the calculating part.
- 5. outbound servicing unit according to claim 4, it is characterised in thatThe predetermined distance refers to, does not detect the feelings of back wave by the sensor before the vehicle starts outbound Under condition, the upper distance limit of the distance of the barrier of the back wave can be extremely detected by the sensor.
- 6. outbound servicing unit according to claim 2, it is characterised in thatIn the case where not detecting the back wave by the sensor after the vehicle starts outbound, the renewal Portion updates the imaginary end points using on the extended line from point of the vehicle away from upper distance limit, wherein the upper limit Distance refers to the upper distance limit of the distance to the barrier that the back wave can be detected by the sensor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016170208A JP6730885B2 (en) | 2016-08-31 | 2016-08-31 | Departure support device |
| JP2016-170208 | 2016-08-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107792078A true CN107792078A (en) | 2018-03-13 |
| CN107792078B CN107792078B (en) | 2021-05-18 |
Family
ID=61530278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710595677.8A Active CN107792078B (en) | 2016-08-31 | 2017-07-20 | Auxiliary device for delivery |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6730885B2 (en) |
| CN (1) | CN107792078B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2098844A1 (en) * | 2008-03-06 | 2009-09-09 | Valeo Schalter und Sensoren GmbH | Method and device for detecting contact between a vehicle and a kerbstone |
| JP2011219090A (en) * | 2011-05-30 | 2011-11-04 | Denso Corp | Driving support device |
| CN102963355A (en) * | 2012-11-01 | 2013-03-13 | 同济大学 | Intelligent auxiliary parking method and implementation system thereof |
| CN103879403A (en) * | 2011-03-16 | 2014-06-25 | 丰田自动车株式会社 | Remote vehicle operating device |
| CN105416274A (en) * | 2014-09-12 | 2016-03-23 | 爱信精机株式会社 | Park Exit Assist System And Park Exit Assist Method |
| CN105416275A (en) * | 2014-09-12 | 2016-03-23 | 爱信精机株式会社 | Park Exit Assist System |
-
2016
- 2016-08-31 JP JP2016170208A patent/JP6730885B2/en active Active
-
2017
- 2017-07-20 CN CN201710595677.8A patent/CN107792078B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2098844A1 (en) * | 2008-03-06 | 2009-09-09 | Valeo Schalter und Sensoren GmbH | Method and device for detecting contact between a vehicle and a kerbstone |
| CN103879403A (en) * | 2011-03-16 | 2014-06-25 | 丰田自动车株式会社 | Remote vehicle operating device |
| JP2011219090A (en) * | 2011-05-30 | 2011-11-04 | Denso Corp | Driving support device |
| CN102963355A (en) * | 2012-11-01 | 2013-03-13 | 同济大学 | Intelligent auxiliary parking method and implementation system thereof |
| CN105416274A (en) * | 2014-09-12 | 2016-03-23 | 爱信精机株式会社 | Park Exit Assist System And Park Exit Assist Method |
| CN105416275A (en) * | 2014-09-12 | 2016-03-23 | 爱信精机株式会社 | Park Exit Assist System |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2018036914A (en) | 2018-03-08 |
| CN107792078B (en) | 2021-05-18 |
| JP6730885B2 (en) | 2020-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6724425B2 (en) | Parking assistance device | |
| JP6015314B2 (en) | Device for calculating parking target position, method and program for calculating parking target position | |
| CN106715220B (en) | Parking aid | |
| CN104015659B (en) | Parking assistance system, parking assistance method | |
| US9481368B2 (en) | Park exit assist system and park exit assist method | |
| CN107074274B (en) | Drive assistance device | |
| CN105416281A (en) | Parking assist device and path determination method | |
| JP6096157B2 (en) | Parking assistance device | |
| US10150486B2 (en) | Driving assistance device and driving assistance system | |
| US20160075377A1 (en) | Parking assist system, parking assist method and parking assist control program | |
| CN106687350A (en) | Parking assistance device and parking assistance method | |
| CN107074242A (en) | Apparatus for detecting position of vehicle | |
| CN107925746B (en) | Peripheral monitoring device | |
| JP6852534B2 (en) | Obstacle detection and notification device, method and program | |
| CN107792177A (en) | Parking assistance system | |
| US20160075376A1 (en) | Parking assist system, parking assist method and parking assist control program | |
| CN112572415A (en) | Parking assist apparatus | |
| EP3378720B1 (en) | Driving control apparatus | |
| CN107792178A (en) | Parking assistance system | |
| JP2022023870A (en) | Display control device | |
| US11301701B2 (en) | Specific area detection device | |
| CN107792078A (en) | Outbound servicing unit | |
| JP7114919B2 (en) | Driving support device | |
| JP2021062746A (en) | Parking support device | |
| JP7380073B2 (en) | parking assist device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |