JP2022113299A - 自動駐車システム - Google Patents
自動駐車システム Download PDFInfo
- Publication number
- JP2022113299A JP2022113299A JP2021009428A JP2021009428A JP2022113299A JP 2022113299 A JP2022113299 A JP 2022113299A JP 2021009428 A JP2021009428 A JP 2021009428A JP 2021009428 A JP2021009428 A JP 2021009428A JP 2022113299 A JP2022113299 A JP 2022113299A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- target
- parking space
- coordinates
- route
- 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
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000013459 approach Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 description 19
- 238000012545 processing Methods 0.000 description 18
- 238000000034 method Methods 0.000 description 16
- 230000001133 acceleration Effects 0.000 description 14
- 230000008569 process Effects 0.000 description 13
- 238000005192 partition Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000000638 solvent extraction Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- 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
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- 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
- 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
-
- 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
- B60W40/02—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 related to ambient conditions
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9324—Alternative operation using ultrasonic waves
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Atmospheric Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
以下、自動駐車システム100の構成について図面を参照して説明する。図2は一実施形態に係る自動駐車システム100を示すブロック図である。図2に示す自動駐車システム[AVPS:Automated Valet Parking System]100は、駐車場における自動運転車両2の自動バレーパーキングを行うためのシステムである。自動駐車システム100では、駐車場50を管理する駐車場管制サーバ1が駐車場50内の自動運転車両2に指示を行うことにより、駐車場50内の目標駐車スペースに自動運転車両2を自動駐車させる。なお、以下の説明では、自動駐車の対象となる自動運転車両2を「対象車両2X」と記すことがある。
次に、自動駐車システム100の処理について図面を参照して説明する。図8は、駐車場管制サーバの指示処理を例示するフローチャートである。駐車場管制サーバの指示処理は、例えば、駐車場管制サーバ1と通信可能な自動運転車両2が駐車場に入場した場合等、自動バレーパーキングが開始される前に駐車場管制サーバ1によって実行される。
Claims (3)
- 駐車場を管理する駐車場管制サーバが前記駐車場内の自動運転車両に指示を行うことにより、前記自動運転車両を前記駐車場内の目標駐車スペースに自動駐車させる自動駐車システムであって、
前記自動運転車両の車両位置と前記目標駐車スペースの位置と駐車場地図情報とに基づいて、前記目標駐車スペースの入口までの前記駐車場の走路に沿って並ぶ複数の走行座標の情報を取得する走行座標取得部と、
前記走行座標の情報と車載の外部センサの検出結果とに基づいて、前記自動運転車両の進路を生成する進路生成部と、を備え、
前記進路生成部は、
前記外部センサを用いた物標認識が一定精度で可能な範囲であって前記自動運転車両の所定位置を基準とする範囲である物標認識範囲と、前記走行座標の情報と、前記目標駐車スペースの位置とに基づいて、前記目標駐車スペースの入口の認識可否を判定し、
前記目標駐車スペースの入口の認識が可能ではないと判定する場合、前記目標駐車スペースの入口を認識するための物標が前記物標認識範囲に含まれるように前記走路における前記目標駐車スペース側に前記自動運転車両を寄せる前記進路を生成する、自動駐車システム。 - 前記走行座標は、前記進路を構成する座標であって前記目標駐車スペースが面する前記走路上に位置する第1座標を含み、
前記進路生成部は、前記走路における前記目標駐車スペース側に前記自動運転車両を寄せるための前記進路を前記自動運転車両が前記第1座標に到達するまでに予め生成する、請求項1に記載の自動駐車システム。 - 前記走行座標は、前記進路を構成する座標であって前記目標駐車スペースが面する前記走路上に位置する第1座標と、前記進路を構成する座標であって前記自動運転車両の進行方向において前記第1座標から所定個数手前に位置する第2座標と、を含み、
前記進路生成部は、前記第2座標から先の区間において前記目標駐車スペース側に前記自動運転車両を寄せるように前記進路を生成する、請求項1又は2に記載の自動駐車システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021009428A JP7355043B2 (ja) | 2021-01-25 | 2021-01-25 | 自動駐車システム |
EP21217073.2A EP4032785A1 (en) | 2021-01-25 | 2021-12-22 | Automated valet parking system |
US17/558,879 US11807224B2 (en) | 2021-01-25 | 2021-12-22 | Automated valet parking system |
KR1020220006394A KR102650377B1 (ko) | 2021-01-25 | 2022-01-17 | 자동 주차 시스템 |
CN202210074419.6A CN114792475B (zh) | 2021-01-25 | 2022-01-21 | 自动停车系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021009428A JP7355043B2 (ja) | 2021-01-25 | 2021-01-25 | 自動駐車システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022113299A true JP2022113299A (ja) | 2022-08-04 |
JP7355043B2 JP7355043B2 (ja) | 2023-10-03 |
Family
ID=79025088
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021009428A Active JP7355043B2 (ja) | 2021-01-25 | 2021-01-25 | 自動駐車システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US11807224B2 (ja) |
EP (1) | EP4032785A1 (ja) |
JP (1) | JP7355043B2 (ja) |
KR (1) | KR102650377B1 (ja) |
CN (1) | CN114792475B (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7095968B2 (ja) | 2017-10-02 | 2022-07-05 | トヨタ自動車株式会社 | 管理装置 |
