JP4665721B2 - Parking assistance system - Google Patents

Parking assistance system Download PDF

Info

Publication number
JP4665721B2
JP4665721B2 JP2005320999A JP2005320999A JP4665721B2 JP 4665721 B2 JP4665721 B2 JP 4665721B2 JP 2005320999 A JP2005320999 A JP 2005320999A JP 2005320999 A JP2005320999 A JP 2005320999A JP 4665721 B2 JP4665721 B2 JP 4665721B2
Authority
JP
Japan
Prior art keywords
vehicle
end line
marker
bird
front
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
JP2005320999A
Other languages
Japanese (ja)
Other versions
JP2007126028A (en
Inventor
正和 香川
Original Assignee
株式会社デンソー
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 株式会社デンソー filed Critical 株式会社デンソー
Priority to JP2005320999A priority Critical patent/JP4665721B2/en
Publication of JP2007126028A publication Critical patent/JP2007126028A/en
Application granted granted Critical
Publication of JP4665721B2 publication Critical patent/JP4665721B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • B60Q9/002Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/005Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a video camera
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027Parking aids, e.g. instruction means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027Parking aids, e.g. instruction means
    • B62D15/0275Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027Parking aids, e.g. instruction means
    • B62D15/028Guided parking by providing commands to the driver, e.g. acoustically or optically
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/42Image sensing, e.g. optical camera

Description

  The present invention relates to a parking assistance system that assists driving when a user parks his / her own vehicle backward.

As a parking assistance system that supports driving when the user moves the vehicle backward and parks, select one of the assumed exercise patterns prepared in advance and park the operation end position of the selected assumed exercise pattern By stopping the host vehicle at the operation start position of the assumed movement pattern when the user overlaps the position (the position at which the user wants to finally park the host vehicle), the user parks the host vehicle at the parking position according to the assumed movement pattern. What can be made is provided (for example, refer patent document 1).
JP 2000-229547 A

  However, in the configuration described in Patent Document 1 described above, it is necessary for the user to first stop the host vehicle at the operation start position of the assumed motion pattern, and the user moves the host vehicle from the operation start position of the assumed motion pattern. If the vehicle is deviated in the left-right direction and stopped, there is a problem in that the user cannot park the host vehicle properly at the parking position and cannot perform parking support appropriately.

  Therefore, the applicant filed Japanese Patent Application No. 2004-325203 for the purpose of solving this problem. This Japanese Patent Application No. 2004-325203 synthesizes a plurality of parking possible positions when it is assumed that when the host vehicle is moving forward, the host vehicle stops and turns backward while turning and parks. The configuration is such that the bird's-eye view image is superimposed and displayed, and the user turns the host vehicle after stopping so that any of the plurality of parking possible positions overlaps the target parking position where the host vehicle is to be finally parked. By reversing the vehicle, the host vehicle can be parked appropriately at the parking target position.

  However, in this case, it is necessary to determine whether or not parking is possible by capturing the timing at which the parking position and the parking target position overlap when the user is moving the vehicle forward next to the parking target position. There was a problem that it was inconvenient.

  The present invention has been made in view of the above-described circumstances, and the object thereof is to improve the usability when the user parks his / her own vehicle backward and can assist driving appropriately. To provide a system.

  According to the first aspect of the present invention, the bird's-eye image creation means creates a bird's-eye image by performing bird's-eye conversion on the photographed image taken by the photographing means, and the synthesized bird's-eye image creation means is created by the bird's-eye image creation means. A past bird's-eye image or a past synthesized bird's-eye image created by the user and a current bird's-eye image created by the bird's-eye image creating means based on the movement / rotation state of the own vehicle detected by the movement / rotation state detecting means. To create a composite bird's-eye view image. Then, the image analysis means analyzes the synthesized bird's-eye image created by the synthesized bird's-eye image creation means and analyzes the rear end line and the parking target position of a front obstacle (for example, a forward parked vehicle) positioned in front of the parking target position. At least one of the front end lines of a rear obstacle (for example, a rear parked vehicle) located behind is detected.

  Here, the control means, when the image analysis means succeeds in detecting at least one of the rear end line of the front obstacle and the front end line of the rear obstacle, the rear end line and the rear side of the front obstacle that has been successfully detected. A marker representing a space required for the host vehicle to park on the basis of at least one of the front end lines of the obstacle is superimposed on the synthesized bird's-eye image created by the synthesized bird's-eye image creating means and displayed on the display means.

  As a result, a marker representing the space necessary for the host vehicle to park is displayed based on at least one of the rear end line of the front obstacle and the front end line of the rear obstacle, that is, the host vehicle is parked. By displaying a marker indicating the space required for the vehicle on the basis of the obstacle in the stationary state, it is always determined whether or not the user can park the vehicle on the basis of the obstacle in the stationary state. This makes it possible to improve the usability when the user retracts the vehicle and parks it, and can appropriately support driving.

In other words, if the marker indicating the space necessary for parking the host vehicle is displayed with sufficient margin without overlapping both the front obstacle and the rear obstacle, the user is regarded as the front obstacle. It can be determined that the vehicle can be parked between the rear obstacle and the marker indicating the space necessary for the host vehicle to park is at least one of the front obstacle and the rear obstacle. If displayed overlapping, it can be determined that it is impossible to park the vehicle between the front obstacle and the rear obstacle.
If the image analysis means succeeds in detecting the rear end line of the front obstacle but does not succeed in detecting the front end line of the rear obstacle, the control means sets a width longer than the vehicle width of the host vehicle as the front marker. Markers having the same are displayed on the display means, and markers each having a width corresponding to the vehicle width of the host vehicle are displayed on the display means step by step along the vehicle width direction. As a result, when the host vehicle is parked on the basis of the rear end line of the front obstacle, it is appropriate for the user how much the parking position (the position where the user wants to park the host vehicle finally) deviates in the vehicle width direction. Can let you know.

According to the invention described in claim 2, the control means, if not successfully detected the end line after the previous lateral obstacle although the image analysis unit has successfully detected before end line after lateral obstacle Backward stepwise along a marker having a width, each as front side in the marker with displays a marker having a longer width than the vehicle width of the vehicle as a side marker display means corresponds to the vehicle width of the vehicle in the vehicle width direction Is displayed on the display means. Accordingly, when to park, based on the pre-end line of Backward obstacle vehicle, the parking position or (user position to be finally allowed to park the vehicle) is shifted much in the vehicle width direction to the user Can inform you appropriately.

According to the invention described in claim 3, the control means, the image analysis device is successfully detected before end line and the vehicle-side side edge line after lateral obstacle, the vehicle width of the vehicle as a rear rectangular side marker a marker having a corresponding width aligned toward the vehicle transverse end line of Backward obstacle is displayed on the display means. Accordingly, when to park by aligning the vehicle toward the vehicle transverse end line of Backward obstacle can be appropriately inform its target users.

According to the invention described in claim 4, if the image analysis means succeeds in detecting the front end line of the rear obstacle, but does not succeed in detecting the rear end line of the front obstacle, the control means automatically detects the rear side marker. Markers having a width longer than the vehicle width of the vehicle are displayed on the display means, and markers each having a width corresponding to the vehicle width of the host vehicle are displayed on the display means step by step along the vehicle width direction. Let Thus, when parking the vehicle front end line of the rear obstacle based, in a manner similar to that described in claim 1 described above, proper parking position or shift much in the vehicle width direction to the user I can inform you.

According to the invention described in claim 5, the control means, if not successfully detected the front end line of the rear obstacle although the image analysis unit has successfully detected the end line after the previous lateral obstacle, as the front side marker Markers having a width longer than the vehicle width of the host vehicle are displayed on the display means, and markers each having a width corresponding to the vehicle width of the host vehicle are displayed on the display means stepwise along the vehicle width direction. Display. Thus, when parking the rear end line of the front side obstacle based on the vehicle, the parking position can properly inform the user whether the shift much in the vehicle width direction.

According to the invention described in claim 6, when the image analyzing means succeeds in detecting the rear end line of the front obstacle and the own vehicle side lateral end line , the control means corresponds to the vehicle width of the own vehicle as a front side marker. A marker having a width to be aligned is displayed on the display means in alignment with the vehicle side lateral end line of the front obstacle. Thereby, when aligning the own vehicle with the own vehicle side lateral end line of the front obstacle, the user can be appropriately notified of the target.
According to the seventh aspect of the present invention, the control means causes the display means to display a marker representing a length that can be parked without performing a turning-back operation as a marker representing a space necessary for the host vehicle to park. . Accordingly, it is possible to appropriately notify the user whether or not the host vehicle can be parked without performing the turning-back operation.

  That is, the user does not perform the turning operation if the marker representing the space necessary for the vehicle to park is displayed with sufficient margin without overlapping the front obstacle and the rear obstacle. It can be determined that the host vehicle can be parked. On the other hand, a marker indicating a space necessary for the host vehicle to park is displayed overlapping at least one of the front obstacle and the rear obstacle. If so, it can be determined that it is impossible to park the host vehicle without performing the turn-back operation.

According to the eighth aspect of the present invention, the control means displays a marker indicating a length that can be parked if a turning operation is performed at least once as a marker that represents a space necessary for the host vehicle to park. To display. Accordingly, it is possible to appropriately notify the user whether or not the own vehicle can be parked if at least one turn-back operation is performed.

  In other words, the user performs at least one turn-back operation if the marker representing the space required for the vehicle to park is displayed with sufficient margin without overlapping the front obstacle and the rear obstacle. If implemented, it can be determined that the host vehicle can be parked, while a marker representing a space necessary for the host vehicle to park overlaps at least one of the front obstacle and the rear obstacle. If it is displayed, it can be determined that it is impossible to park the host vehicle even if at least one switching operation is performed.

According to the ninth aspect of the present invention, the control means includes a marker indicating a length that can be parked without performing a return operation as a marker indicating a space necessary for the host vehicle to park, and at least one return. If the operation is carried out, a marker indicating the length that can be parked is simultaneously displayed on the display means. As a result, it is possible to appropriately notify the user whether it is not necessary to perform the switching operation or whether at least one switching operation must be performed.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows the overall configuration of the parking assistance system as a functional block diagram. The parking assistance system 1 includes a parking assistance ECU 2 (bird's-eye image creation means, movement / rotation state detection means, synthetic bird's-eye image creation means, image analysis means, control means) referred to in the present invention, an engine ECU 3 and a brake ECU 4 connected to an in-vehicle LAN 5. Has been configured.

  The parking assistance ECU 2 controls the overall operation of the parking assistance system 1. The operation switch 6 is disposed in the driver's seat and is operated by the user to activate the parking support operation. When operated by the user, the operation switch 6 outputs an operation detection signal to the parking support ECU 2. When the operation detection signal is input from the switch 6, it is detected that the user has started the parking assist operation.

  The in-vehicle camera 7 (photographing means in the present invention) is disposed at the rear of the host vehicle and captures the rear of the host vehicle. The captured image of the rear of the host vehicle is output to the parking assist ECU 2. When a captured image is input from 7, the input captured image is subjected to viewpoint conversion based on a predetermined viewpoint conversion algorithm to create a bird's-eye image, a past bird's-eye image or a past synthesized bird's-eye image and a current bird's-eye image To create a composite bird's-eye view image. The display device 8 (display means in the present invention) is disposed in a position that is easy for the user to see in the vehicle interior. When a display instruction signal is input from the parking assistance ECU 2, a composite bird's-eye image created by the parking assistance ECU 2 is displayed. indicate.

  The vehicle speed sensor 9 detects the vehicle speed and outputs a vehicle speed detection signal representing the detected vehicle speed to the engine ECU 3. When a vehicle speed detection signal is input from the vehicle speed sensor 8, the engine ECU 3 outputs the input vehicle speed detection signal to the parking assistance ECU 2 via the in-vehicle LAN 5.

  The yaw rate sensor 10 detects the yaw rate and outputs a yaw rate detection signal representing the detected yaw rate to the brake ECU 4. The steering sensor 11 detects a turning angle of the steering, and outputs a steering detection signal representing the detected turning angle of the steering to the brake ECU 4. When the yaw rate detection signal is input from the yaw rate sensor 10, the brake ECU 4 outputs the input yaw rate detection signal to the parking assist ECU 2 via the in-vehicle LAN 5, and when the steering detection signal is input from the steering sensor 11, The input steering detection signal is output to the parking assist ECU 2 via the in-vehicle LAN 5. In the configuration described above, the function of accepting a user operation by the operation switch 6 and the function of displaying the synthesized bird's-eye image by the display device 8 may be substituted by the function of the navigation system.

  Next, the operation of the above configuration will be described with reference to FIGS. Here, FIG.2 and FIG.3 has shown the process which parking assistance ECU2 performs as a flowchart. Further, in this case, a case will be described in which the user reverses his / her own vehicle and parks in parallel between parked vehicles (obstacles in the present invention) that are already parked in parallel.

  The parking assistance ECU 2 monitors whether or not the user has performed an operation to activate the parking assistance operation (step S1), and when the user performs an operation to activate the parking assistance operation ("YES" in step S1). Then, a captured image obtained by capturing the rear of the vehicle from the in-vehicle camera 7 is input (captured) (step S2), and the input captured image is converted into a viewpoint based on a predetermined viewpoint conversion algorithm to create a bird's-eye image ( Step S3), as shown in FIG. 4, the past bird's-eye image and the current bird's-eye image are synthesized to create a synthesized bird's-eye image (step S4). Then, the parking assist ECU 2 performs image analysis on the created synthesized bird's-eye image (step S5), and proceeds to a marker display process for displaying the marker superimposed on the synthesized bird's-eye image based on the image analysis result (step S6). .

  When the parking assist ECU 2 shifts to the marker display process, the rear end line of the front parked vehicle (the front obstacle in the present invention) parked in front of the parking target position where the host vehicle is to be parked, the front parked vehicle The vehicle side side end line, the front end line of the rear parked vehicle (rear obstacle in the present invention) parked behind the parking target position where the host vehicle is to be parked, and the side of the rear parked vehicle side It is determined whether or not the end line has been successfully detected (step S21). Here, the parking assist ECU 2 detects the front end line, the rear end line, and the own vehicle side lateral end line of the parked vehicle as follows. That is, in the bird's-eye view image, since the three-dimensional object is distorted (collapsed), the parking assist ECU 2 returns the line by the amount shifted by the height of the vehicle-mounted camera 7 and the shooting angle when the three-dimensional object is converted to the bird's-eye view. Thus, the front end line, the rear end line, and the own vehicle side lateral end line of the parked vehicle are detected.

  Specifically, as shown in FIG. 5, the parking assist ECU 2 detects the side end line of the parked vehicle on the basis of the position where the tire grounding line and the body bulge degree are combined, and the parked vehicle As for the front end line, the front end side body line and the own vehicle side lateral end side body line in the bird's-eye view image are extended and the extension line extended from the point where they intersected to the shooting angle intersects with the own vehicle side lateral end line. The rear end line of the parked vehicle is extended to the shooting angle from the point where the two intersect each other by extending the rear end body line and the own vehicle side lateral end body line in the bird's-eye view image. Detection is based on the position where the extension line and the vehicle-side lateral end line intersect. In FIG. 5, the degree of distortion of the parked vehicle is increased and displayed. However, in the subsequent FIGS. 6 to 12, the level of distortion of the parked vehicle is reduced and displayed.

  The parking assist ECU 2 detects at least one of the rear end line of the front parked vehicle, the own vehicle side lateral end line of the front parked vehicle, the front end line of the rear parked vehicle, and the own vehicle side lateral end line of the rear parked vehicle. If it is not successful ("NO" in step S21), a parking-required space marker representing a space necessary for the host vehicle to park according to the detected location is displayed superimposed on the synthesized bird's-eye image. It is displayed on the device 8 (step S22).

In particular,
(1) When all of the rear end line of the front parked vehicle, the side end line of the front parked vehicle, the front end line of the rear parked vehicle, and the side end line of the rear parked vehicle are not successfully detected ( 2) When succeeding in detecting only the rear end line of the front parked vehicle (3) When succeeding in detecting only the rear end line of the front parked vehicle and the own vehicle side side end line (4) Only the front end line of the rear parked vehicle (5) When succeeding in detecting only the front end line of the rear parked vehicle and the own vehicle side lateral end line (6) The rear end line of the front parked vehicle and the own vehicle side lateral end line and the rear parked vehicle (7) When only the rear end line of the front parked vehicle, the front end line of the rear parked vehicle, and the lateral end line of the host vehicle side are successfully detected (8) The same parked vehicle Rear end line and front end lie (9) The case where only the rear end line, the front end line, and the own vehicle side side end line of the same parked vehicle are successfully detected will be described sequentially.

(1) When all of the rear end line of the front parked vehicle, the side end line of the front parked vehicle, the front end line of the rear parked vehicle, and the side end line of the rear parked vehicle are not successfully detected. In this case, as shown in FIG. 6, the parking assist ECU 2 superimposes a parking required space marker representing a space necessary for the host vehicle to park on a predetermined position (left rear position when viewed from the host vehicle) of the synthesized bird's-eye view image. Display on the display device 8. Here, the parking assist ECU 2 performs a return operation as a parking-necessary space marker (with a single parking operation) and a marker indicating the length that can be parked (see “L2” in FIG. 6) and one return. If the operation is performed (a two-time parking operation including the operation of moving the host vehicle once), a marker indicating the length that can be parked (see “L1 (<L2)” in FIG. 6) is displayed at the same time. Further, the parking assist ECU 2 displays a parking required space marker in three steps along the vehicle width direction because the space required for the host vehicle to park varies along the vehicle width direction.

(2) When the detection of only the rear end line of the front parked vehicle is successful In this case, as shown in FIG. 7, the parking assist ECU 2 needs to park based on the rear end line of the front parked vehicle that has succeeded in the detection. Display the marker. Here, the parking assist ECU 2 displays a marker having a width longer than the vehicle width of the host vehicle as a front side marker and displays markers having a width corresponding to the vehicle width of the host vehicle as a rear side marker in the vehicle width direction. Are displayed in three stages.

(3) When the detection of only the rear end line of the forward parked vehicle and the own vehicle side lateral end line is successful In this case, the parking assist ECU 2, as shown in FIG. The parking required space marker is displayed with reference to the line and the vehicle side lateral end line. Here, the parking assist ECU 2 displays a marker having a width corresponding to the vehicle width of the host vehicle as a front marker in alignment with the host vehicle side lateral end line of the front parked vehicle and corresponds to the front marker as a rear marker. A marker having a width corresponding to the vehicle width of the host vehicle is displayed at the position to be operated.

(4) When succeeding in detecting only the front end line of the rear parked vehicle In this case, as shown in FIG. 9, the parking assist ECU 2 sets the parking required space marker on the basis of the front end line of the rear parked vehicle that has succeeded in the detection. Display. Here, the parking assist ECU 2 displays a marker having a width longer than the vehicle width of the host vehicle as a rear side marker and displays markers having a width corresponding to the vehicle width of the host vehicle as the front side marker in the vehicle width direction. Are displayed in three stages.

(5) When the detection of only the front end line of the rear parked vehicle and the own vehicle side side end line is successful In this case, as shown in FIG. The parking-required space marker is displayed with reference to the vehicle side lateral end line. Here, the parking assist ECU 2 displays a marker having a width corresponding to the vehicle width of the host vehicle as a rear side marker aligned with the lateral end line of the host vehicle side of the rear parked vehicle and displays the marker as a front side marker on the rear side marker. A marker having a width corresponding to the vehicle width of the host vehicle is displayed at the corresponding position.

(6) When succeeding in detecting only the rear end line of the front parked vehicle and the side end line of the host vehicle side and the front end line of the rear parked vehicle In this case, the parking assist ECU 2 performs the above-mentioned “(3) Similarly to the case where only the rear end line and the own vehicle side lateral end line are successfully detected, as shown in FIG. A parking required space marker is displayed as a reference.

(7) When the detection of only the rear end line of the front parked vehicle, the front end line of the rear parked vehicle, and the own vehicle side lateral end line In this case, the parking assist ECU 2 Similarly to the case where only the rear end line and the own vehicle side lateral end line are successfully detected, as shown in FIG. A parking required space marker is displayed as a reference.

(8) When succeeding in detecting only the rear end line and the front end line of the same parked vehicle In this case, the parking assist ECU 2 uses the rear end line and the front end line of the parked vehicle that have been successfully detected as a reference to the rear of the parked vehicle. The parking required space marker is displayed on both the front side and the front side. Here, as shown in FIG. 7, the parking assist ECU 2 performs the front side marker on the rear side of the parked vehicle as shown in FIG. 7 in the same manner as “(2) Successful detection of only the rear end line of the front parked vehicle”. As shown, a marker having a width longer than the vehicle width of the host vehicle is displayed, and markers having a width corresponding to the vehicle width of the host vehicle are displayed in three stages along the vehicle width direction. In addition, the parking assist ECU 2 is automatically used as a rear marker in front of the parked vehicle as shown in FIG. 9 in the same manner as “(4) Successful detection of only the front end line of the parked vehicle behind”. A marker having a width longer than the vehicle width of the vehicle is displayed, and markers each having a width corresponding to the vehicle width of the host vehicle are displayed in three stages along the vehicle width direction as front side markers.

(9) In the case where only the rear end line, the front end line and the own vehicle side lateral end line of the same parked vehicle are successfully detected In this case, the parking assist ECU 2 detects the rear end line, front end line and A parking required space marker is displayed both on the rear side and the front side of the parked vehicle with the own vehicle side horizontal end line as a reference. Here, in the rear of the parked vehicle, the parking assist ECU 2 performs FIG. 8 in the same manner as in “(3) Successful detection of only the rear end line and the own vehicle side lateral end line of the front parked vehicle”. As shown, a marker having a width corresponding to the vehicle width of the host vehicle is displayed as a front marker in alignment with the host vehicle side lateral end line of the front parked vehicle, and at a position corresponding to the front marker as a rear marker. A marker having a width corresponding to the vehicle width of the vehicle is displayed. Further, the parking assist ECU 2 as shown in FIG. 10 in the same manner as “(5) When the detection of only the front end line and the vehicle side lateral end line of the rear parked vehicle is successful” is performed in front of the parked vehicle. In addition, a marker having a width corresponding to the vehicle width of the host vehicle as a rear side marker is displayed in alignment with the side end line on the host vehicle side of the rear parked vehicle, and at the position corresponding to the rear marker as a front side marker. A marker having a width corresponding to the vehicle width is displayed.

  When the parking support ECU 2 succeeds in detecting a plurality of rear end lines and a plurality of front end lines corresponding to each of the plurality of parked vehicles, the parking support ECU 2 detects a plurality of rear end lines and a plurality of front ends. By performing the above (1) to (9) for each of the lines, a plurality of parking required space markers are displayed.

  By the series of processes described above, the user can display the parking required space marker (front side marker and rear side marker) with sufficient margin without overlapping both the front parked vehicle and the rear parked vehicle. It can be determined that the host vehicle can be parked between the front parked vehicle and the rear parked vehicle, while the parking required space marker overlaps at least one of the front parked vehicle and the rear parked vehicle. If it is displayed, it can be determined that it is impossible to park the host vehicle between the front parked vehicle and the rear parked vehicle.

  On the other hand, the parking assist ECU 2 detects all of the rear end line of the forward parked vehicle, the own vehicle side lateral end line of the forward parked vehicle, the front end line of the rear parked vehicle, and the own vehicle side lateral end line of the rear parked vehicle. If it is successful ("YES" in step S21), the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle is longer than the length that can be parked without performing the turn-back operation. Is determined to be longer (step S23).

  Here, the parking assist ECU 2 is configured such that the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle (see “La”) is longer than the length that can be parked without performing the turning operation. If so ("YES" in step S23), as shown in FIG. 10 (a), a parking available marker (refer to "O" in FIG. 10) indicating that parking is possible without performing a turn-back operation. It is displayed on the display device 8 (step S24).

  On the other hand, the parking assist ECU 2 has a case where the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle is shorter than or equal to the length that can be parked without performing the turning operation. If so ("NO" in step S23), the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle is longer than the length that can be parked if one turn-back operation is performed. It is determined whether or not (step S25).

  And parking assistance ECU2 is longer than the length which can park, if the length (refer "Lb") between the rear end line of a front parked vehicle and the front end line of a rear parked vehicle implements one turn-back operation. If it is a case (“YES” in step S25), as shown in FIG. 10B, a parking marker (“Δ” in FIG. 10) indicating that parking is possible if a single return operation is performed. Reference) is displayed on the display device 8 (step S26). On the other hand, the parking assist ECU 2 is a case where the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle is shorter than or equal to the length that can be parked if the turnover operation is performed once. If present (“NO” in step S25), as shown in FIG. 11, a non-parking marker (see “X” in FIG. 10) indicating that parking is impossible is displayed on the display device 8 (step S27). ).

  Through the series of processes described above, the user can park without performing the turn-back operation if the parking available marker indicating that parking is possible without performing the turn-back operation is displayed. If a parking marker indicating that parking is possible if one turnover operation is performed is displayed, it is possible to park if one turnover operation is performed. On the other hand, if a parking impossibility marker is displayed, it can be determined that parking is impossible.

  Next, when the parking assist ECU 2 completes the marker display process described so far, the parking assist ECU 2 determines whether or not the host vehicle has advanced a predetermined distance or more (step S7), and whether or not the shift position has been moved to the reverse position. Is determined (step S8). Then, when the own vehicle moves forward by a predetermined distance or more (“YES” in step S7), the parking assist ECU 2 inputs a photographed image obtained by photographing the rear of the own vehicle from the in-vehicle camera 7 (step S9). A bird's-eye view image is created by converting the viewpoint of the captured image based on a predetermined viewpoint conversion algorithm (step S10), and a past bird's-eye image created so far and the current bird's-eye image are synthesized to create a synthesized bird's-eye image. (Step S11) Thereafter, the process returns to Step S5 described above, and Steps S5 and after are repeated.

  In addition, when the shift position is moved to the reverse position (“YES” in step S8), the parking assist ECU 2 determines whether or not the host vehicle cannot be parked based on the marker display process prior to this. A determination is made (step S12), and if the host vehicle cannot be parked ("YES" in step S12), a warning operation is performed (step S13), and the series of processing ends.

  As described above, according to the present embodiment, when the rear end line of the front parked vehicle and the front end line of the rear parked vehicle are successfully detected in the parking support system 1, the rear end of the front parked vehicle that has been successfully detected. Since the parking required space marker that represents the space required for the host vehicle to park is displayed superimposed on the synthesized bird's-eye image based on the line and the front end line of the rear parked vehicle, the parking required space marker is stationary. By displaying the parked vehicle as a reference, it is always possible to determine whether or not the user can park with the parked vehicle in a stationary state as a reference. Usability can be improved and driving can be supported appropriately.

  Further, when all the detection of the rear end line of the front parked vehicle and the host vehicle side lateral end line and the rear parked vehicle front end line and the host vehicle side lateral end line is successful, the front parked vehicle rear end line and the rear parked vehicle If the length between the front end line and the length is longer than the length that can be parked, a parking marker indicating that parking is possible is displayed superimposed on the synthesized bird's-eye image, On the other hand, if the length is shorter than or equal to the length that can be parked, it is configured to display a non-parking marker indicating that parking is impossible, superimposed on the synthesized bird's-eye image, It is possible to appropriately notify the user that parking is possible or impossible, and it is possible to improve the usability when the user retracts the vehicle and parks the vehicle, and can appropriately support driving. .

