WO2011105105A1 - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
- Publication number
- WO2011105105A1 WO2011105105A1 PCT/JP2011/001118 JP2011001118W WO2011105105A1 WO 2011105105 A1 WO2011105105 A1 WO 2011105105A1 JP 2011001118 W JP2011001118 W JP 2011001118W WO 2011105105 A1 WO2011105105 A1 WO 2011105105A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- parking
- host vehicle
- parking guide
- image
- guide frame
- Prior art date
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Classifications
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- 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
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
-
- 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
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
Definitions
- the present invention relates to a parking assistance device that assists parking when the host vehicle is reversing while steering from a parking start position and parking by reversing the steering on the way.
- the shape of the display image and the guide method for guiding each stage of the parking start position, the steering reversal start position, and the planned parking position are different. For this reason, the driver must understand the meaning of the display image of the guide and the guide method at each stage, and understand how the vehicle can be adjusted to the end position of each stage. There was a problem that was difficult.
- the present invention was made in order to solve the conventional problems, and it is easy to understand a method for aligning the host vehicle with the guide end position at each stage of the parking start position, the steering reversal start position, and the planned parking position.
- the purpose is to provide.
- the second parking guide guides the host vehicle to the steering return start position.
- the first, second, and third parking guides are switched to the first, second, and third parking guide frames according to the time of the third parking guide that guides the vehicle to the parking end position during the guide.
- the frames have the same shape, and the end target positions of the first, second, and third parking guides are that the first, second, and third parking guide frames enter the parking end position, respectively.
- the present invention there is an effect that it is possible to provide a parking assist device that can easily understand the guide end position at each stage of the parking start position, the steering reversal start position, and the planned parking position.
- the block diagram which shows the structure of the parking assistance apparatus in embodiment of this invention.
- the flowchart figure of the parking assistance process by the control apparatus which is the principal part of FIG.
- the figure explaining the transition of the parking assistance process of FIG. 3 with an image The figure explaining the example of superimposition of the 2nd parking guide of FIG. 3 with an image
- the figure explaining the example of superimposition of the 2nd parking guide of FIG. 3 with an image The figure explaining the other superimposed example of the 2nd parking guide of FIG. 3 with an image
- FIG. 1 is a block diagram showing a configuration of a parking assistance apparatus according to an embodiment of the present invention.
- the parking assistance device 1 is connected to an imaging device 2, an input device 3, a vehicle speed sensor 4, a steering angle sensor 5, a shift lever state detection sensor 6, and a display device 7, respectively.
- the parking assist device 1 includes a volatile memory 8, a nonvolatile memory 9, an image processing device 10, a control device 11, and a bus 12 that connects them to each other.
- the parking assist device 1 applies a parking guide to captured images around the host vehicle input from the imaging device 2 based on input signals from the input device 3, the vehicle speed sensor 4, the rudder angle sensor 5, and the shift lever state detection sensor 6.
- the displayed image is synthesized every predetermined time, and this synthesized image is output to the display device 7 as a video.
- the imaging device 2 has cameras 2A to 2D. The position where the cameras 2A to 2D are attached to the host vehicle will be described.
- FIG. 2 is a diagram illustrating a mounting state of the imaging device 2 on the host vehicle. As shown in FIG. 2, the cameras 2A, 2B, 2C, and 2D are attached to the front, rear, left side, and right side of the host vehicle, respectively. Depending on the mounted state of the cameras 2A to 2D, the imaging device 2 can capture the entire periphery of the host vehicle. In the present embodiment, the imaging device 2 has a plurality of cameras and images the entire periphery of the host vehicle. However, the imaging device 2 only needs to have at least one camera and can capture a part of the periphery of the host vehicle. Moreover, the attachment position of the imaging device 2 may be any location as long as the outside of the host vehicle can be imaged. The imaging device 2 inputs a captured image captured every predetermined time as a video to the parking assistance device 1.
- the input device 3 is composed of, for example, a touch panel, a remote control, and a switch. When the input device 3 is configured by a touch panel, the input device 3 may be provided in the display device 7. The input device 3 is operated by the user and outputs an input signal indicating a user instruction command to the parking assistance device 1. For example, the input device 3 outputs a parking guide switching command signal to the parking assistance device 1.
- the vehicle speed sensor 4, the steering angle sensor 5, and the shift lever state detection sensor 6 respectively receive a vehicle speed signal indicating the vehicle speed of the host vehicle, a steering angle signal indicating the turning angle of the steering wheel, and a shift lever state signal indicating the state of the shift lever. Output to the parking assist device 1.
- the display device 7 includes, for example, a navigation device or a rear seat display.
- the display device 7 receives a captured image around the host vehicle and a composite image of the parking guide from the parking assistance device 1 and displays the composite image as a video.
- the volatile memory 8 is composed of, for example, a video memory or a RAM (Random Access Memory).
- the volatile memory 8 includes image memories 8A to 8D.
- the image memories 8A to 8D are connected to the cameras 2A to 2D, respectively.
- the volatile memory 8 temporarily stores video data obtained from captured images input from the imaging device 2 every predetermined time.
- the video data stored in the volatile memory 8 is output to the image processing apparatus 10 via the bus 12.
- the non-volatile memory 9 is composed of, for example, a flash memory or a ROM (Read Only Memory).
- the non-volatile memory 9 stores various image data such as image data of the own vehicle, image data used for parking guides, and a mapping table for creating an image converted from the viewpoint of the captured images of the cameras 2A to 2D.
- the non-volatile memory 9 includes at least a first parking guide frame that guides the host vehicle to a parking start position, a second parking guide frame that guides the host vehicle to a steering turn start position, as image data used for the parking guide, A third parking guide frame for guiding the host vehicle at the parking end position is provided.
- Various image data stored in the nonvolatile memory 9 is output to the image processing apparatus 10.
- the image processing apparatus 10 includes, for example, an ASIC (Application Specific Integrated Circuit) or a VLSI (Very Large Scale Integration).
- the image processing apparatus 10 includes an overhead image creation unit 10A and an image superimposition unit 10B.
- the image processing device 10 is connected to the display device 7.
- the overhead image creation unit 10A combines the video data of the captured images of the cameras 2A to 2D input from the image memories 8A to 8D with the overhead image.
- the image superimposing unit 10B creates a composite image obtained by superimposing the image data used for the parking guide input from the non-volatile memory 9 and the image data of the host vehicle on the overhead image at every predetermined time.
- the image processing device 10 outputs the composite image created every predetermined time to the display device 7 as a video.
- the relative positional relationship between the image data used for the parking guide and the image data of the host vehicle is always set to be constant. Specifically, during the first parking guide that guides the host vehicle to the parking start position, the relative positional relationship between the image data of the first parking guide frame and the image data of the host vehicle is always set constant. ing. In addition, the relative positional relationship between the image data of the second parking guide frame and the image data of the host vehicle is always set constant during the second parking guide that guides the host vehicle to the steering turning start position. Yes. In addition, during the third parking guide for guiding the host vehicle to the target parking space (parking end position), the relative positional relationship between the image data of the third parking guide frame and the image data of the host vehicle is always It is set constant.
- the relative positional relationship between the image data of the first parking guide frame and the image data of the own vehicle, the relative positional relationship between the image data of the second parking guide frame and the image data of the own vehicle, The relative positional relationship between the image data of the parking guide frame and the image data of the host vehicle is set to be different from each other.
- the control device 11 includes, for example, a CPU (Central Processing Unit) and an LSI (Large Scale Integration).
- the control device 11 is connected to the input device 3, the vehicle speed sensor 4, the rudder angle sensor 5, and the shift lever state detection sensor 6.
- the control device 11 performs video processing of the image processing device 10, volatile memory 8, and nonvolatile memory based on signals input from the input device 3, the vehicle speed sensor 4, the steering angle sensor 5, and the shift lever state detection sensor 6.
