CN113165643B - 停车辅助装置 - Google Patents

停车辅助装置 Download PDF

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Publication number
CN113165643B
CN113165643B CN201980080740.1A CN201980080740A CN113165643B CN 113165643 B CN113165643 B CN 113165643B CN 201980080740 A CN201980080740 A CN 201980080740A CN 113165643 B CN113165643 B CN 113165643B
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CN
China
Prior art keywords
parking
vehicle
sonar
detection
control unit
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.)
Active
Application number
CN201980080740.1A
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English (en)
Chinese (zh)
Other versions
CN113165643A (zh
Inventor
早川嘉纪
水濑雄树
大林干生
福万真澄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Toyota Motor Corp
Original Assignee
Denso Corp
Toyota Motor Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Publication of CN113165643A publication Critical patent/CN113165643A/zh
Application granted granted Critical
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R99/00—Subject matter not provided for in other groups of this subclass
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201980080740.1A 2018-12-04 2019-11-14 停车辅助装置 Active CN113165643B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018227570A JP7221669B2 (ja) 2018-12-04 2018-12-04 駐車支援装置
JP2018-227570 2018-12-04
PCT/JP2019/044717 WO2020116119A1 (ja) 2018-12-04 2019-11-14 駐車支援装置

Publications (2)

Publication Number Publication Date
CN113165643A CN113165643A (zh) 2021-07-23
CN113165643B true CN113165643B (zh) 2024-02-13

Family

ID=70973985

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980080740.1A Active CN113165643B (zh) 2018-12-04 2019-11-14 停车辅助装置

Country Status (5)

Country Link
US (1) US12043247B2 (https=)
JP (2) JP7221669B2 (https=)
CN (1) CN113165643B (https=)
DE (1) DE112019006043T5 (https=)
WO (1) WO2020116119A1 (https=)

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* Cited by examiner, † Cited by third party
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JP7198391B2 (ja) * 2020-12-28 2022-12-28 本田技研工業株式会社 車両制御装置、車両制御システム、車両制御方法、およびプログラム
JP7213279B2 (ja) * 2021-02-03 2023-01-26 本田技研工業株式会社 運転支援装置
JP7616369B2 (ja) * 2021-05-28 2025-01-17 日産自動車株式会社 転舵制御方法及び転舵制御装置
US11854269B2 (en) * 2021-06-04 2023-12-26 Waymo Llc Autonomous vehicle sensor security, authentication and safety
CN113682319B (zh) * 2021-08-05 2023-08-01 地平线(上海)人工智能技术有限公司 摄像头调整方法及装置、电子设备和存储介质
KR20230114796A (ko) * 2022-01-24 2023-08-02 현대자동차주식회사 자율주차 보조 장치 및 방법

Citations (11)

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JP2009262701A (ja) * 2008-04-23 2009-11-12 Fuji Heavy Ind Ltd 自動制動制御装置
WO2010134240A1 (ja) * 2009-05-18 2010-11-25 パナソニック株式会社 駐車支援装置、駐車支援方法及び駐車支援プログラム
WO2013037546A1 (de) * 2011-09-16 2013-03-21 Robert Bosch Gmbh Verfahren zum unterstützen eines automatischen einparkvorgangs eines einparkhilfesystems eines fahrzeugs sowie ein entsprechendes fahrzeug
KR20130118116A (ko) * 2012-04-19 2013-10-29 현대모비스 주식회사 자동 주차 보조 시스템에서 장애물 충돌 회피 장치 및 방법
KR20140098443A (ko) * 2013-01-31 2014-08-08 주식회사 에이피엑스 카메라 통합형 주차 조향 보조 시스템 및 자동 주차 방법
CN105163986A (zh) * 2012-12-13 2015-12-16 丰田自动车株式会社 停车辅助装置
JP2015232845A (ja) * 2014-06-10 2015-12-24 株式会社デンソー 運転支援装置
KR20170058598A (ko) * 2015-11-19 2017-05-29 주식회사 만도 주차 지원 장치 및 그의 주차 제어 방법
JP2017165296A (ja) * 2016-03-17 2017-09-21 株式会社日立製作所 自動運転制御システム
WO2018116686A1 (ja) * 2016-12-19 2018-06-28 株式会社デンソー 駐車支援装置
JP6400249B1 (ja) * 2017-07-26 2018-10-03 三菱電機株式会社 運転制御システムおよび運転支援方法

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JPS60222320A (ja) * 1984-10-12 1985-11-06 Honda Motor Co Ltd 車両用摺動式屋根構造
JP5278031B2 (ja) 2009-02-24 2013-09-04 日産自動車株式会社 駐車支援装置及び駐車支援方法
DE102010023162A1 (de) * 2010-06-09 2011-12-15 Valeo Schalter Und Sensoren Gmbh Verfahren zum Unterstützen eines Fahrers eines Kraftfahrzeugs beim Einparken in eine Parklücke, Fahrerassistenzeinrichtung und Kraftfahrzeug
US20150166059A1 (en) * 2013-12-18 2015-06-18 Automotive Research & Testing Center Autonomous vehicle driving support system and autonomous driving method performed by the same
JP6049811B1 (ja) * 2015-06-23 2016-12-21 三菱電機株式会社 自動駐車制御装置
KR101786237B1 (ko) 2015-12-09 2017-10-17 현대자동차주식회사 운전자보조시스템용 센서의 고장진단 및 보정을 위한 장치 및 방법
JP6964271B2 (ja) 2016-03-31 2021-11-10 パナソニックＩｐマネジメント株式会社 運転支援方法およびそれを利用した運転支援装置、自動運転制御装置、車両、プログラム
US10203408B2 (en) 2016-07-29 2019-02-12 Faraday & Future Inc. Method and apparatus for detection and ranging fault detection and recovery
KR101915166B1 (ko) * 2016-12-30 2018-11-06 현대자동차주식회사 자동 주차 시스템 및 자동 주차 방법
JP6664371B2 (ja) * 2017-12-13 2020-03-13 本田技研工業株式会社 物体認識装置、物体認識方法及び車両
US10553044B2 (en) * 2018-01-31 2020-02-04 Mentor Graphics Development (Deutschland) Gmbh Self-diagnosis of faults with a secondary system in an autonomous driving system
CN111886166B (zh) 2018-03-23 2023-08-25 日立安斯泰莫株式会社 驻车辅助装置
JP7199937B2 (ja) * 2018-11-28 2023-01-06 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

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009262701A (ja) * 2008-04-23 2009-11-12 Fuji Heavy Ind Ltd 自動制動制御装置
WO2010134240A1 (ja) * 2009-05-18 2010-11-25 パナソニック株式会社 駐車支援装置、駐車支援方法及び駐車支援プログラム
WO2013037546A1 (de) * 2011-09-16 2013-03-21 Robert Bosch Gmbh Verfahren zum unterstützen eines automatischen einparkvorgangs eines einparkhilfesystems eines fahrzeugs sowie ein entsprechendes fahrzeug
KR20130118116A (ko) * 2012-04-19 2013-10-29 현대모비스 주식회사 자동 주차 보조 시스템에서 장애물 충돌 회피 장치 및 방법
CN105163986A (zh) * 2012-12-13 2015-12-16 丰田自动车株式会社 停车辅助装置
KR20140098443A (ko) * 2013-01-31 2014-08-08 주식회사 에이피엑스 카메라 통합형 주차 조향 보조 시스템 및 자동 주차 방법
JP2015232845A (ja) * 2014-06-10 2015-12-24 株式会社デンソー 運転支援装置
KR20170058598A (ko) * 2015-11-19 2017-05-29 주식회사 만도 주차 지원 장치 및 그의 주차 제어 방법
JP2017165296A (ja) * 2016-03-17 2017-09-21 株式会社日立製作所 自動運転制御システム
WO2018116686A1 (ja) * 2016-12-19 2018-06-28 株式会社デンソー 駐車支援装置
JP6400249B1 (ja) * 2017-07-26 2018-10-03 三菱電機株式会社 運転制御システムおよび運転支援方法

Also Published As

Publication number Publication date
JP2022171734A (ja) 2022-11-11
WO2020116119A1 (ja) 2020-06-11
JP2020090145A (ja) 2020-06-11
US12043247B2 (en) 2024-07-23
US20210284140A1 (en) 2021-09-16
JP7221669B2 (ja) 2023-02-14
JP7444211B2 (ja) 2024-03-06
DE112019006043T5 (de) 2021-10-28
CN113165643A (zh) 2021-07-23

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