The present invention is not limited to the above-described embodiment, and can be modified or expanded as follows.
Not only when the user retracts his / her vehicle and parks in parallel between parked vehicles that have already been parked in parallel, but also when the user retracts his / her vehicle and parks between buildings (for example, houses). Alternatively, the present invention may be applied to a case where the user moves the host vehicle backward to park the vehicle between a parked vehicle and a building that has already been parked.
The front marker and the rear marker are not limited to a configuration in which markers each having a width corresponding to the vehicle width of the host vehicle are displayed in three stages along the vehicle width direction, but continuously change along the vehicle width direction. It may be configured to display a shape marker, or may be configured to display at a level other than 3 levels (2 levels or 4 levels or more).

Configuration that displays simultaneously a marker that represents a length that can be parked without performing a turn-back operation as a parking-necessary space marker and a marker that represents a length that can be parked if one turn-back operation is performed. However, the present invention is not limited to this, and only one of them may be displayed (displayed in one step) or may be displayed in three or more steps. In addition, the parking required space may be a value set according to vehicle characteristics, may be a value set freely by the user, or may be a value set by learning from a user's parking operation history. There may be.
A parking marker indicating that parking is possible without performing a return operation as a parking marker and a parking marker indicating that parking is possible if one return operation is performed are displayed (displayed in two stages) The configuration is not limited to the configuration, and only one of them may be displayed (displayed in one step). Moreover, the structure which displays a marker which can be parked and a marker which cannot be parked with another symbol, a figure, a character, and a color may be sufficient, and what the user set may be sufficient.

Successful detection of the own vehicle side lateral end line of the front parked vehicle and the own vehicle side lateral end line of the rear parked vehicle, the own vehicle side lateral end line of the forward parked vehicle and the own vehicle side lateral end line of the rear parked vehicle If the marker is not aligned (not a straight line), the marker is not limited to the configuration in which the marker is displayed in alignment with the side edge of the parked vehicle closer to the host vehicle. It may be configured to display in alignment with the own vehicle side horizontal end line, or between the own vehicle side horizontal end line of the closer parked vehicle and the own vehicle side horizontal end line of the far parked vehicle. The configuration may be such that the display is aligned with the line.
A vehicle-mounted camera that shoots the side of the host vehicle may be mounted, and a configuration may be used in which a line of a parked vehicle is detected by image analysis of a bird's-eye image obtained by bird's-eye conversion of a captured image of the side of the host vehicle. If comprised in that way, the probability by which the detection of the line of a parked vehicle can be succeeded can be raised by suppressing the error by distortion of the three-dimensional object in a bird's-eye view image, and the precision of parking availability determination can be raised.
When detecting the rear end line, front end line of the parked vehicle, and the side end line of the host vehicle, the distance from the host vehicle to the parked vehicle is measured using stereo image processing (monocular movement), and the measurement result is adopted. It is also possible to employ a configuration in which detection is performed using a detection result obtained by sonar or radar.

Functional block diagram showing an embodiment of the present invention Flow chart (Part 1) Flow chart (Part 2) The figure which shows the aspect which displays a synthetic bird's-eye view image The figure which shows the aspect which detects the front-end line of a parked vehicle, a rear-end line, and the own vehicle side side end line. The figure which shows the aspect which superimposes and displays a parking required space marker on a synthetic bird's-eye view image. 6 equivalent diagram 6 equivalent diagram 6 equivalent diagram 6 equivalent diagram The figure which shows the aspect which superimposes and displays a parking possible marker on a synthetic bird's-eye view image. The figure which shows the aspect which superimposes and displays a non-parking marker on a synthetic bird's-eye view image.

Explanation of symbols

  In the drawings, 1 is a parking assistance system, 2 is a parking assistance ECU (bird's-eye image creation means, movement / rotation state detection means, synthetic bird's-eye image creation means, image analysis means, control means), 7 is an in-vehicle camera (imaging means), Reference numeral 8 denotes a display device (display means).

Claims (9)