- 9 controls the data read from 9, the input from the imaging device 2, the output to the display device 7, and the like.
- the image superimposing unit 10B superimposes on the overhead image based on various signals input from the input device 3, the vehicle speed sensor 4, the rudder angle sensor 5, and the shift lever state detection sensor 6. Switching control of the third parking guide frame is performed.
- FIG. 3 is a flowchart of parking support processing by the control device 11.
- the control device 11 activates the parking guide based on an input signal from at least one of the input device 3, the vehicle speed sensor 4, the steering angle sensor 5, and the shift lever state detection sensor 6. .
- the parking guide may be activated manually by the driver or automatically. For example, when an activation command signal is input from the input device 3, the control device 11 activates the parking guide. Further, the control device 11 receives an input from the shift lever state detection sensor 6 that the state of the shift lever is a drive, and a signal indicating that the vehicle speed sensor 4 is below the slow speed and a steering angle from the steering angle sensor 5 is a predetermined value or less.
- the parking guide may be automatically activated when a signal indicating is continuously input for a certain period of time. The control device 11 may automatically activate the parking guide when the shift lever state detection sensor 6 inputs that the state of the shift lever has changed from drive to reverse.
- the control device 11 selects the first parking guide frame from the nonvolatile memory 9 in order to guide the host vehicle to the parking start position. Then, the image superimposing unit 10B of the image processing device 10 superimposes the image data of the host vehicle and the first parking guide frame on the overhead image based on the command of the control device 11. The positional relationship between the image data of the host vehicle and the first parking guide frame is always kept constant regardless of the movement of the host vehicle.
- the image processing device 10 outputs a composite image on which the first parking guide frame is superimposed to the display device 7 as a video. And the display apparatus 7 displays the bird's-eye view image around the own vehicle on which the first parking guide frame is superimposed.
- the control device 11 determines whether or not the first parking guide for guiding the host vehicle to the parking start position has ended.
- whether or not the first parking guide has ended is determined based on whether or not the first parking guide frame is within the target parking space (parking end position).
- the control device 11 determines that the first parking guide has ended when it is determined that the first parking guide frame is within the parking space detected by a sonar (not shown).
- the sonar is not connected to the parking assistance apparatus 1, the driver
- control device 11 can determine that the first parking guide frame is accommodated in the parking space by the first parking guide end command by the input device 3. Further, for example, when the information that the shift lever is reversed is input from the shift lever state detection sensor 6, the control device 11 determines that the first parking guide end instruction is the same as the input device 3.
- step S33 the control device 11 performs the process of step S32 again.
- step S34 the control device 11 selects the second parking guide frame from the nonvolatile memory 9 in order to guide the host vehicle to the steering turning start position. Then, the image superimposing unit 10B of the image processing device 10 superimposes the image data of the host vehicle and the second parking guide frame on the overhead image based on the command of the control device 11. The positional relationship between the image data of the host vehicle and the second parking guide frame is always kept constant regardless of the movement of the host vehicle.
- the image processing device 10 outputs a composite image on which the second parking guide frame is superimposed to the display device 7 as a video. And the display apparatus 7 displays the bird's-eye view image around the own vehicle on which the second parking guide frame is superimposed.
- step S35 the control device 11 determines whether or not the second parking guide for guiding the host vehicle to the steering turning start position has ended.
- whether or not the second parking guide has ended is determined based on whether or not the second parking guide frame is within the target parking space (parking end position).
- the control device 11 determines that the second parking guide has ended when it is determined that the second parking guide frame is within the parking space detected by a sonar (not shown).
- the sonar is not connected to the parking assistance apparatus 1
- the driver who judged that the 2nd parking guide frame was settled in the parking space should just perform the 2nd parking guide end command to the input device 3, for example.
- the control device 11 can determine that the second parking guide frame is accommodated in the parking space by the second parking guide end command by the input device 3.
