DE602004000669D1 - Fahrhilfeanlage und Fahrhilfeverfahren für ein Fahrzeug - Google Patents

Fahrhilfeanlage und Fahrhilfeverfahren für ein Fahrzeug

Info

Publication number
DE602004000669D1
DE602004000669D1 DE602004000669T DE602004000669T DE602004000669D1 DE 602004000669 D1 DE602004000669 D1 DE 602004000669D1 DE 602004000669 T DE602004000669 T DE 602004000669T DE 602004000669 T DE602004000669 T DE 602004000669T DE 602004000669 D1 DE602004000669 D1 DE 602004000669D1
Authority
DE
Germany
Prior art keywords
driving
vehicle
aid system
assistance method
driving assistance
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
DE602004000669T
Other languages
English (en)
Other versions
DE602004000669T2 (de
Inventor
Katsuhiko Iwazaki
Hisashi Satonaka
Yuichi Kubota
Tomohiko Endo
Akira Matsui
Hideyuki Iwakiri
Toru Sugiyama
Seiji Kawakami
Hiroaki Kataoka
Yuu Tanaka
Yoshifumi Iwata
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.)
Toyota Motor Corp
Aisin Corp
Original Assignee
Aisin Seiki Co Ltd
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 Aisin Seiki Co Ltd, Toyota Motor Corp filed Critical Aisin Seiki Co Ltd
Publication of DE602004000669D1 publication Critical patent/DE602004000669D1/de
Application granted granted Critical
Publication of DE602004000669T2 publication Critical patent/DE602004000669T2/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8086—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle path indication
    • 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
DE602004000669T 2003-06-26 2004-06-24 Fahrhilfeanlage und Fahrhilfeverfahren für ein Fahrzeug Active DE602004000669T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003183103 2003-06-26
JP2003183103A JP3818653B2 (ja) 2003-06-26 2003-06-26 車両用走行支援装置

Publications (2)

Publication Number Publication Date
DE602004000669D1 true DE602004000669D1 (de) 2006-05-24
DE602004000669T2 DE602004000669T2 (de) 2007-04-26

Family

ID=33411110

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602004000669T Active DE602004000669T2 (de) 2003-06-26 2004-06-24 Fahrhilfeanlage und Fahrhilfeverfahren für ein Fahrzeug

Country Status (4)

Country Link
US (1) US7127339B2 (de)
EP (1) EP1491979B1 (de)
JP (1) JP3818653B2 (de)
DE (1) DE602004000669T2 (de)

