JP2004284530A - Automatic parking device - Google Patents

Automatic parking device Download PDF

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Publication number
JP2004284530A
JP2004284530A JP2003081090A JP2003081090A JP2004284530A JP 2004284530 A JP2004284530 A JP 2004284530A JP 2003081090 A JP2003081090 A JP 2003081090A JP 2003081090 A JP2003081090 A JP 2003081090A JP 2004284530 A JP2004284530 A JP 2004284530A
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Japan
Prior art keywords
parking
rim
vehicle speed
accelerator opening
control
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
Application number
JP2003081090A
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Japanese (ja)
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JP3861068B2 (en
Inventor
Tomohiko Endo
Hideyuki Iwakiri
Katsuhiko Iwasaki
Yoshifumi Iwata
Hiroaki Kataoka
Seiji Kawakami
Yuichi Kubota
Akira Matsui
Hisashi Satonaka
Susumu Sugiyama
Masaru Tanaka
有一 久保田
克彦 岩▲崎▼
英之 岩切
良文 岩田
享 杉山
章 松井
清治 河上
寛暁 片岡
優 田中
知彦 遠藤
久志 里中
Original Assignee
Aisin Seiki Co Ltd
Toyota Motor Corp
アイシン精機株式会社
トヨタ自動車株式会社
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, アイシン精機株式会社, トヨタ自動車株式会社 filed Critical Aisin Seiki Co Ltd
Priority to JP2003081090A priority Critical patent/JP3861068B2/en
Publication of JP2004284530A publication Critical patent/JP2004284530A/en
Application granted granted Critical
Publication of JP3861068B2 publication Critical patent/JP3861068B2/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic parking device for halting automatic parking control at a more proper stage while allowing a driver to operate an accelerator pedal. <P>SOLUTION: A noise reducing rim has a plurality of projecting parts extending into a cavity between a tire and a rim on part of a rim drop part in a direction of a rim shaft at intervals in a circumferential direction of the rim, and the projecting parts form a wall of the drop part itself to be integrally formed with the rim. As the projecting part is formed only on part of the rim drop part in the direction of the rim shaft, a tire bead can be dropped into a part without any projecting part formed in the direction of the rim shaft of the rim drop part to install the tire to the rim. In the automatic parking device executing parking support control automatically guiding a vehicle to a target parking position, the necessity of halting the parking support control can be determined based on a relationship between a detected vehicle speed and accelerator opening. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an automatic parking device that executes parking assistance control for automatically guiding a vehicle to a target parking position.
[0002]
[Prior art]
In general, in a parking assist system that automatically guides a vehicle to a target parking position, a vehicle is automatically retracted using a creep force of a vehicle equipped with an automatic transmission, and wheels are automatically turned at a predetermined steering angle. Automatic parking control is performed to steer the vehicle. In such a parking assist system, a technique for continuing automatic parking control only when a driver is operating a brake pedal is known (for example, see Patent Document 1). According to this conventional technique, since the driver operates the brake pedal during the automatic parking control, when the driver finds an obstacle during the automatic parking control, the driver can immediately stop the vehicle with the brake pedal.
[0003]
[Patent Document 1]
JP-A-10-114272
[Problems to be solved by the invention]
However, a situation in which the automatic parking control is actually performed may be a situation in which the vehicle is moved backward to a target parking position on an inclined uphill. In this case, since the vehicle does not move only by the creep force, the driver needs to operate the accelerator pedal. Therefore, in the configuration in which the automatic parking control is interrupted when the operation of the brake pedal is stopped as in the above-described related art, there is a disadvantage that the automatic parking control that requires the operation of the accelerator pedal is not established.
[0005]
On the other hand, when the operation of the accelerator pedal is permitted during the automatic parking control, the possibility of the vehicle retreating at a relatively high speed increases, so that it is necessary to set an appropriate automatic parking control interruption condition. In this case, as an interrupting condition of the automatic parking control, it is conceivable to set a maximum allowable vehicle speed as a threshold value in consideration of the fact that the vehicle does not stop immediately when the automatic parking control is interrupted. However, the threshold value in this case is set to a relatively low value in consideration of the delay between the depression of the accelerator pedal and the increase in vehicle speed, and the difference in the time to brake operation caused by the presence or absence of the accelerator pedal operation. It is inevitable that it is not an ideal condition for interrupting the automatic parking control.
[0006]
Therefore, an object of the present invention is to provide an automatic parking device that allows an automatic parking control to be interrupted at a more appropriate stage while allowing the driver to operate an accelerator pedal.
[0007]
[Means for Solving the Problems]
An object of the present invention is to provide an automatic parking device that performs parking assistance control for automatically guiding a vehicle to a target parking position, as described in claim 1.
This is achieved by an automatic parking device characterized by determining the necessity of interrupting the parking support control based on the relationship between the detected vehicle speed and the accelerator opening.
[0008]
According to the present invention, by judging the necessity of interrupting the parking assist control based on the relationship between the detected value of the vehicle speed and the detected value of the accelerator opening, from the depression of the accelerator pedal to the actual increase of the vehicle speed In consideration of the delay of the time, the automatic parking control can be interrupted before the vehicle speed reaches a high value at which the parking assist control should be interrupted. Therefore, according to the present invention, the availability and safety of the parking assist control are improved by increasing the responsiveness to the increase in the vehicle speed while allowing the accelerator pedal to be depressed.
[0009]
In addition, the object of the present invention is to prevent the parking assist control from being interrupted to a relatively large accelerator opening when the vehicle speed is relatively low, and to have a relatively small accelerator opening when the vehicle speed is relatively high. By an automatic parking device that performs interruptions in degrees, or
When the accelerator opening is relatively small, the parking assist control is not interrupted until the vehicle speed reaches a relatively high value, whereas when the accelerator opening is relatively large, the vehicle speed is relatively low. This is effectively achieved by an automatic parking device which executes the interruption of the parking assistance control when the vehicle speed reaches a value, that is, at a stage where the vehicle speed is at a relatively low value.
[0010]
According to the present invention, when the vehicle speed is relatively low, the accelerator operation necessary for climbing the uphill is allowed, while when the vehicle speed is relatively high, the operation from the accelerator pedal depressing operation to the actual increase in the vehicle speed is performed. In consideration of the delay of the time, the automatic parking control can be interrupted at an early stage according to the accelerator opening. Therefore, according to the present invention, the automatic parking control can be interrupted at a more appropriate stage while preventing unnecessary interruption, and the reliability of the parking assist control is improved.
[0011]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
[0012]
FIG. 1 is a system configuration diagram showing an embodiment of the automatic parking device according to the present invention. As shown in FIG. 1, the automatic parking device mainly includes an electronic control unit 12 (hereinafter, referred to as a “parking support ECU 12”). The parking assist ECU 12 is configured as a microcomputer including a CPU, a ROM, a RAM, and the like connected to each other via a bus (not shown). The ROM stores a program executed by the CPU, a determination map described later, and the like.
[0013]
The parking assist ECU 12 has a yaw rate sensor 14 for detecting an angular velocity (yaw rate Yr) of the vehicle in a yaw direction and a rudder for detecting a steering angle Ha of a steering wheel (not shown) via an appropriate bus such as a high-speed communication bus. An angle sensor 16 and a vehicle speed sensor 18 for detecting the speed V of the vehicle are connected. The vehicle speed sensor 18 may be a wheel speed sensor that is provided for each wheel and generates a pulse signal at a cycle corresponding to the wheel speed. Output signals of the yaw rate sensor 14, the steering angle sensor 16 and the vehicle speed sensor 18 are supplied to the parking assist ECU 12. The parking assist ECU 12 is also connected to an accelerator opening sensor 10 for detecting an accelerator opening. The accelerator opening sensor 10 supplies an output signal corresponding to the amount of depression of the accelerator pedal to the parking assist ECU 12.
[0014]
A reverse shift switch 50 and a parking switch 52 are connected to the parking assist ECU 12. The reverse shift switch 50 outputs an ON signal when the transmission lever is operated to the reverse position, and keeps the OFF state otherwise. Further, the parking switch 52 is provided in the vehicle compartment, and can be operated by a user. The parking switch 52 is normally kept off, and is turned on by a user operation. The parking assist ECU 12 determines whether the vehicle is in a reverse state based on the output signal of the reverse shift switch 50 and determines whether the user needs parking assistance based on the output signal of the parking switch 52. Determine.
[0015]
A back monitor camera 20 disposed in the center of the bumper at the rear of the vehicle and a display monitor 22 provided in the vehicle compartment are connected to the parking assist ECU 12. The back monitor camera 20 is a CCD camera that captures a landscape in a predetermined angle area behind the vehicle, and supplies the captured image signal to the parking assist ECU 12. The parking assist ECU 12 displays the image captured by the back monitor camera 20 on the display monitor 22 when both the reverse shift switch 50 and the parking switch 52 are on. At this time, the parking target position setting touch panel is displayed on the display monitor 22 together with the captured image. The user performs an operation on the display monitor 22 to match the target parking frame on the captured image with the actual parking frame using the parking target position setting touch panel. When the position of the target parking frame is determined on the captured image, the parking assist ECU 12 calculates the target trajectory that guides the vehicle from the current position of the vehicle to the parking target frame on the captured image while avoiding obstacles, and calculates the target trajectory. The target steering angle of the wheel to be steered at each position on the trajectory is calculated.
[0016]
Automatic steering means 30, automatic braking means 32 and automatic driving means 34 are connected to the parking assist ECU 12 via an appropriate bus. The parking assist ECU 12 controls the automatic steering means 30, the automatic braking means 32, and the automatic driving means 34 so that the vehicle is guided to the parking target position along the target trajectory. Specifically, when the driver loosens the brake pedal, the creep force is generated, and when the vehicle starts to retreat, the parking assist ECU 12 causes the automatic steering means 30 to operate the wheel at each vehicle position up to the parking target position. Is automatically turned by the target turning angle. Then, when the vehicle finally reaches the parking target position, the driver is requested to stop the vehicle (or the vehicle is automatically stopped by the automatic braking means 32), and the parking assist control is completed.
[0017]
During execution of the parking support control, the parking support ECU 12 monitors whether or not a condition for suspending the parking support control is satisfied. This interruption condition is satisfied when a new obstacle is detected, when the driver intends to interrupt, such as when the driver operates the steering wheel with a predetermined torque or more, and the like. When the suspending condition is satisfied, the parking assist ECU 12 immediately suspends the parking assist control and automatically stops the vehicle by the automatic braking means 32 as necessary.
[0018]
By the way, as described above, when the parking support control interruption condition is satisfied, even when the parking support control is promptly interrupted to automatically stop the vehicle, the vehicle is moving at a certain speed when the interruption condition is satisfied. The vehicle does not stop immediately, but travels a certain distance and stops. Therefore, for example, when the parking assistance control is interrupted due to the appearance of a new obstacle, the vehicle may contact the new obstacle depending on the vehicle speed when the appearance of the new obstacle is detected. Inconvenience may occur. Further, it is not preferable from the viewpoint of safety to continue the parking assist control at a high vehicle speed.
[0019]
On the other hand, in the present embodiment, the relationship between the vehicle speed and the accelerator opening as shown in FIG. 2 is used as the interruption condition regarding the vehicle speed. FIG. 2 shows a determination map that defines a threshold value of the accelerator opening with respect to the vehicle speed.
[0020]
During execution of the parking assist control, the parking assist ECU 12 of the present embodiment determines the threshold value of the accelerator opening based on the output signal of the vehicle speed sensor 18 using a determination map as shown in FIG. If the detected value of the accelerator opening from 10 exceeds the threshold value, it is determined that the parking assist control should be interrupted. On the other hand, other interrupting conditions are not satisfied. It is determined that the parking support control should not be interrupted as long as it is.
[0021]
In this embodiment, as shown in FIG. 2, when the vehicle speed is relatively low, the interruption condition is satisfied with a relatively small accelerator opening, and when the vehicle speed is relatively high, the interruption condition is satisfied with a relatively large accelerator opening. More specifically, when the vehicle speed belongs to a low-speed range from zero to point A (for example, 0.5 km / h), the first threshold value (for example, 20%) is relatively large. Is set to a variable value that gradually decreases from the first threshold value to the second threshold value (for example, 7%) from the point A to the point B (for example, 2.0 km / h). In a high-speed region where the vehicle speed exceeds the point B, the second threshold value is maintained.