- step S35 the control device 11 performs the process of step S34 again.
- step S36 the control device 11 guides the host vehicle to the target parking space (parking end position). Select. Then, the image superimposing unit 10B of the image processing device 10 superimposes the image data of the host vehicle and the third parking guide frame on the overhead view image based on the instruction of the control device 11. The positional relationship between the image data of the host vehicle and the third parking guide frame is always kept constant regardless of the movement of the host vehicle.
- the image processing device 10 outputs a composite image on which the third parking guide frame is superimposed to the display device 7 as a video. And the display apparatus 7 displays the bird's-eye view image around the own vehicle on which the third parking guide frame is superimposed.
- the control device 11 determines whether or not the third parking guide for guiding the host vehicle to the target parking space (parking end position) has ended.
- whether or not the third parking guide is finished is determined by whether or not the third parking guide frame is within the target parking space (parking end position).
- the control device 11 determines that the third parking guide has ended when it is determined that the third parking guide frame is within the parking space detected by a sonar (not shown).
- the sonar is not connected to the parking assistance apparatus 1
- the driver who judged that the 3rd parking guide frame was settled in the parking space should just perform the 3rd parking guide end command to the input device 3, for example.
- the control device 11 can determine that the third parking guide frame is accommodated in the parking space by the third parking guide end command by the input device 3.
- step S37 the control device 11 determines that the host vehicle is within the target parking space (parking end position), and ends the parking support process.
- step S38 the control device 11 determines whether or not parking by the third parking guide has failed.
- step S38 the control device 11 performs the process of step S36 again.
- step S38 the control device 11 performs the process of step S34 again.
- the second parking guide frame again sets the target parking space (parking end position).
- the host vehicle can be operated so as to be within the range. As a result, the driver can easily return to the steering return start position, so that parking assistance can be resumed immediately even if parking fails.
- FIG. 4 is a diagram for explaining the transition of the parking support process of FIG. 3 with an image.
- the state (A) indicates the end of the first parking guide.
- the host vehicle 41 sets the parking space (parking end position) 44 between the parked vehicles 42 and 43 as a parking target.
- the image superimposing unit 10B fixes the relative positional relationship between the host vehicle 41 and the first parking guide frame 45A and superimposes it on the overhead image. Therefore, if the host vehicle 41 moves forward (downward in the drawing), the first parking guide frame 45A also moves forward by the same amount.
- the own vehicle 41 and the first parking guide frame 45A have a substantially parallel positional relationship with each other, and are separated from each other without an overlapping region.
- the position where the host vehicle is present when the first parking guide frame 45A is accommodated in the parking space 44 indicates the parking start position of the host vehicle.
- the own vehicle 41 can be parked in the parking space 44 from the position (parking start position) of the own vehicle 41 when the first parking guide frame 45 ⁇ / b> A is accommodated in the parking space 44,
- the positional relationship with the parking guide frame 45A may be arbitrary.
- the parking support process transitions to a state (B) indicating the second parking guide.
- the host vehicle 41 proceeds to the left by turning the steering wheel to the left with the maximum steering angle.
- the image superimposing unit 10B fixes the relative positional relationship between the host vehicle 41 and the second parking guide frame 45B and superimposes it on the overhead view image according to a command from the control device 11. Accordingly, if the host vehicle 41 advances to the left by turning the steering wheel to the left with the maximum steering angle, the second parking guide frame 45B also moves in a direction to move backward along the same locus as the host vehicle 41.
- the own vehicle 41 and the second parking guide frame 45B partially overlap each other.
- the position where the host vehicle 41 is present when the second parking guide frame 45B is accommodated in the parking space 44 indicates a position where the steering of the host vehicle 41 starts to be turned back.
- the parking assistance process transitions to a state (D) indicating the third parking guide.
- the host vehicle 41 proceeds in the direction of retreating the steering wheel to the right with the maximum steering angle turned.
- the image superimposing unit 10B fixes the relative positional relationship between the host vehicle 41 and the third parking guide frame 45C and superimposes it on the overhead image according to a command from the control device 11. Therefore, if the host vehicle 41 advances in the direction of turning to the right with the steering wheel turned to the maximum rudder angle, the third parking guide frame 45C also moves in the direction of moving backward along the same locus as the host vehicle 41.
- the third parking guide frame 45C houses the host vehicle 41 in the area. Therefore, as shown in the state (E), when the third parking guide frame 45 ⁇ / b> C is accommodated in the parking space 44, the position where the host vehicle 41 exists is within the target parking space (parking end position).
- the third parking frame 45C may not be stored in the parking space 44 as in the state (F).
- the parking assistance process transitions to the state (G) indicating the second parking guide again. From the state (F) to the state (G), for example, the control device 11 determines that the host vehicle 41 cannot be parked based on the positional relationship between the parking space 44 detected by a sonar (not shown) and the third parking guide frame 45C.
- the state (F) may be changed to the state (G).
- the control device 11 receives information from the shift lever state detection sensor 6 that the shift lever is changed from reverse to drive, the control device 11 determines that the second parking guide start command is the same as the input device 3.
- the state (F) may be changed to the state (G).
- the image superimposition part 10B fixes the relative positional relationship of the own vehicle 41 and the 2nd parking guide frame 45B, and superimposes it on a bird's-eye view image by the command of the control apparatus 11. .
- the host vehicle 41 advances in the direction of moving forward with the steering wheel turned to the right.
- the second parking guide frame 45B also advances in the forward direction with the handle turned to the right.
- the state transitions again from the state (G) to the state (C).
- the driver can easily return to the steering return start position, so that parking assistance can be resumed immediately even if parking fails.
- parking assistance is performed by superimposing the first parking guide frame, the second parking guide frame, and the third parking guide frame on the overhead image created by the overhead image creation unit 10A. May be superimposed on a simple image.
- 5A and 5B are diagrams illustrating an example of superposition of the second parking guide of FIG. 3, and FIGS. 6A and 6B are images of another example of superposition of the second parking guide of FIG. 3. It is a figure explaining. As shown in FIG. 5A, instead of displaying the second parking guide frame 62 superimposed on the host vehicle 61, the second parking guide frame 62 may be superimposed on the rear image as shown in FIG. 5B. Good.
- the control device 11 may determine whether or not the second parking guide has ended. Similarly, for the first parking guide and the third parking guide, the control device 11 may determine whether or not the first parking guide and the third parking guide have ended. Further, the host vehicle 61 and the second parking guide frame 62 do not have to overlap. Moreover, as shown to FIG. 6A, when the own vehicle 61 and the 2nd parking guide frame 62 overlap, the color and transparency of a part or all of the own vehicle 61 may be made thin. Thereby, it can prevent that the 2nd parking guide frame 62 is crushed and becomes difficult to see.
- the host vehicle 41 can be parked in the parking space from the position of the host vehicle 61 (steering turn start position) when the second parking guide frame 62 is accommodated in the parking space, the host vehicle 61 and the second parking
- the positional relationship with the guide frame 62 may be arbitrary.
- the 1st parking guide frame, the 2nd parking guide frame, and the 3rd parking guide frame which are superimposed on a bird's-eye view image were the same shape, back like FIG. 5B and FIG. 6B
- the third parking guide frame becomes difficult to see as it approaches the parking end position.
- the parking guide frame and the second parking guide frame may have the same shape in real space. Thereby, the driver can understand the first parking guide frame and the second parking guide frame superimposed on the rear image by a common usage method, and can easily grasp the usage method.
- the present invention is useful at the time of parking in which steering is turned back.
