JP7077911B2 - 駐車支援装置および該方法 - Google Patents
駐車支援装置および該方法 Download PDFInfo
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- JP7077911B2 JP7077911B2 JP2018200144A JP2018200144A JP7077911B2 JP 7077911 B2 JP7077911 B2 JP 7077911B2 JP 2018200144 A JP2018200144 A JP 2018200144A JP 2018200144 A JP2018200144 A JP 2018200144A JP 7077911 B2 JP7077911 B2 JP 7077911B2
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- 238000000034 method Methods 0.000 title claims description 42
- 238000001514 detection method Methods 0.000 claims description 45
- 238000004891 communication Methods 0.000 claims description 40
- 230000008569 process Effects 0.000 description 23
- 230000005540 biological transmission Effects 0.000 description 13
- 238000006073 displacement reaction Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 208000019901 Anxiety disease Diseases 0.000 description 5
- 230000036506 anxiety Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000015654 memory Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003936 working memory Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W40/06—Road 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
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/35—Road bumpiness, e.g. potholes
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
PS 駐車支援装置
ST 段差
SP スペース
1 制御処理部
2a 動力部
2b 動力伝達部
3 制動部
4 操舵部
5 通信部
6 記憶部
7(7-1~7-4) ソナー
8(8-1、8-2) 撮像装置
9 車輪速センサ
11 制御部
12 駐車処理部
121 走行制御部
122 段差検出部
123 移動停止部
124 車輪判定部
125 乗越え可否判定部
126 移動再開部
Claims (4)
- 車両に制御信号を送信する通信端末を用い、前後方向に移動して所定のスペースに前記車両を停止させる駐車支援装置であって、
前記移動の際に進行方向における乗越え段差の有無を検出する段差検出部と、
前記段差検出部で段差有りを検出した場合に、前記移動を停止する移動停止部と、
前記移動停止部で前記移動を停止した後に、前記通信端末から前記制御信号を受信した場合に、前記乗越え段差を乗り越えるように前記移動を再開する移動再開部と、
前記乗越え段差に当たった車輪が駆動輪であるか否かを判定する車輪判定部とを備え、
前記移動停止部は、前記車輪判定部によって前記乗越え段差に当たった車輪が駆動輪では無いと判定された場合、前記進行方向とは逆方向に所定の距離だけ車両を移動させた後に、前記移動を停止する、
駐車支援装置。 - 前記車両を移動させるための動力を生成する動力部と、
前記車両を制動する制動部とをさらに備え、
前記移動停止部は、前記動力部による動力の生成を停止せずに、前記制動部により前記移動を停止し、かつ、前記停止を維持する、
請求項1に記載の駐車支援装置。 - 前記乗越え段差を乗り越えできたか否かを判定する乗越え可否判定部をさらに備え、
前記移動再開部は、前記乗越え段差を乗り越えるように前記移動を再開した後に、前記乗越え可否判定部によって前記乗越え段差を乗り越えできないと判定された場合、前記移動を、再度、停止する、
請求項1または請求項2に記載の駐車支援装置。 - 車両に制御信号を送信する通信端末を用い、前後方向に移動して所定のスペースに前記車両を停止させる駐車支援方法であって、
前記移動の際に進行方向における乗越え段差の有無を検出する段差検出工程と、
前記段差検出工程で段差有りを検出した場合に、前記移動を停止する移動停止工程と、
前記移動停止工程で前記移動を停止した後に、前記通信端末から前記制御信号を受信した場合に、前記乗越え段差を乗り越えるように前記移動を再開する移動再開工程と、
前記乗越え段差に当たった車輪が駆動輪であるか否かを判定する車輪判定工程とを備え、
前記移動停止工程は、前記車輪判定工程によって前記乗越え段差に当たった車輪が駆動輪では無いと判定された場合、前記進行方向とは逆方向に所定の距離だけ車両を移動させた後に、前記移動を停止する、
駐車支援方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018200144A JP7077911B2 (ja) | 2018-10-24 | 2018-10-24 | 駐車支援装置および該方法 |
US16/543,841 US11180153B2 (en) | 2018-10-24 | 2019-08-19 | Parking support device and parking support method |
EP19201811.7A EP3643587A1 (en) | 2018-10-24 | 2019-10-08 | Parking support device, parking support method and computer program product |
CN201910959731.1A CN111086505B (zh) | 2018-10-24 | 2019-10-10 | 驻车支援装置以及驻车支援方法 |
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---|---|---|---|
JP2018200144A JP7077911B2 (ja) | 2018-10-24 | 2018-10-24 | 駐車支援装置および該方法 |
Publications (2)
Publication Number | Publication Date |
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JP2020066329A JP2020066329A (ja) | 2020-04-30 |
JP7077911B2 true JP7077911B2 (ja) | 2022-05-31 |
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JP2018200144A Active JP7077911B2 (ja) | 2018-10-24 | 2018-10-24 | 駐車支援装置および該方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11180153B2 (ja) |
EP (1) | EP3643587A1 (ja) |
JP (1) | JP7077911B2 (ja) |
CN (1) | CN111086505B (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102235542B1 (ko) * | 2020-12-04 | 2021-04-02 | (주)에프엠에스코리아 | 배송물품 수령용 콜드체인 용기 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4023525A1 (en) * | 2020-12-29 | 2022-07-06 | Argo AI GmbH | Method for detecting an object underneath a vehicle after a parking phase, control device, vehicle and computer readable memory |
WO2024080271A1 (ja) * | 2022-10-14 | 2024-04-18 | トヨタ自動車株式会社 | システム、サーバ、車両および方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US20140222252A1 (en) | 2011-10-12 | 2014-08-07 | Bayerische Motoren Werke Aktiengesellschaft | Remote Control for a Parking Assistance System and a Parking Assistance System which can be Controlled by Remote Control |
US20180093662A1 (en) | 2016-10-04 | 2018-04-05 | Lg Electronics Inc. | Parking assistance apparatus and vehicle having the same |
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KR100857330B1 (ko) * | 2006-12-12 | 2008-09-05 | 현대자동차주식회사 | 주차 궤적 인식 장치 및 자동 주차 시스템 |
JP4386082B2 (ja) * | 2007-02-20 | 2009-12-16 | トヨタ自動車株式会社 | 車両走行支援装置 |
JP4488012B2 (ja) * | 2007-02-27 | 2010-06-23 | トヨタ自動車株式会社 | 車両走行支援装置 |
JP5013204B2 (ja) * | 2008-02-04 | 2012-08-29 | アイシン精機株式会社 | 駐車支援装置 |
DE102009003216A1 (de) * | 2009-05-19 | 2010-11-25 | Robert Bosch Gmbh | Fahrerassistenzverfahren zum Auslösen einer vorbestimmten Aktion in Abhängigkeit eines prädikitiv erfassten Höhenprofils entlang einer Radtrajektorie und korrespondierendes Fahrerassistenzsystem |
DE102013001119B4 (de) * | 2013-01-23 | 2017-04-20 | Audi Ag | Fahrerassistenzsystem, Verfahren für assistiertes, autonomes und/oder pilotiertes Ein- und/oder Ausparken eines Fahrzeugs, sowie Fahrzeug mit dem Fahrerassistenzsystem |
DE102013213379A1 (de) * | 2013-07-09 | 2015-01-15 | Ford Global Technologies, Llc | Vorrichtung und Verfahren zur Unterstützung eines Fahrers beim Ein- und Ausparken seines Fahrzeugs in einer Parkeinrichtung |
DE102015207022A1 (de) * | 2015-04-17 | 2016-10-20 | Robert Bosch Gmbh | Steuern eines Kraftfahrzeugs |
DE102015212313A1 (de) * | 2015-07-01 | 2017-01-05 | Robert Bosch Gmbh | Konzept zum Überführen eines Fahrzeugs von einer Startposition zu einer Zielposition |
JP2018090108A (ja) * | 2016-12-05 | 2018-06-14 | 株式会社デンソーテン | 駐車支援装置及び駐車支援方法 |
JP2018122789A (ja) | 2017-02-02 | 2018-08-09 | 株式会社デンソーテン | 運転支援装置、運転支援システムおよび運転支援方法 |
DE102018202738A1 (de) * | 2018-02-23 | 2019-08-29 | Bayerische Motoren Werke Aktiengesellschaft | Fernbedienbares Parkassistenzsystem mit selbstständiger Entscheidung über das Vorliegen einer Ein- oder Ausparksituation und entsprechendes Parkverfahren |
KR102506876B1 (ko) * | 2018-08-23 | 2023-03-08 | 현대자동차주식회사 | 원격제어장치, 이를 이용한 원격주차보조 시스템 및 그의 제어 방법 |
US10989547B2 (en) * | 2018-10-22 | 2021-04-27 | Ford Global Technologies, Llc | Autonomous vehicle ride service systems and methods |
DE102018222531A1 (de) * | 2018-12-20 | 2020-06-25 | Volkswagen Aktiengesellschaft | Verfahren zum wenigstens teilautomatisierten Steuern des Kraftfahrzeugs während eines Einpark- oder Ausparkvorgangs, Steuervorrichtung sowie Kraftfahrzeug |
US11338826B2 (en) * | 2019-06-24 | 2022-05-24 | Honda Motor Co., Ltd. | Parking assist system |
-
2018
- 2018-10-24 JP JP2018200144A patent/JP7077911B2/ja active Active
-
2019
- 2019-08-19 US US16/543,841 patent/US11180153B2/en active Active
- 2019-10-08 EP EP19201811.7A patent/EP3643587A1/en not_active Withdrawn
- 2019-10-10 CN CN201910959731.1A patent/CN111086505B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140222252A1 (en) | 2011-10-12 | 2014-08-07 | Bayerische Motoren Werke Aktiengesellschaft | Remote Control for a Parking Assistance System and a Parking Assistance System which can be Controlled by Remote Control |
US20180093662A1 (en) | 2016-10-04 | 2018-04-05 | Lg Electronics Inc. | Parking assistance apparatus and vehicle having the same |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102235542B1 (ko) * | 2020-12-04 | 2021-04-02 | (주)에프엠에스코리아 | 배송물품 수령용 콜드체인 용기 |
Also Published As
Publication number | Publication date |
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CN111086505A (zh) | 2020-05-01 |
US20200130698A1 (en) | 2020-04-30 |
CN111086505B (zh) | 2023-01-13 |
EP3643587A1 (en) | 2020-04-29 |
US11180153B2 (en) | 2021-11-23 |
JP2020066329A (ja) | 2020-04-30 |
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