[0022]
By the way, since the depression of the accelerator pedal causes an increase in the vehicle speed, a configuration in which the automatic parking control is interrupted when the depression of the accelerator pedal is detected (that is, when the accelerator opening> 0) is considered. However, in such a configuration, the automatic parking control is interrupted only by the driver accidentally touching the accelerator pedal. Further, when the vehicle does not retreat only by creeping force, such as on an uphill, the driver needs to depress the accelerator pedal. Therefore, in order to enhance the usefulness of the automatic parking control, it is desirable to appropriately allow the accelerator pedal to be depressed during the execution of the automatic parking control.
[0023]
On the other hand, when the accelerator pedal is allowed to be depressed, the vehicle speed may reach a high value, and the vehicle speed may not be immediately stopped when the automatic parking control is interrupted. It is desirable to interrupt the automatic parking control before reaching the value (the maximum allowable value). On the other hand, a configuration in which the automatic parking control is interrupted when the vehicle speed exceeds a predetermined threshold regardless of whether the accelerator pedal is depressed or the depression amount of the accelerator pedal is considered. However, in practice, there is a time delay from when the accelerator pedal is depressed to when the vehicle speed is increased. Therefore, simply monitoring the vehicle speed at a certain moment causes the automatic parking control to be interrupted before the vehicle speed reaches the upper limit value. I can't. Therefore, in such a configuration, in order to interrupt the automatic parking control before the vehicle speed reaches the upper limit value, the predetermined threshold value must be set to a value sufficiently smaller than the upper limit value. In some cases, automatic parking control is interrupted.
[0024]
On the other hand, in the present embodiment, as described above, in the low speed range, it is determined that the possibility that the vehicle speed reaches the upper limit value is low regardless of the depression amount of the accelerator pedal, and the accelerator for climbing an uphill or the like is determined. A priority is given to the necessity of the depression operation of the pedal, and a relatively large depression amount of the accelerator pedal is allowed. On the other hand, in the high-speed range, priority is given to interrupting the automatic parking control before the vehicle speed reaches the upper limit, considering that the vehicle speed is likely to reach the upper limit later depending on the accelerator pedal depression amount at that time. Thus, only a relatively small depression amount of the accelerator pedal is allowed.
[0025]
Therefore, according to the present embodiment, by judging whether or not the automatic parking control can be interrupted based on the depression amount of the accelerator pedal (that is, the accelerator opening), from the depression operation of the accelerator pedal until the vehicle speed actually increases. In consideration of the time delay, the automatic parking control can be interrupted before the vehicle speed reaches the upper limit value, and the responsiveness of the interruption of the automatic parking control to the increase in the vehicle speed is improved. Further, according to the present embodiment, by considering the amount of depression of the accelerator pedal according to the vehicle speed, even when the vehicle is moved backward along a steep gradient that requires a large amount of depression of the accelerator pedal, The automatic parking control is not interrupted unnecessarily.
[0026]
Next, a process executed by the parking assist ECU 12 of the present embodiment will be described with reference to FIG. Note that this processing routine may be started at the same time as the start of the parking assist control, and may be executed every sampling cycle of the accelerator opening sensor 10. The output signals of the accelerator opening sensor 10 and the vehicle speed sensor 18 are supplied to the parking assist ECU 12 at each sampling cycle of the accelerator opening sensor 10.
[0027]
In step 100, it is determined whether the flag under execution of the parking support control is on. The flag under execution of the parking assistance control is, for example, a flag that is turned on when the position of the target parking frame is determined on the display monitor 22, and is turned off when the vehicle reaches the target parking position. May be. In this step 100, if the flag under execution of the parking assist control is in the on state, the process proceeds to step 110. If the flag is in the off state, the current routine proceeds without any further processing. Is terminated.
[0028]
In step 110, it is determined whether the driver has operated the accelerator pedal based on the accelerator opening obtained from the accelerator opening sensor 10. When the operation of the accelerator pedal by the driver is detected, the process proceeds to step 120. When the operation is not detected, the current routine is terminated without any further processing.
[0029]
In step 120, a threshold for the accelerator opening sensor is determined according to the vehicle speed from the vehicle speed sensor 18 using a determination map as shown in FIG. 2, and the threshold and the accelerator opening obtained from the accelerator opening sensor 10 are determined. Is compared with the detected value. When the accelerator opening obtained from the accelerator opening sensor 10 is larger than the threshold value in step 120, it is determined that the automatic parking control should be interrupted, and the process proceeds to step 130. On the other hand, if the accelerator opening obtained from the accelerator opening sensor 10 is not larger than the threshold value, it is determined that the automatic parking control should not be interrupted in the current routine, and no further processing is performed thereafter. Is terminated.
[0030]
In step 130, a process for interrupting the automatic parking control is executed. When the process of step 130 is completed, the flag for executing parking assistance control is turned off in step 140, and then the current routine is terminated. In this embodiment, when the vehicle speed from the vehicle speed sensor 18 exceeds a predetermined value, the process of step 130 may be executed without evaluating the accelerator opening of the accelerator opening sensor 10. .
[0031]
Although the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above-described embodiment, and various modifications and substitutions can be made to the above-described embodiment without departing from the scope of the present invention. Can be added.
[0032]
In particular, various modifications and substitutions can be made to the determination map shown in FIG. 2 without departing from the scope of the present invention. For example, as shown in FIG. 4, the threshold value of the accelerator opening may be a variable value that increases from the second threshold value to a maximum value of 100% until the vehicle speed reaches zero from the point B. . In such a case, when the vehicle speed is near zero, the automatic parking control is continued without being affected by the value of the accelerator opening.
[0033]
Further, in the above-described embodiment, the configuration is such that the threshold value of the accelerator opening is made variable in accordance with the vehicle speed. However, the present invention is not particularly limited to this, and the threshold value of the vehicle speed is determined in accordance with the accelerator opening. Is naturally possible. In this case, when the accelerator opening is small, the vehicle speed threshold is set to a large value, and when the accelerator opening is large, the vehicle speed threshold is set to a small value. Thereby, the same effect as in the above-described embodiment can be obtained.
[0034]
Also, taking into account that the vehicle travel distance from when the parking assist control is interrupted to when it stops may differ depending on whether or not the accelerator pedal is depressed even at the same vehicle speed (particularly when the vehicle stops driving. (The time required for operating the brake pedal depends on whether or not the accelerator pedal is operated when the brake pedal is operated by the user), and the vehicle speed threshold can be varied depending on whether or not the accelerator pedal is depressed. It is.
[0035]
【The invention's effect】
According to the present invention, it is possible to interrupt the automatic parking control at a more appropriate stage while allowing the driver to operate the accelerator pedal.
[Brief description of the drawings]
FIG. 1 is a system configuration diagram showing an embodiment of an automatic parking device according to the present invention.
FIG. 2 is a diagram illustrating an example of a determination map that defines a threshold value of an accelerator opening with respect to a vehicle speed.
FIG. 3 is a flowchart of a processing routine executed by a parking assist ECU 12 of the embodiment.
FIG. 4 is a diagram showing another embodiment of a determination map for defining a threshold value of an accelerator opening with respect to a vehicle speed.
[Explanation of symbols]
10 accelerator opening sensor 12 parking assist ECU
14 Yaw rate sensor 16 Steering angle sensor 18 Vehicle speed sensor 20 Back monitor camera 22 Display monitor 30 Automatic steering means 32 Automatic braking means 34 Automatic driving means 50 Reverse shift switch 52 Parking switch

Claims (3)

  1. In an automatic parking device that executes parking assistance control that automatically guides a vehicle to a target parking position,
    An automatic parking device, which determines whether parking assistance control needs to be interrupted based on a relationship between a detected vehicle speed and an accelerator opening.
  2. The automatic parking according to claim 1, wherein when the vehicle speed is relatively low, the suspension of the parking assist control is not performed until the accelerator opening is relatively large, while when the vehicle speed is relatively high, the suspension is performed at the relatively small accelerator opening. apparatus.
  3. When the accelerator opening is relatively small, the parking assist control is not interrupted until the vehicle speed reaches a relatively high value. On the other hand, when the accelerator opening is relatively large, the parking assist control is not executed when the vehicle speed reaches a relatively low value. The automatic parking device according to claim 1, wherein the control is interrupted.