Abstract
Description
2 撮像装置
7 表示装置
10 画像処理装置
10B 画像重畳部
11 制御装置
Claims (5)
- 入力された自車両周囲の撮像画像に自車両と駐車ガイド枠とを自車両の移動にかかわらず同じ位置関係で重畳した画像を表示手段に出力する重畳手段と、
この重畳手段により重畳された駐車ガイド枠を駐車の段階に応じて切り替える制御手段と、を備え、
前記制御手段は、駐車開始位置に自車両を案内する第1の駐車ガイド時、操舵の切り返し開始位置に自車両を案内する第2の駐車ガイド時、駐車終了位置に自車両を案内する第3の駐車ガイド時のそれぞれに応じて、第1、第2、第3の駐車ガイド枠に切り替え、
前記第1、第2、第3の駐車ガイドの終了目標位置は、それぞれ前記第1、第2、第3の駐車ガイド枠が駐車終了位置に入ることである、
駐車支援装置。 - 自車両周囲を撮像する撮像手段、をさらに備え、
前記重畳手段は、前記撮像手段が撮像した撮像画像に自車両と駐車ガイド枠とを自車両の移動にかかわらず同じ位置関係で重畳する、
請求項1に記載の駐車支援装置。 - 前記重畳手段に接続する表示手段、をさらに備え、
前記表示手段は、撮像画像に自車両と駐車ガイド枠とが重畳された重畳画像を表示する、
請求項1に記載の駐車支援装置。 - 自車両周囲の撮像画像から俯瞰画像を作成する俯瞰画像作成手段、をさらに備え、
前記俯瞰画像作成手段が作成した俯瞰画像に重畳される前記第1、第2、第3の駐車ガイド枠はそれぞれ同じ形状である、
請求項1に記載の駐車支援装置。 - 自車両後方の撮像画像に重畳される前記第1、第2の駐車ガイド枠は実空間上でそれぞれ同じ形状である、
請求項1に記載の駐車支援装置。
Priority Applications (4)
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CN201180010885.8A CN102770310B (zh) | 2010-02-26 | 2011-02-25 | 停车辅助装置 |
JP2012501692A JP5747181B2 (ja) | 2010-02-26 | 2011-02-25 | 駐車支援装置 |
EP11747069.0A EP2540578B1 (en) | 2010-02-26 | 2011-02-25 | Parking assistance device |
US13/580,054 US8970398B2 (en) | 2010-02-26 | 2011-02-25 | Parking assistance device using multiple parking guidance indicators |
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JP2010041856 | 2010-02-26 | ||
JP2010-041856 | 2010-02-26 |
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EP (1) | EP2540578B1 (ja) |
JP (1) | JP5747181B2 (ja) |
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JP4437071B2 (ja) * | 2004-12-24 | 2010-03-24 | パナソニック株式会社 | 運転支援装置 |
JP2007176324A (ja) * | 2005-12-28 | 2007-07-12 | Aisin Seiki Co Ltd | 駐車支援装置 |
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JP2001180402A (ja) * | 1999-12-24 | 2001-07-03 | Toyota Autom Loom Works Ltd | 駐車時の操舵支援装置 |
JP2003291759A (ja) * | 2002-04-05 | 2003-10-15 | Matsushita Electric Ind Co Ltd | 駐車運転支援装置 |
JP2004106615A (ja) * | 2002-09-17 | 2004-04-08 | Calsonic Kansei Corp | 駐車支援システム |
JP2006027334A (ja) | 2004-07-13 | 2006-02-02 | Nissan Motor Co Ltd | 運転支援装置および方法 |
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Also Published As
Publication number | Publication date |
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EP2540578A4 (en) | 2013-08-07 |
US8970398B2 (en) | 2015-03-03 |
EP2540578A1 (en) | 2013-01-02 |
US20120314056A1 (en) | 2012-12-13 |
JP5747181B2 (ja) | 2015-07-08 |
EP2540578B1 (en) | 2014-08-20 |
JPWO2011105105A1 (ja) | 2013-06-20 |
CN102770310A (zh) | 2012-11-07 |
CN102770310B (zh) | 2015-01-07 |
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