  1. A parking assistance system that assists driving when the user parks his / her vehicle backward,
    Photographing means for photographing the rear of the vehicle;
    Bird's-eye image creation means for creating a bird's-eye image by performing bird's-eye conversion on a photographed image photographed by the photographing means;
    A movement / rotation state detecting means for detecting the movement / rotation state of the own vehicle;
    The moving / rotating state detecting unit detects a past bird's-eye image created by the bird's-eye image creating unit or a past synthesized bird's-eye image created by itself and a current bird's-eye image created by the bird's-eye image creating unit. A synthesized bird's-eye image creation means for creating a synthesized bird's-eye image by combining based on the movement / rotation state of the own vehicle;
    Image analysis of the synthesized bird's-eye image created by the synthesized bird's-eye image creation means, among the rear end line of the front obstacle located in front of the parking target position and the front end line of the rear obstacle located behind the parking target position Image analysis means for detecting at least one of the following:
    When the image analysis means succeeds in detecting at least one of the rear end line of the front obstacle and the front end line of the rear obstacle, the rear end line of the front obstacle successfully detected by the image analysis means and A marker representing a space necessary for the host vehicle to park on the basis of at least one of the front end lines of the rear obstacle is superimposed on the synthesized bird's-eye image created by the synthesized bird's-eye image creating means and displayed on the display means. Control means ,
    When the image analysis means succeeds in detecting the rear end line of the front obstacle but does not succeed in detecting the front end line of the rear obstacle, the control means uses the vehicle width of the host vehicle as a front marker. A marker having a longer width is displayed on the display means, and a plurality of markers each having a width corresponding to the vehicle width of the host vehicle are displayed on the display means stepwise along the vehicle width direction. A parking assistance system characterized by that.
  2. In the parking assistance system according to claim 1,
    Wherein, if not successfully detected the end line after the previous lateral obstacle but was successfully detected before end line of the image analysis means after lateral obstacle, the vehicle as a rear rectangular side marker a plurality of markers stepwise along said vehicle width direction having a width, each of which corresponds to the vehicle width of the vehicle marker having a longer width than the vehicle width as a front side in the marker causes display on the display means of A parking support system, characterized by being displayed on a display means.
  3. In the parking assistance system according to claim 1 ,
    Wherein the image analyzing means detects the vehicle-side side edge line of the synthesized bird's-eye image creation unit side obstacle later with image analysis of the synthesized bird's-eye image created by,
    Wherein, upon a successful detection of the front end line and the vehicle-side side edge line of the image analysis means after lateral obstacle has a width corresponding to the vehicle width of the vehicle as a rear rectangular side marker parking assist system characterized in that to be displayed on the display unit by aligning marker toward the vehicle transverse end line of Backward obstacle.
  4. A parking assistance system that assists driving when the user parks his / her vehicle backward,
    Photographing means for photographing the rear of the vehicle;
    Bird's-eye image creation means for creating a bird's-eye image by performing bird's-eye conversion on a photographed image photographed by the photographing means;
    A movement / rotation state detecting means for detecting the movement / rotation state of the own vehicle;
    The moving / rotating state detecting unit detects a past bird's-eye image created by the bird's-eye image creating unit or a past synthesized bird's-eye image created by itself and a current bird's-eye image created by the bird's-eye image creating unit. A synthesized bird's-eye image creation means for creating a synthesized bird's-eye image by combining based on the movement / rotation state of the own vehicle;
    Image analysis of the synthesized bird's-eye image created by the synthesized bird's-eye image creation means, among the rear end line of the front obstacle located in front of the parking target position and the front end line of the rear obstacle located behind the parking target position Image analysis means for detecting at least one of the following:
    When the image analysis means succeeds in detecting at least one of the rear end line of the front obstacle and the front end line of the rear obstacle, the rear end line of the front obstacle successfully detected by the image analysis means and A marker representing a space necessary for the host vehicle to park on the basis of at least one of the front end lines of the rear obstacle is superimposed on the synthesized bird's-eye image created by the synthesized bird's-eye image creating means and displayed on the display means. Control means,
    When the image analysis means succeeds in detecting the front end line of the rear obstacle but does not succeed in detecting the rear end line of the front obstacle, the control means uses the vehicle width of the host vehicle as a rear side marker. A marker having a longer width is displayed on the display means, and a plurality of markers each having a width corresponding to the vehicle width of the host vehicle are displayed on the display means step by step along the vehicle width direction. A parking assistance system characterized by that.
  5. In the parking assistance system according to claim 4 ,
    Before SL control means, when the image analysis means have not succeeded in detection of the front end line of the rear obstacle but was successfully detected the rear end line of the front obstacle, car vehicle as front side marker It staged to said display means along the vehicle width direction a plurality of markers each as rear side marker having a width corresponding to the vehicle width of the vehicle causes the display device display a marker having a width longer than the width A parking support system characterized by displaying.
  6. In the parking assistance system according to claim 4 ,
    The image analysis means detects the vehicle side lateral end line of the front obstacle by performing image analysis on the composite bird's-eye image created by the synthetic bird's-eye image creation means,
    The control means, when the image analysis means succeeds in detecting the rear end line of the front obstacle and the lateral end line of the own vehicle, a marker having a width corresponding to the vehicle width of the own vehicle as a front side marker. A parking assist system, wherein the display means displays the front obstacle in line with a lateral end line on the own vehicle side .
  7. In the parking assistance system according to any one of claims 1 to 6 ,
    Wherein the control means is characterized by displaying a marker indicating a Rukoto without parking possible length to implement the marker and to return Ri switching operation representing the space required for the vehicle is parked on the display means Parking assistance system.
  8. In the parking assistance system according to any one of claims 1 to 6 ,
    The control means, thereby displaying a marker indicating the vehicle once the available parking length provided by carrying out the crosscut operation even without least as a marker indicating the space required to park in front Symbol display means A parking assistance system characterized by
  9. In the parking assistance system according to any one of claims 1 to 6,
    The control means includes a marker that represents a length that can be parked without performing a turning operation as a marker that represents a space necessary for the host vehicle to park, and a length that can be parked if at least one turning operation is performed. A parking assist system, wherein the display means simultaneously displays a marker representing
JP2005320999A 2005-11-04 2005-11-04 Parking assistance system Active JP4665721B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2005320999A JP4665721B2 (en) 2005-11-04 2005-11-04 Parking assistance system

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2005320999A JP4665721B2 (en) 2005-11-04 2005-11-04 Parking assistance system
GB0621867A GB2434020B (en) 2005-11-04 2006-11-02 Parking assisting system
DE200610051977 DE102006051977B4 (en) 2005-11-04 2006-11-03 Parking assistance system

Publications (2)

Publication Number Publication Date
JP2007126028A JP2007126028A (en) 2007-05-24
JP4665721B2 true JP4665721B2 (en) 2011-04-06

Family

ID=37547225

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2005320999A Active JP4665721B2 (en) 2005-11-04 2005-11-04 Parking assistance system

Country Status (3)