JP2003081090A 2003-03-24 2003-03-24 Automatic parking equipment Active JP3861068B2 (en)

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Application Number Priority Date Filing Date Title
JP2003081090A JP3861068B2 (en) 2003-03-24 2003-03-24 Automatic parking equipment

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JP3861068B2 JP3861068B2 (en) 2006-12-20

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1892178A2 (en) 2006-08-25 2008-02-27 Jtekt Corporation Vehicle steering system
WO2008105283A1 (en) * 2007-02-27 2008-09-04 Toyota Jidosha Kabushiki Kaisha Vehicle travel support device and method
US7516003B2 (en) 2006-06-07 2009-04-07 Jtekt Corporation Vehicle steering system
JP2009286211A (en) * 2008-05-28 2009-12-10 Nsk Ltd Electric power steering device
WO2014083818A1 (en) * 2012-11-27 2014-06-05 日産自動車株式会社 Acceleration suppression device for vehicles and acceleration suppression method for vehicles
WO2014083819A1 (en) * 2012-11-27 2014-06-05 日産自動車株式会社 Vehicle acceleration restriction device and vehicle acceleration restriction method
WO2014083820A1 (en) * 2012-11-27 2014-06-05 日産自動車株式会社 Vehicle acceleration-suppression device, and vehicle acceleration-suppression method
DE102006035371B4 (en) * 2005-10-28 2017-06-01 Advics Co., Ltd. Driving support device
US9862379B2 (en) 2015-11-11 2018-01-09 Hyundai Motor Company Parking assist apparatus and method for controlling vehicle speed
JP2018150012A (en) * 2017-03-15 2018-09-27 本田技研工業株式会社 Parking support apparatus
CN109501797A (en) * 2018-12-07 2019-03-22 威马汽车科技集团有限公司 A kind of control method and automated parking system of automatic parking
DE102019117023A1 (en) 2018-06-27 2020-01-02 Toyota Jidosha Kabushiki Kaisha Parking assist apparatus

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006035371B4 (en) * 2005-10-28 2017-06-01 Advics Co., Ltd. Driving support device
US7516003B2 (en) 2006-06-07 2009-04-07 Jtekt Corporation Vehicle steering system
EP1892178A2 (en) 2006-08-25 2008-02-27 Jtekt Corporation Vehicle steering system
US7865283B2 (en) 2006-08-25 2011-01-04 Jtekt Corporation Vehicle steering system
WO2008105283A1 (en) * 2007-02-27 2008-09-04 Toyota Jidosha Kabushiki Kaisha Vehicle travel support device and method
JP2009286211A (en) * 2008-05-28 2009-12-10 Nsk Ltd Electric power steering device
JP5892260B2 (en) * 2012-11-27 2016-03-23 日産自動車株式会社 Vehicle acceleration suppression device and vehicle acceleration suppression method
WO2014083820A1 (en) * 2012-11-27 2014-06-05 日産自動車株式会社 Vehicle acceleration-suppression device, and vehicle acceleration-suppression method
WO2014083819A1 (en) * 2012-11-27 2014-06-05 日産自動車株式会社 Vehicle acceleration restriction device and vehicle acceleration restriction method
JP5892259B2 (en) * 2012-11-27 2016-03-23 日産自動車株式会社 Vehicle acceleration suppression device and vehicle acceleration suppression method
JP5999195B2 (en) * 2012-11-27 2016-09-28 日産自動車株式会社 Vehicle acceleration suppression device and vehicle acceleration suppression method
US9493070B2 (en) 2012-11-27 2016-11-15 Nissan Motor Co., Ltd. Vehicle acceleration suppression device and vehicle acceleration suppression method
WO2014083818A1 (en) * 2012-11-27 2014-06-05 日産自動車株式会社 Acceleration suppression device for vehicles and acceleration suppression method for vehicles
US9862379B2 (en) 2015-11-11 2018-01-09 Hyundai Motor Company Parking assist apparatus and method for controlling vehicle speed
JP2018150012A (en) * 2017-03-15 2018-09-27 本田技研工業株式会社 Parking support apparatus
DE102019117023A1 (en) 2018-06-27 2020-01-02 Toyota Jidosha Kabushiki Kaisha Parking assist apparatus
CN109501797A (en) * 2018-12-07 2019-03-22 威马汽车科技集团有限公司 A kind of control method and automated parking system of automatic parking

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