US11079760B2 (en) * | 2018-11-28 | 2021-08-03 | The Boeing Company | Methods for maintaining difficult-to-access structures using unmanned aerial vehicles |
CN113112847A (zh) * | 2021-04-12 | 2021-07-13 | 蔚来汽车科技(安徽)有限公司 | 用于固定泊车场景的车辆定位方法及其系统 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018039294A (ja) * | 2016-09-05 | 2018-03-15 | 日産自動車株式会社 | 駐車支援方法及び駐車支援装置 |
JP2020201700A (ja) * | 2019-06-10 | 2020-12-17 | 本田技研工業株式会社 | 管理装置、車両管理方法、プログラム、および車両管理システム |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4626426B2 (ja) * | 2005-07-11 | 2011-02-09 | トヨタ自動車株式会社 | 駐車支援装置 |
KR101182853B1 (ko) | 2008-12-19 | 2012-09-14 | 한국전자통신연구원 | 자동 주차 대행 시스템 및 방법 |
JP5617513B2 (ja) * | 2010-10-13 | 2014-11-05 | 株式会社エクォス・リサーチ | 走行制御装置 |
JP5880858B2 (ja) * | 2012-08-24 | 2016-03-09 | 株式会社デンソー | 駐車支援装置 |
JP6269197B2 (ja) * | 2013-10-29 | 2018-01-31 | 株式会社デンソー | 自動運転装置 |
KR101498973B1 (ko) * | 2013-11-21 | 2015-03-05 | 현대모비스(주) | 차량용 주차 지원 시스템 및 방법 |
JP6544121B2 (ja) * | 2015-07-31 | 2019-07-17 | アイシン精機株式会社 | 駐車支援装置 |
US10012986B2 (en) * | 2016-08-19 | 2018-07-03 | Dura Operating, Llc | Method for autonomously parking a motor vehicle for head-in, tail-in, and parallel parking spots |
JP6989333B2 (ja) * | 2017-09-29 | 2022-01-05 | 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 |
JP7126362B2 (ja) * | 2018-03-22 | 2022-08-26 | 日産自動車株式会社 | 自動運転車両の駐車制御方法及び駐車制御装置 |
JP7251190B2 (ja) | 2019-02-14 | 2023-04-04 | 株式会社アイシン | 車両走行制御システム |
CN109927715B (zh) * | 2019-02-19 | 2020-08-25 | 惠州市德赛西威智能交通技术研究院有限公司 | 垂直泊车方法 |
JP7058236B2 (ja) * | 2019-03-07 | 2022-04-21 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
JP7226357B2 (ja) | 2020-02-05 | 2023-02-21 | トヨタ自動車株式会社 | 走行経路の設定装置および設定方法 |
JP7372868B2 (ja) * | 2020-03-30 | 2023-11-01 | 本田技研工業株式会社 | 収容領域管理装置 |
-
2021
- 2021-01-25 JP JP2021009428A patent/JP7355043B2/ja active Active
- 2021-12-22 US US17/558,879 patent/US11807224B2/en active Active
- 2021-12-22 EP EP21217073.2A patent/EP4032785A1/en active Pending
-
2022
- 2022-01-17 KR KR1020220006394A patent/KR102650377B1/ko active IP Right Grant
- 2022-01-21 CN CN202210074419.6A patent/CN114792475B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018039294A (ja) * | 2016-09-05 | 2018-03-15 | 日産自動車株式会社 | 駐車支援方法及び駐車支援装置 |
JP2020201700A (ja) * | 2019-06-10 | 2020-12-17 | 本田技研工業株式会社 | 管理装置、車両管理方法、プログラム、および車両管理システム |
Also Published As
Publication number | Publication date |
---|---|
JP7355043B2 (ja) | 2023-10-03 |
KR102650377B1 (ko) | 2024-03-26 |
CN114792475A (zh) | 2022-07-26 |
KR20220108722A (ko) | 2022-08-03 |
CN114792475B (zh) | 2024-01-30 |
US20220234572A1 (en) | 2022-07-28 |
EP4032785A1 (en) | 2022-07-27 |
US11807224B2 (en) | 2023-11-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7259698B2 (ja) | 自動駐車システム | |
JP7355043B2 (ja) | 自動駐車システム | |
JP7172973B2 (ja) | 自動駐車システム | |
JP2021047512A (ja) | 自動駐車システム | |
JP7207262B2 (ja) | 自動駐車システム | |
JP7188372B2 (ja) | 自動駐車システム | |
JP7251445B2 (ja) | 自動駐車システム | |
US20230087852A1 (en) | Automated valet parking system, control method for automated valet parking system, and autonomous driving vehicle | |
JP2022106414A (ja) | 自動駐車システム、自動駐車システムの制御方法、及び、自動運転車両 | |
CN112977471A (zh) | 自动泊车系统 | |
EP4046883B1 (en) | Automated valet parking system, control method of automated valet parking system, and autonomous driving vehicle | |
KR102666463B1 (ko) | 자동 주차 시스템, 자동 주차 시스템의 제어 방법, 및 자동 운전 차량 | |
JP7347461B2 (ja) | 自動駐車システム及び自動駐車システムの制御方法 | |
KR102667225B1 (ko) | 자동 주차 시스템, 자동 주차 시스템의 제어 방법, 및 자동 운전 차량 | |
JP2022061226A (ja) | 自動駐車システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220617 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20230515 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230523 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230718 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20230822 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20230904 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 7355043 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |