WO2008108243A1 - 駐車支援装置 - Google Patents

駐車支援装置 Download PDF

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Publication number
WO2008108243A1
WO2008108243A1 PCT/JP2008/053395 JP2008053395W WO2008108243A1 WO 2008108243 A1 WO2008108243 A1 WO 2008108243A1 JP 2008053395 W JP2008053395 W JP 2008053395W WO 2008108243 A1 WO2008108243 A1 WO 2008108243A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
initial position
assistance device
parking assistance
obstacle
Prior art date
Application number
PCT/JP2008/053395
Other languages
English (en)
French (fr)
Inventor
Yukiko Kawabata
Yasushi Makino
Hideyuki Iwakiri
Yuichi Kubota
Tomohiko Endo
Miyuki Omori
Takuya Ito
Daisuke Suzuki
Takashi Nitta
Original Assignee
Toyota Jidosha Kabushiki Kaisha
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 Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to EP08720943.3A priority Critical patent/EP2116425B1/en
Priority to US12/526,680 priority patent/US8285479B2/en
Priority to CN200880007127.9A priority patent/CN101626921B/zh
Publication of WO2008108243A1 publication Critical patent/WO2008108243A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid systems
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

　設定された目標駐車位置に車両を誘導する駐車支援装置であって、所定のタイミングで、車両の現在地点から目標駐車位置への車両誘導が開始される初期位置に至る初期位置誘導経路を生成し、初期位置誘導経路に沿って初期位置に移動するように車両を誘導する初期位置誘導手段と、車両周辺の障害物を検出する障害物検出手段と、を備え、初期位置誘導手段は、生成した初期位置誘導経路上に障害物検出手段が検出した障害物が存在する場合には、障害物検出手段が検出した障害物を回避するように初期位置誘導経路を生成する手段である、駐車支援装置。
PCT/JP2008/053395 2007-03-08 2008-02-27 駐車支援装置 WO2008108243A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08720943.3A EP2116425B1 (en) 2007-03-08 2008-02-27 Parking assist apparatus
US12/526,680 US8285479B2 (en) 2007-03-08 2008-02-27 Parking assist apparatus
CN200880007127.9A CN101626921B (zh) 2007-03-08 2008-02-27 停车辅助装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-059060 2007-03-08
JP2007059060A JP4609444B2 (ja) 2007-03-08 2007-03-08 駐車支援装置

Publications (1)

Publication Number Publication Date
WO2008108243A1 true WO2008108243A1 (ja) 2008-09-12

Family

ID=39738128

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/053395 WO2008108243A1 (ja) 2007-03-08 2008-02-27 駐車支援装置

Country Status (5)

Country Link
US (1) US8285479B2 (ja)
EP (1) EP2116425B1 (ja)
JP (1) JP4609444B2 (ja)
CN (1) CN101626921B (ja)
WO (1) WO2008108243A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011029843A1 (en) * 2009-09-11 2011-03-17 Ford Global Technologies, Llc Vehicle park assist system and method for parking a vehicle using such system
WO2011036057A1 (en) * 2009-09-24 2011-03-31 Ford Global Technologies, Llc Vehicle park assist system and method for parking a vehicle using such system
EP2292497A3 (de) * 2009-09-07 2011-10-12 Valeo Schalter und Sensoren GmbH Verfahren zum Durchführen eines zumindest semi-autonomen Parkvorgangs eines Kraftfahrzeugs, Fahrerassistenzeinrichtung und Kraftfahrzeug mit einer Fahrerassistenzeinrichtung