Country Link
JP (1) JP4665721B2 (en)
DE (1) DE102006051977B4 (en)
GB (1) GB2434020B (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007045562A1 (en) * 2007-09-24 2009-04-02 Robert Bosch Gmbh Control device for a display device of a parking device and method for representation
WO2010098216A1 (en) * 2009-02-26 2010-09-02 アイシン精機株式会社 Parking assistance device
JP5035284B2 (en) * 2009-03-25 2012-09-26 株式会社デンソー Vehicle periphery display device
JP2013091330A (en) * 2010-02-26 2013-05-16 Panasonic Corp Parking assist device
DE102010051206A1 (en) * 2010-11-12 2012-05-16 Valeo Schalter Und Sensoren Gmbh A method of generating an image of a vehicle environment and imaging device
JP5659914B2 (en) * 2011-03-30 2015-01-28 パナソニックIpマネジメント株式会社 Parking assistance device
EP2561850B1 (en) 2011-08-22 2014-07-02 Hartmut J. Schneider Device for sexual stimulation
JP2013043505A (en) * 2011-08-23 2013-03-04 Nissan Motor Co Ltd Parking assist apparatus and parking assist method

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63122155U (en) * 1987-02-04 1988-08-09
US20010017591A1 (en) * 2000-02-29 2001-08-30 Hisashi Kuriya Vehicle backward movement assisting apparatus for in-line parking
JP2003291759A (en) * 2002-04-05 2003-10-15 Matsushita Electric Ind Co Ltd Parking operation support system
JP2003335196A (en) * 2002-05-21 2003-11-25 Toyota Motor Corp Parking support device
JP2004168085A (en) * 2002-11-18 2004-06-17 Nissan Motor Co Ltd Parking support device
US20040130464A1 (en) * 2002-10-25 2004-07-08 Schindler Benno Tobias Method of operating a display system in a vehicle for finding a parking place
JP2005138716A (en) * 2003-11-06 2005-06-02 Denso Corp Parking support device
WO2005100135A1 (en) * 2004-04-15 2005-10-27 Robert Bosch Gmbh Device for assisting with a parking process of a vehicle

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3445197B2 (en) * 1998-10-08 2003-09-08 松下電器産業株式会社 Driving operation assist device
DE60105684T2 (en) * 2000-04-05 2005-02-10 Matsushita Electric Industrial Co., Ltd., Kadoma System and method for driver assistance
JP3947375B2 (en) * 2001-08-24 2007-07-18 アイシン精機株式会社 Parking assistance device
DE10261176A1 (en) * 2002-12-20 2004-07-01 Daimlerchrysler Ag Method and device for assisting the driver of a vehicle during a parking maneuver
JP2004325203A (en) * 2003-04-24 2004-11-18 Tokyo Sokki Kenkyusho Co Ltd Strain measuring system
JP4432736B2 (en) * 2004-11-09 2010-03-17 株式会社デンソー Parking assistance system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63122155U (en) * 1987-02-04 1988-08-09
US20010017591A1 (en) * 2000-02-29 2001-08-30 Hisashi Kuriya Vehicle backward movement assisting apparatus for in-line parking
JP2003291759A (en) * 2002-04-05 2003-10-15 Matsushita Electric Ind Co Ltd Parking operation support system
JP2003335196A (en) * 2002-05-21 2003-11-25 Toyota Motor Corp Parking support device
US20040130464A1 (en) * 2002-10-25 2004-07-08 Schindler Benno Tobias Method of operating a display system in a vehicle for finding a parking place
JP2004168085A (en) * 2002-11-18 2004-06-17 Nissan Motor Co Ltd Parking support device
JP2005138716A (en) * 2003-11-06 2005-06-02 Denso Corp Parking support device
WO2005100135A1 (en) * 2004-04-15 2005-10-27 Robert Bosch Gmbh Device for assisting with a parking process of a vehicle

Also Published As

Publication number Publication date
DE102006051977B4 (en) 2013-02-21
GB2434020A (en) 2007-07-11
GB2434020B (en) 2010-02-17
GB0621867D0 (en) 2006-12-13
DE102006051977A1 (en) 2007-05-10
JP2007126028A (en) 2007-05-24

Similar Documents

Publication Publication Date Title
US9807352B2 (en) Method and device for parking a vehicle
JP6094266B2 (en) Parking assistance device, parking assistance method and program
US8675069B2 (en) Vehicle surroundings monitoring apparatus
US8319614B2 (en) Parking assistance apparatus and parking assistance method
JP5309442B2 (en) Parking support method and parking support device
EP2929518B1 (en) Vehicle-side method and vehicle-side device for detecting and displaying parking spaces for a vehicle
EP1796392B1 (en) Apparatus for assisting steering of vehicle when backing
JP4853712B2 (en) Parking assistance device
EP2981077B1 (en) Periphery monitoring device and program
EP2163458B1 (en) Vehicle parking assistance device
KR101119563B1 (en) Parking assisting system
JP4604703B2 (en) Parking assistance device
CN102416906B (en) Parking assistance device and method for vehicle rear parking in park
KR101375944B1 (en) Parking assistance system
US9481368B2 (en) Park exit assist system and park exit assist method
JP4412380B2 (en) Driving support device, driving support method, and computer program
EP2583869B1 (en) Parking support device
JP4769625B2 (en) Parking assistance device and parking assistance method
DE10109350B4 (en) Assistance device for reverse parking a vehicle in series
JP4380655B2 (en) Parking assistance device and parking assistance method
US7755511B2 (en) Parking assistance apparatus
US8953043B2 (en) Parking assistance device configured to generate forward guide markers
JP4530060B2 (en) Parking support apparatus and method
JP3695319B2 (en) Vehicle periphery monitoring device
JP4899367B2 (en) Overhead image display system and overhead image display method

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20080611

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20100624

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20100629

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20100818

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: 20101214

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20101227

R151 Written notification of patent or utility model registration

Ref document number: 4665721

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140121

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140121

Year of fee payment: 3

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250