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US7229139B2 (en) * 2004-03-18 2007-06-12 Ford Global Technologies, Llc Control system for brake-steer assisted parking and method therefor
JP4600653B2 (ja) * 2004-10-28 2010-12-15 株式会社ジェイテクト 操舵制御装置
DE102005037468A1 (de) * 2005-08-09 2007-02-15 Robert Bosch Gmbh Vorrichtung und Verfahren zur Unterstützung eines Einparkvorgangs eines Fahrzeugs
JP4123259B2 (ja) * 2005-09-02 2008-07-23 トヨタ自動車株式会社 物体検出装置および物体検出方法
JP2008089517A (ja) * 2006-10-04 2008-04-17 Sony Corp 方位判別装置、方位判別方法及び方位判別プログラム
DE102006047461A1 (de) * 2006-10-07 2008-04-10 Hella Kgaa Hueck & Co. Verfahren zur Unterstützung des Fahrers eines Kraftfahrzeuges bei einem Einparkvorgang
KR101125488B1 (ko) * 2006-12-28 2012-03-22 가부시키가이샤 도요다 지도숏키 주차 지원 장치, 주차 지원 장치 부품, 주차 지원 방법, 주차 지원 프로그램을 기록한 컴퓨터 판독가능 매체, 차량 주행 파라미터의 산출 방법 및 산출 프로그램을 기록한 컴퓨터 판독가능 매체, 차량 주행 파라미터 산출 장치, 그리고 차량 주행 파라미터 산출 장치 부품
US8538631B2 (en) * 2007-01-23 2013-09-17 GM Global Technology Operations LLC Method and system for vehicle parking assistance
DE102007055391A1 (de) * 2007-11-20 2009-05-28 Valeo Schalter Und Sensoren Gmbh Verfahren und Vorrichtung zur Bahnplanung beim Einparken eines Fahrzeugs
WO2010098216A1 (ja) 2009-02-26 2010-09-02 アイシン精機株式会社 駐車支援装置
JP2010202010A (ja) * 2009-03-02 2010-09-16 Aisin Seiki Co Ltd 駐車支援装置
US9457842B2 (en) * 2010-06-09 2016-10-04 Nissan Motor Co., Ltd. Parking mode selection apparatus and method using the steering wheel
CN102398596B (zh) * 2010-09-07 2015-04-22 北京经纬恒润科技有限公司 泊车控制装置与系统以及泊车控制方法
DE102011109712A1 (de) 2011-08-06 2013-02-07 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum unterstützten Einparken eines Kraftfahrzeugs
JP5983248B2 (ja) * 2012-09-28 2016-08-31 株式会社デンソー 駐車支援装置
JP6088205B2 (ja) * 2012-10-30 2017-03-01 アルパイン株式会社 自動駐車装置および自動駐車制御方法
KR101436624B1 (ko) * 2013-02-07 2014-11-03 주식회사 만도 차선 유지 제어 시스템, 방법 및 컴퓨터 판독 가능한 기록 매체
DE102013212708B4 (de) 2013-06-28 2022-01-13 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Durchführung autonomer Fahrmanöver eines Fahrzeugs
DE102014200687A1 (de) * 2014-01-16 2015-07-16 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrzeugs
US10919574B2 (en) * 2015-11-10 2021-02-16 Hyundai Motor Company Automatic parking system and automatic parking method
JP2017088112A (ja) * 2015-11-17 2017-05-25 三菱電機株式会社 車両用操舵制御装置
CN105628045A (zh) * 2015-12-31 2016-06-01 武汉顶翔智控科技有限公司 一种无人机跟拍路径规划与跟踪方法
JP6833329B2 (ja) * 2016-03-28 2021-02-24 日野自動車株式会社 目標経路生成装置及び操舵制御装置
US10112646B2 (en) * 2016-05-05 2018-10-30 Ford Global Technologies, Llc Turn recovery human machine interface for trailer backup assist
CN110621562B (zh) 2017-06-26 2022-08-05 日立安斯泰莫株式会社 自动停车控制装置
JP7199905B2 (ja) * 2018-10-18 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 自動運転制御装置、および自動運転経路演算方法
US11113824B2 (en) * 2019-04-30 2021-09-07 Aptiv Technologies Limited Heading angle estimation for object tracking
JP7363906B2 (ja) 2019-09-06 2023-10-18 日産自動車株式会社 駐車支援方法及び駐車支援装置
CN111208825B (zh) * 2020-02-18 2023-05-02 北京九曜智能科技有限公司 一种用于自动驾驶的自适应对位方法
CN114435470B (zh) * 2020-11-05 2022-11-25 长沙智能驾驶研究院有限公司 自动倒车控制方法、装置、车辆和存储介质
DE102021105174B3 (de) * 2021-03-04 2022-03-31 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren und Vorrichtung zur Spurregelung eines Fahrzeugs
CN113359766B (zh) * 2021-07-05 2023-06-23 杭州萤石软件有限公司 一种移动机器人的移动控制方法、以及移动机器人

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JP3034121B2 (ja) 1992-04-17 2000-04-17 株式会社豊田中央研究所 無人車の制御装置
JP3266828B2 (ja) * 1997-07-16 2002-03-18 本田技研工業株式会社 車両の自動操舵装置
JP4109798B2 (ja) 1999-06-22 2008-07-02 本田技研工業株式会社 車両の自動操舵装置
DE19940007A1 (de) 1999-08-24 2001-03-08 Bosch Gmbh Robert Verfahren und Vorrichtung zur Unterstützung des Einparkens eines Kraftfahrzeugs
US6476730B2 (en) * 2000-02-29 2002-11-05 Aisin Seiki Kabushiki Kaisha Assistant apparatus and method for a vehicle in reverse motion
EP1465135A1 (de) 2000-04-05 2004-10-06 Matsushita Electric Industrial Co., Ltd. System und Verfahren zur Fahrerunterstützung
JP3881553B2 (ja) * 2002-01-11 2007-02-14 トヨタ自動車株式会社 走行制御装置
DE10256770A1 (de) 2002-12-05 2004-06-17 Bayerische Motoren Werke Ag Verfahren zum Lenken eines rückwärts in eine Parklücke einzuparkenden Fahrzeugs
JP3911492B2 (ja) * 2003-06-26 2007-05-09 トヨタ自動車株式会社 車両用走行支援装置

Also Published As

Publication number Publication date
EP1491979B1 (de) 2006-04-19
EP1491979A1 (de) 2004-12-29
JP2005014778A (ja) 2005-01-20
US7127339B2 (en) 2006-10-24
DE602004000669T2 (de) 2007-04-26
JP3818653B2 (ja) 2006-09-06
US20050027414A1 (en) 2005-02-03

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