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US7926425B2 (en) * 2005-11-28 2011-04-19 Joy Kirston Henderson Tram steering system
CN101612920B (zh) * 2008-06-26 2012-05-30 鸿富锦精密工业（深圳）有限公司 倒车摄影系统
JP2010149723A (ja) * 2008-12-25 2010-07-08 Toyota Industries Corp 駐車支援装置
JP5257138B2 (ja) * 2009-02-26 2013-08-07 日産自動車株式会社 駐車支援装置及び駐車支援方法
JP5338541B2 (ja) * 2009-07-22 2013-11-13 株式会社エクォス・リサーチ 走行支援装置及び走行支援方法
JP5263052B2 (ja) * 2009-07-22 2013-08-14 株式会社エクォス・リサーチ 走行支援装置及び走行支援方法
KR101735134B1 (ko) 2009-07-27 2017-05-24 마그나 일렉트로닉스 인크. 주차 보조 시스템
DE102010000964A1 (de) * 2010-01-18 2011-07-21 Robert Bosch GmbH, 70469 Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeuges
JP5278343B2 (ja) * 2010-01-29 2013-09-04 株式会社エクォス・リサーチ 走行制御装置および走行制御方法
DE102010010652A1 (de) * 2010-03-09 2011-09-15 Valeo Schalter Und Sensoren Gmbh Verfahren zum Unterstützen eines Fahrers beim Einparken eines Fahrzeugs in eine Querparklücke sowie Fahrerassistenzeinrichtung
DE102010023162A1 (de) * 2010-06-09 2011-12-15 Valeo Schalter Und Sensoren Gmbh Verfahren zum Unterstützen eines Fahrers eines Kraftfahrzeugs beim Einparken in eine Parklücke, Fahrerassistenzeinrichtung und Kraftfahrzeug
JP5472026B2 (ja) * 2010-06-29 2014-04-16 トヨタ自動車株式会社 駐車支援装置
JP5212748B2 (ja) * 2010-09-29 2013-06-19 アイシン精機株式会社 駐車支援装置
US8584791B2 (en) * 2010-10-22 2013-11-19 Jtekt Corporation Hydraulic power steering apparatus
KR20120053713A (ko) * 2010-11-18 2012-05-29 에스엘 주식회사 차량용 카메라의 제어 장치 및 방법
JP5741321B2 (ja) * 2011-08-23 2015-07-01 株式会社富士通ゼネラル 運転支援装置
DE102011082826A1 (de) * 2011-09-16 2013-03-21 Robert Bosch Gmbh Verfahren zum Unterstützen eines automatischen Einparkvorgangs eines Einparkhilfesystems eines Fahrzeugs sowie ein entsprechendes Fahrzeug
JP5900116B2 (ja) * 2012-04-02 2016-04-06 トヨタ自動車株式会社 駐車支援装置
CN103587479A (zh) * 2012-08-14 2014-02-19 辉达公司 一种用于倒车的裸眼三维视频系统和包括该系统的车辆
US8862321B2 (en) * 2012-08-15 2014-10-14 GM Global Technology Operations LLC Directing vehicle into feasible region for autonomous and semi-autonomous parking
TWI492196B (zh) * 2012-11-22 2015-07-11 國立成功大學 停車輔助系統
US9696420B2 (en) 2013-04-09 2017-07-04 Ford Global Technologies, Llc Active park assist object detection
JP6269197B2 (ja) * 2013-10-29 2018-01-31 株式会社デンソー 自動運転装置
KR102175961B1 (ko) * 2013-11-29 2020-11-09 현대모비스 주식회사 차량 후방 주차 가이드 장치
US10328932B2 (en) 2014-06-02 2019-06-25 Magna Electronics Inc. Parking assist system with annotated map generation
JP6062406B2 (ja) * 2014-09-12 2017-01-18 アイシン精機株式会社 駐車支援装置および駐車支援方法
JP6562709B2 (ja) * 2015-05-14 2019-08-21 株式会社デンソーテン 駐車支援装置および駐車支援方法
CA2989980C (en) 2015-06-19 2018-07-17 Nissan Motor Co., Ltd. Parking assistance device and parking assistance method
US10214206B2 (en) 2015-07-13 2019-02-26 Magna Electronics Inc. Parking assist system for vehicle
US10078789B2 (en) 2015-07-17 2018-09-18 Magna Electronics Inc. Vehicle parking assist system with vision-based parking space detection
US10160437B2 (en) 2016-02-29 2018-12-25 Magna Electronics Inc. Vehicle control system with reverse assist
US20170253237A1 (en) * 2016-03-02 2017-09-07 Magna Electronics Inc. Vehicle vision system with automatic parking function
JP6644425B2 (ja) * 2016-07-07 2020-02-12 アルパイン株式会社 移動経路生成装置および移動経路生成方法
JP6812173B2 (ja) * 2016-08-31 2021-01-13 アイシン精機株式会社 駐車支援装置
CN106627565B (zh) * 2016-11-21 2019-10-01 深圳市元征软件开发有限公司 一种泊车方法及车载设备
CN108622082B (zh) * 2017-03-17 2021-04-16 厦门歌乐电子企业有限公司 一种停车辅助控制方法及装置
KR102207964B1 (ko) * 2017-07-11 2021-01-27 현대모비스 주식회사 자동주차 시스템의 주차궤적 생성방법 및 그 장치
CN107672585B (zh) * 2017-08-29 2019-09-17 广州小鹏汽车科技有限公司 一种自动泊车路径规划方法及系统
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CN109098867A (zh) * 2018-09-06 2018-12-28 奇瑞汽车股份有限公司 发动机怠速停机控制系统及其控制方法
CN109229095A (zh) * 2018-10-30 2019-01-18 百度在线网络技术（北京）有限公司 用于确定自动泊车效果的方法、装置、设备和存储介质
CN109703552B (zh) * 2018-12-28 2021-06-22 百度在线网络技术（北京）有限公司 自主泊车的方法、装置和设备、计算机可读存储介质
CN111376894A (zh) * 2018-12-29 2020-07-07 观致汽车有限公司 自动泊车系统以及方法
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JP2021123277A (ja) * 2020-02-07 2021-08-30 フォルシアクラリオン・エレクトロニクス株式会社 駐車支援装置及び駐車支援方法
CN111674390B (zh) * 2020-05-09 2021-07-02 惠州市德赛西威汽车电子股份有限公司 一种自动泊车路径规划的避障方法及泊车路径规划系统
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Publication number Priority date Publication date Assignee Title
EP2292497A3 (de) * 2009-09-07 2011-10-12 Valeo Schalter und Sensoren GmbH Verfahren zum Durchführen eines zumindest semi-autonomen Parkvorgangs eines Kraftfahrzeugs, Fahrerassistenzeinrichtung und Kraftfahrzeug mit einer Fahrerassistenzeinrichtung
WO2011029843A1 (en) * 2009-09-11 2011-03-17 Ford Global Technologies, Llc Vehicle park assist system and method for parking a vehicle using such system
CN102470795A (zh) * 2009-09-11 2012-05-23 福特全球技术公司 停车辅助系统及使用这种系统停车的方法
CN102470795B (zh) * 2009-09-11 2016-03-16 福特全球技术公司 停车辅助系统及使用这种系统停车的方法
WO2011036057A1 (en) * 2009-09-24 2011-03-31 Ford Global Technologies, Llc Vehicle park assist system and method for parking a vehicle using such system
CN102438860A (zh) * 2009-09-24 2012-05-02 福特全球技术公司 停车辅助系统及使用该系统用于停车的方法
CN102438860B (zh) * 2009-09-24 2015-10-14 福特全球技术公司 停车辅助系统及使用该系统用于停车的方法

Also Published As

Publication number Publication date
JP4609444B2 (ja) 2011-01-12
US20100114434A1 (en) 2010-05-06
EP2116425A1 (en) 2009-11-11
JP2008221894A (ja) 2008-09-25
CN101626921A (zh) 2010-01-13
EP2116425B1 (en) 2017-02-08
EP2116425A4 (en) 2014-02-12
US8285479B2 (en) 2012-10-09
CN101626921B (zh) 2012-03-14

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