WO2009016925A1 - 駐車支援装置、駐車支援装置の車両側装置、駐車支援方法及び駐車支援プログラム - Google Patents

駐車支援装置、駐車支援装置の車両側装置、駐車支援方法及び駐車支援プログラム Download PDF

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Publication number
WO2009016925A1
WO2009016925A1 PCT/JP2008/062194 JP2008062194W WO2009016925A1 WO 2009016925 A1 WO2009016925 A1 WO 2009016925A1 JP 2008062194 W JP2008062194 W JP 2008062194W WO 2009016925 A1 WO2009016925 A1 WO 2009016925A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
parking assistance
parking space
parking
positional relationship
Prior art date
Application number
PCT/JP2008/062194
Other languages
English (en)
French (fr)
Inventor
Kazunori Shimazaki
Tomio Kimura
Yutaka Nakashima
Masami Tomioka
Hideo Yanagisawa
Original Assignee
Kabushiki Kaisha Toyota Jidoshokki
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 Kabushiki Kaisha Toyota Jidoshokki filed Critical Kabushiki Kaisha Toyota Jidoshokki
Priority to KR1020107001973A priority Critical patent/KR101084025B1/ko
Priority to JP2009525321A priority patent/JPWO2009016925A1/ja
Priority to CN200880101141A priority patent/CN101765527A/zh
Priority to EP08777909A priority patent/EP2184208A4/en
Priority to US12/670,713 priority patent/US8170752B2/en
Publication of WO2009016925A1 publication Critical patent/WO2009016925A1/ja

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • 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
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/108—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 'non-standard' camera systems, e.g. camera sensor used for additional purposes i.a. rain sensor, camera sensor split in multiple image areas
    • 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
    • B60R2300/50—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
    • 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
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured 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
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views
    • B60R2300/8026—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 monitoring and displaying vehicle exterior blind spot views in addition to a rear-view mirror system
    • 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
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

　運転者が車両と目標駐車位置との相対位置関係を把握しやすく、車両を精度よく駐車スペース内の目標駐車位置に駐車させることができる駐車支援装置を提供する。 　駐車スペースＳ内のマークＭを車両側カメラ７で撮影し、撮影されたマークＭの画像に基づいて相対位置算出部８が車両と目標駐車位置Ｔとの相対位置関係を算出し、この相対位置関係と操舵角センサ１５で検出された操舵角とに基づいて後退軌跡算出部９が車両移動時の予想軌跡を算出し、駐車スペースＳを駐車スペース側カメラ３で撮影して車両側装置１へ送信し、画像合成部１２が受信された駐車スペース側カメラ３による駐車スペースＳの画像と後退軌跡算出部９で算出された予想軌跡とを合成し、車両の運転席に設置されたモニタ１４に表示する。
PCT/JP2008/062194 2007-07-31 2008-07-04 駐車支援装置、駐車支援装置の車両側装置、駐車支援方法及び駐車支援プログラム WO2009016925A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
KR1020107001973A KR101084025B1 (ko) 2007-07-31 2008-07-04 주차 지원 장치, 주차 지원 장치의 차량측 장치, 주차 지원 방법 및 주차 지원 프로그램
JP2009525321A JPWO2009016925A1 (ja) 2007-07-31 2008-07-04 駐車支援装置、駐車支援装置の車両側装置、駐車支援方法及び駐車支援プログラム
CN200880101141A CN101765527A (zh) 2007-07-31 2008-07-04 停车辅助装置、停车辅助装置的车辆侧装置、停车辅助方法及停车辅助程序
EP08777909A EP2184208A4 (en) 2007-07-31 2008-07-04 PARKING AID DEVICE, VEHICLE SIDE DEVICE FOR PARKING AID DEVICE, PARKING AID METHOD, AND PARKING ASSIST PROGRAM
US12/670,713 US8170752B2 (en) 2007-07-31 2008-07-04 Parking assistance apparatus, vehicle-side apparatus of parking assistance apparatus, parking assist method, and parking assist program

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2007-199078 2007-07-31
JP2007199078 2007-07-31
JP2007-295802 2007-11-14
JP2007295802 2007-11-14

Publications (1)

Publication Number Publication Date
WO2009016925A1 true WO2009016925A1 (ja) 2009-02-05

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Application Number Title Priority Date Filing Date
PCT/JP2008/062194 WO2009016925A1 (ja) 2007-07-31 2008-07-04 駐車支援装置、駐車支援装置の車両側装置、駐車支援方法及び駐車支援プログラム

Country Status (7)

Country Link
US (1) US8170752B2 (ja)
EP (1) EP2184208A4 (ja)
JP (1) JPWO2009016925A1 (ja)
KR (1) KR101084025B1 (ja)
CN (1) CN101765527A (ja)
TW (1) TWI373014B (ja)
WO (1) WO2009016925A1 (ja)

Cited By (10)

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JP2009184426A (ja) * 2008-02-04 2009-08-20 Aisin Seiki Co Ltd 駐車支援装置
JP2010186257A (ja) * 2009-02-10 2010-08-26 Denso Corp 駐車支援システム、車載駐車支援装置、情報付マーカー
WO2010101067A1 (ja) * 2009-03-06 2010-09-10 株式会社豊田自動織機 駐車支援装置および駐車支援方法
EP2202132A3 (en) * 2008-12-25 2010-10-27 Kabushiki Kaisha Toyota Jidoshokki Parking assist apparatus
CN102233899A (zh) * 2010-05-07 2011-11-09 福特全球技术公司 自动地按角度定位车轮的系统及方法
JP2012084021A (ja) * 2010-10-13 2012-04-26 Equos Research Co Ltd 走行制御装置
JP2012162122A (ja) * 2011-02-04 2012-08-30 Honda Motor Co Ltd 車両の走行制御装置
JP2013212808A (ja) * 2012-04-04 2013-10-17 Nippon Soken Inc 駐車空間検知装置
JP2013212723A (ja) * 2012-03-30 2013-10-17 Fujitsu Ten Ltd 駐車支援装置、及び駐車支援方法
JPWO2016162937A1 (ja) * 2015-04-07 2018-03-15 日産自動車株式会社 駐車支援システム及び駐車支援装置

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