WO2019008759A1 - 駐車支援方法及び駐車支援装置 - Google Patents
駐車支援方法及び駐車支援装置 Download PDFInfo
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- WO2019008759A1 WO2019008759A1 PCT/JP2017/025003 JP2017025003W WO2019008759A1 WO 2019008759 A1 WO2019008759 A1 WO 2019008759A1 JP 2017025003 W JP2017025003 W JP 2017025003W WO 2019008759 A1 WO2019008759 A1 WO 2019008759A1
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- 238000003384 imaging method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
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- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
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Abstract
Description
図1を参照して、本実施形態に係る駐車支援装置の構成を説明する。駐車支援装置は、コントローラ1と、カメラ2a~2dと、舵角センサ3と、車輪速センサ6と、空間認識センサ7と、入力インターフェース8と、表示部9と、車両制御ECU10と、アクチュエータ11とを備える。
次に、図3A及び図3Bに示す周囲画像20を参照して、駐車支援装置の一動作例を説明する。
以上説明したように、本実施形態に係る駐車支援装置によれば、以下の作用効果が得られる。
上記のように、本発明の実施形態を記載したが、この開示の一部をなす論述及び図面はこの発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施の形態、実施例及び運用技術が明らかとなろう。
2a~2d カメラ
3 舵角センサ
6 車輪速センサ
7 空間認識センサ
8 入力インターフェース
9 表示部
10 車両制御ECU
11 アクチュエータ
101 周囲画像生成部
102 合成画像生成部
103 アイコン記憶部
104 センサ情報処理部
105 駐車支援演算部
106 速度判定部
1021 支援画像生成部
1022 表示切替制御部
1023 画像合成部
Claims (12)
- 自車両の周囲の空き駐車スペースを検出し、前記自車両を含む領域を上方から見た周囲画像における前記空き駐車スペースの位置に、前記空き駐車スペースであることを示す第1支援画像を表示する駐車支援装置の駐車支援方法において、
前記自車両が停止したか否かを判定し、
前記自車両が停止したと判定した場合、前記第1支援画像を表示する
ことを特徴とする駐車支援方法。 - 前記自車両の速度が0であるか否かを判定し、
前記自車両の速度が0である場合、前記自車両が停止したと判定する
ことを特徴とする請求項1に記載の駐車支援方法。 - 前記自車両のパーキングブレーキが作動しているか否かを判定し、
前記パーキングブレーキが作動している場合、前記自車両が停止したと判定する
ことを特徴とする請求項1または2に記載の駐車支援方法。 - 前記自車両のシフトレバーがパーキングレンジにあるか否かを判定し、
前記シフトレバーがパーキングレンジにある場合、前記自車両が停止したと判定する
ことを特徴とする請求項1~3のいずれか1項に記載の駐車支援方法。 - 前記自車両の速度が予め定めた所定速度以下であるか否か判定し、
前記所定速度以下と判定した場合、前記自車両が停止したと判定する
ことを特徴とする請求項1~4のいずれか1項に記載の駐車支援方法。 - 前記自車両の速度が予め定めた所定速度以下であるか否か判定し、
前記所定速度以下と判定した場合に、前記自車両で減速操作が行われているか判定し、
前記減速操作が行われていると判定した場合に前記自車両が停止すると推定し、前記自車両が停止したと判定する
ことを特徴とする請求項1~5のいずれか1項に記載の駐車支援方法。 - 前記第1支援画像を表示した後、前記自車両の速度が、所定速度以上になるまで前記第1支援画像の表示を継続する
ことを特徴とする請求項1~6のいずれか1項に記載の駐車支援方法。 - 前記第1支援画像を表示した後、前記自車両の速度が、前記所定速度以上になった場合に、前記第1支援画像の表示を禁止する
ことを特徴とする請求項7に記載の駐車支援方法。 - 前記自車両が停止していない時に、前記自車両の周囲の空き駐車スペースを検出した場合、前記周囲画像における前記空き駐車スペースの位置とは異なる位置に、前記空き駐車スペースを検出したことを示す第2支援画像を表示する
ことを特徴とする請求項1~8のいずれか1項に記載の駐車支援方法。 - 前記第2支援画像を表示している時に、前記自車両が停止した場合、前記第2支援画像を、前記第1支援画像に切り替える
ことを特徴とする請求項9に記載の駐車支援方法。 - 自車両の周囲の空き駐車スペースを検出し、前記自車両を含む領域を上方から見た周囲画像における前記空き駐車スペースの位置に、前記空き駐車スペースであることを示す第1支援画像を表示する駐車支援装置の駐車支援方法において、
前記自車両が停止したか否かを判定し、
前記自車両が停止していないと判定した場合、前記第1支援画像の表示を禁止する
ことを特徴とする駐車支援方法。 - 自車両の周囲の空き駐車スペースを検出するセンサ情報処理回路と、
自車両の周囲を上方から見た周囲画像を生成する周囲画像生成回路と、
前記周囲画像における空き駐車スペースの位置に、前記空き駐車スペースであることを示す第1支援画像を表示する画像表示回路と、
前記自車両が停止したか否かを判定する停止判定回路と、を備え、
前記画像表示回路は、前記停止判定回路によって前記自車両が停止したと判定された場合、前記第1支援画像を表示する
ことを特徴とする駐車支援装置。
Priority Applications (14)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP22156789.4A EP4019342A1 (en) | 2017-07-07 | 2017-07-07 | Parking assistance method and parking assistance device |
CN201780092884.XA CN110869245B (zh) | 2017-07-07 | 2017-07-07 | 泊车辅助方法以及泊车辅助装置 |
JP2019528317A JP6901000B2 (ja) | 2017-07-07 | 2017-07-07 | 駐車支援方法及び駐車支援装置 |
BR112020000280-1A BR112020000280B1 (pt) | 2017-07-07 | 2017-07-07 | Método de assistência ao estacionamento e dispositivo de assistência ao estacionamento |
KR1020197038738A KR102362485B1 (ko) | 2017-07-07 | 2017-07-07 | 주차 지원 방법 및 주차 지원 장치 |
RU2020105661A RU2737641C1 (ru) | 2017-07-07 | 2017-07-07 | Способ помощи при парковке и устройство помощи при парковке |
CA3069112A CA3069112A1 (en) | 2017-07-07 | 2017-07-07 | Parking assistance method and parking assistance device |
KR1020217038095A KR20210144945A (ko) | 2017-07-07 | 2017-07-07 | 주차 지원 방법 및 주차 지원 장치 |
PCT/JP2017/025003 WO2019008759A1 (ja) | 2017-07-07 | 2017-07-07 | 駐車支援方法及び駐車支援装置 |
US16/627,129 US20200180510A1 (en) | 2017-07-07 | 2017-07-07 | Parking Assistance Method and Parking Assistance Device |
EP17917079.0A EP3650287B1 (en) | 2017-07-07 | 2017-07-07 | Parking assistance method and parking assistance device |
MX2020000066A MX2020000066A (es) | 2017-07-07 | 2017-07-07 | Metodo de asistencia al estacionamiento y dispositivo de asistencia al estacionamiento. |
JP2021067088A JP2021119074A (ja) | 2017-07-07 | 2021-04-12 | 駐車支援方法及び駐車支援装置 |
JP2024018729A JP2024054292A (ja) | 2017-07-07 | 2024-02-09 | 駐車支援方法及び駐車支援装置 |
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PCT/JP2017/025003 WO2019008759A1 (ja) | 2017-07-07 | 2017-07-07 | 駐車支援方法及び駐車支援装置 |
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US (1) | US20200180510A1 (ja) |
EP (2) | EP3650287B1 (ja) |
JP (3) | JP6901000B2 (ja) |
KR (2) | KR20210144945A (ja) |
CN (1) | CN110869245B (ja) |
BR (1) | BR112020000280B1 (ja) |
CA (1) | CA3069112A1 (ja) |
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JP6958117B2 (ja) * | 2017-08-29 | 2021-11-02 | 株式会社アイシン | 駐車支援装置 |
JP7176421B2 (ja) * | 2019-01-25 | 2022-11-22 | トヨタ自動車株式会社 | 駐車支援装置 |
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- 2017-07-07 EP EP17917079.0A patent/EP3650287B1/en active Active
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- 2017-07-07 MX MX2020000066A patent/MX2020000066A/es unknown
- 2017-07-07 KR KR1020217038095A patent/KR20210144945A/ko not_active IP Right Cessation
- 2017-07-07 CN CN201780092884.XA patent/CN110869245B/zh active Active
- 2017-07-07 WO PCT/JP2017/025003 patent/WO2019008759A1/ja active Application Filing
- 2017-07-07 EP EP22156789.4A patent/EP4019342A1/en active Pending
- 2017-07-07 KR KR1020197038738A patent/KR102362485B1/ko active IP Right Grant
- 2017-07-07 RU RU2020105661A patent/RU2737641C1/ru active
- 2017-07-07 CA CA3069112A patent/CA3069112A1/en active Pending
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Also Published As
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EP3650287A1 (en) | 2020-05-13 |
CN110869245B (zh) | 2022-06-21 |
EP3650287A4 (en) | 2020-07-01 |
EP3650287B1 (en) | 2022-05-04 |
US20200180510A1 (en) | 2020-06-11 |
KR20200014366A (ko) | 2020-02-10 |
RU2737641C1 (ru) | 2020-12-01 |
JP6901000B2 (ja) | 2021-07-14 |
EP4019342A1 (en) | 2022-06-29 |
KR102362485B1 (ko) | 2022-02-15 |
JP2021119074A (ja) | 2021-08-12 |
BR112020000280A2 (pt) | 2020-07-14 |
CN110869245A (zh) | 2020-03-06 |
JP2024054292A (ja) | 2024-04-16 |
JPWO2019008759A1 (ja) | 2020-09-24 |
BR112020000280B1 (pt) | 2023-02-14 |
CA3069112A1 (en) | 2019-01-10 |
KR20210144945A (ko) | 2021-11-30 |
MX2020000066A (es) | 2020-02-17 |
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