WO2008140104A1 - 駐車支援装置 - Google Patents

駐車支援装置 Download PDF

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Publication number
WO2008140104A1
WO2008140104A1 PCT/JP2008/058872 JP2008058872W WO2008140104A1 WO 2008140104 A1 WO2008140104 A1 WO 2008140104A1 JP 2008058872 W JP2008058872 W JP 2008058872W WO 2008140104 A1 WO2008140104 A1 WO 2008140104A1
Authority
WO
WIPO (PCT)
Prior art keywords
parking
vehicle
course
backward
advancing
Prior art date
Application number
PCT/JP2008/058872
Other languages
English (en)
French (fr)
Inventor
Yu Tanaka
Original Assignee
Aisin Seiki 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 Aisin Seiki Kabushiki Kaisha filed Critical Aisin Seiki Kabushiki Kaisha
Priority to EP08752743.8A priority Critical patent/EP2145799B1/en
Priority to US12/531,432 priority patent/US8374749B2/en
Publication of WO2008140104A1 publication Critical patent/WO2008140104A1/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
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • 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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

　精度良く、且つ短時間で駐車の目標位置及び駐車のための経路を設定して、駐車の際の乗員の運転負荷を軽減できる駐車支援装置を提供する。駐車支援装置は、後退開始位置（Ｐ１）まで前進し、後退開始位置（Ｐ１）から後進して、所定の駐車位置（Ｅ）へ車両（３０）を駐車させる運転操作を、以下のように支援する。駐車目標設定部は、車両（３０）の周辺の情景が撮影された画像データに基づいて検出された駐車基準（Ｗ１、Ｗ２）に基づいて、所定の駐車位置（Ｅ）に対応する駐車目標位置（Ｐ４）を設定する。駐車経路演算部は、前進経路（ＫＦ）を前進中に、車両（３０）の現在位置から駐車目標位置（Ｐ４）への駐車経路（ＫＢ）を逐次演算する。駐車経路判定部は、駐車経路演算部の演算結果に基づいて、駐車経路（ＫＢ）が成立したか否かを判定する。 
PCT/JP2008/058872 2007-05-16 2008-05-14 駐車支援装置 WO2008140104A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP08752743.8A EP2145799B1 (en) 2007-05-16 2008-05-14 Parking assisting system
US12/531,432 US8374749B2 (en) 2007-05-16 2008-05-14 Parking assist system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-130820 2007-05-16
JP2007130820A JP5182545B2 (ja) 2007-05-16 2007-05-16 駐車支援装置

Publications (1)

Publication Number Publication Date
WO2008140104A1 true WO2008140104A1 (ja) 2008-11-20

Family

ID=40002292

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058872 WO2008140104A1 (ja) 2007-05-16 2008-05-14 駐車支援装置

Country Status (6)

Country Link
US (1) US8374749B2 (ja)
EP (1) EP2145799B1 (ja)
JP (1) JP5182545B2 (ja)
KR (1) KR101119563B1 (ja)
CN (1) CN101641241A (ja)
WO (1) WO2008140104A1 (ja)

Cited By (7)

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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
CN102574544A (zh) * 2009-08-05 2012-07-11 罗伯特·博世有限公司 用于受支持地泊入泊车位中的方法和装置
CN106697050A (zh) * 2015-11-16 2017-05-24 奥迪股份公司 在倒车行驶情况中驾驶机动车辆
CN109145896A (zh) * 2018-07-24 2019-01-04 安徽淘云科技有限公司 一种兴趣区域预测方法、装置、设备及存储介质
JP2020152294A (ja) * 2019-03-22 2020-09-24 トヨタ自動車株式会社 駐車支援装置
CN112141085A (zh) * 2019-06-27 2020-12-29 松下知识产权经营株式会社 车辆和停车辅助装置
CN112739597A (zh) * 2018-09-27 2021-04-30 日立汽车系统株式会社 驻车辅助装置

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