公开(公告)号：US20050049767A1

公开(公告)日：2005-03-03

申请号：US10927819

申请日：2004-08-27

申请人： Tomohiko Endo ,  Hisashi Satonaka ,  Yuichi Kubota ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Yuu Tanaka

发明人： Tomohiko Endo ,  Hisashi Satonaka ,  Yuichi Kubota ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Yuu Tanaka

IPC分类号： B60R21/00 ,  B62D6/00 ,  B62D15/02 ,  B62D119/00 ,  G06F17/00

CPC分类号： B62D15/0285 ,  B60T2201/10

摘要： A parking assist apparatus performs a guidance of a vehicle toward a target parking position, even after the guidance has been canceled. The target parking position is set in accordance with an operation applied to a target parking position designation display that is displayed on a screen showing a periphery of the vehicle. It is determined whether a cancellation condition of canceling the guidance of the vehicle toward the target parking position is established. A memory continuously holds target parking position information even after the cancellation condition is established.

摘要翻译： 停车辅助装置即使在引导被取消之后也朝向目标停车位置进行车辆的引导。 目标停车位置根据对显示在显示车辆周边的屏幕上显示的目标停车位置指定显示的操作来设定。 确定是否建立取消对目标停车位置的引导的取消条件。 即使在取消条件建立之后，存储器也连续地保持目标停车位置信息。

公开(公告)号：US20070198152A1

公开(公告)日：2007-08-23

申请号：US10565642

申请日：2004-07-15

申请人： Tomohiko Endo ,  Hisashi Satonaka ,  Yuichi Kubota ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Yuu Tanaka

发明人： Tomohiko Endo ,  Hisashi Satonaka ,  Yuichi Kubota ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Yuu Tanaka

IPC分类号： B62D6/00

CPC分类号： B62D15/0285 ,  B60T2201/10 ,  G08G1/161

摘要： A guiding device is disclosed for guiding a vehicle to a target position by controlling the steering angle while estimating the vehicle position at least based on a steering angle value, characterized in that, in estimating the vehicle position, a slowing operation with respect to a change dp in a moving distance of the vehicle is applied to a turning curvature g(Str(p)) estimated based on the steering angle value in order to compensate for the delay due to tire deformation, whereby the delay-compensated turning curvature y(p) is obtained.

摘要翻译： 公开了一种引导装置，用于通过控制转向角来引导车辆到目标位置，同时至少基于转向角值来估计车辆位置，其特征在于，在估计车辆位置时，相对于变化的减速操作 dp在车辆的移动距离中被施加到基于转向角值估计的转弯曲率g（Str（p）），以补偿由于轮胎变形引起的延迟，由此延迟补偿的转弯曲率y（p ）。

公开(公告)号：US07526368B2

公开(公告)日：2009-04-28

申请号：US10927819

申请日：2004-08-27

申请人： Tomohiko Endo ,  Hisashi Satonaka ,  Yuichi Kubota ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Yuu Tanaka

发明人： Tomohiko Endo ,  Hisashi Satonaka ,  Yuichi Kubota ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Yuu Tanaka

IPC分类号： G06F7/00

CPC分类号： B62D15/0285 ,  B60T2201/10

摘要： A parking assist apparatus performs a guidance of a vehicle toward a target parking position, even after the guidance has been canceled. The target parking position is set in accordance with an operation applied to a target parking position designation display that is displayed on a screen showing a periphery of the vehicle. It is determined whether a cancellation condition of canceling the guidance of the vehicle toward the target parking position is established. A memory continuously holds target parking position information even after the cancellation condition is established.

摘要翻译： 停车辅助装置即使在引导被取消之后也朝向目标停车位置进行车辆的引导。 目标停车位置根据对显示在显示车辆周边的屏幕上显示的目标停车位置指定显示的操作来设定。 确定是否建立取消对目标停车位置的引导的取消条件。 即使在取消条件建立之后，存储器也连续地保持目标停车位置信息。

公开(公告)号：US07555379B2

公开(公告)日：2009-06-30

申请号：US10565642

申请日：2004-07-15

申请人： Tomohiko Endo ,  Hisashi Satonaka ,  Yuichi Kubota ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Yuu Tanaka

发明人： Tomohiko Endo ,  Hisashi Satonaka ,  Yuichi Kubota ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Yuu Tanaka

IPC分类号： B62D6/00

CPC分类号： B62D15/0285 ,  B60T2201/10 ,  G08G1/161

摘要： A guiding device is disclosed for guiding a vehicle to a target position by controlling the steering angle while estimating the vehicle position at least based on a steering angle value, characterized in that, in estimating the vehicle position, a slowing operation with respect to a change dp in a moving distance of the vehicle is applied to a turning curvature g(Str(p)) estimated based on the steering angle value in order to compensate for the delay due to tire deformation, whereby the delay-compensated turning curvature y(p) is obtained.

摘要翻译： 公开了一种引导装置，用于通过控制转向角来引导车辆到目标位置，同时至少基于转向角值来估计车辆位置，其特征在于，在估计车辆位置时，相对于变化的减速操作 dp在车辆的移动距离中被施加到基于转向角值估计的转弯曲率g（Str（p）），以补偿由于轮胎变形引起的延迟，由此延迟补偿的转弯曲率y（p ）。

公开(公告)号：US07487020B2

公开(公告)日：2009-02-03

申请号：US10871013

申请日：2004-06-21

申请人： Katsuhiko Iwazaki ,  Hisashi Satonaka ,  Yuichi Kubota ,  Tomohiko Endo ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Hiroaki Kataoka ,  Arata Takahashi ,  Yoshiki Ninomiya

发明人： Katsuhiko Iwazaki ,  Hisashi Satonaka ,  Yuichi Kubota ,  Tomohiko Endo ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Hiroaki Kataoka ,  Arata Takahashi ,  Yoshiki Ninomiya

IPC分类号： B62D6/00 ,  B62D6/04 ,  B60S9/00 ,  G05D1/00

CPC分类号： B62D15/0285 ,  B60T2201/10

摘要： A driving assist apparatus for a vehicle that guides the vehicle to a target position is provided. On the basis of the present direction of the vehicle and the direction of the vehicle at the target position, a basic path that changes the vehicle direction so as to coincide with the target direction of the vehicle at the target position is computed. A path from the present position to the target position is computed by adding a straight-line path to the basic path under a predetermined condition.

摘要翻译： 提供一种用于将车辆引导到目标位置的车辆的驾驶辅助装置。 基于车辆的当前方向和目标位置处的车辆的方向，计算将车辆方向改变为与目标位置处的车辆的目标方向一致的基本路径。 通过在预定条件下将直线路径添加到基本路径来计算从当前位置到目标位置的路径。

公开(公告)号：US20050021203A1

公开(公告)日：2005-01-27

申请号：US10871013

申请日：2004-06-21

申请人： Katsuhiko Iwazaki ,  Hisashi Satonaka ,  Yuichi Kubota ,  Tomohiko Endo ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Hiroaki Kataoka ,  Arata Takahashi ,  Yoshiki Ninomiya

发明人： Katsuhiko Iwazaki ,  Hisashi Satonaka ,  Yuichi Kubota ,  Tomohiko Endo ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Hiroaki Kataoka ,  Arata Takahashi ,  Yoshiki Ninomiya

IPC分类号： B60R21/00 ,  B62D15/02 ,  G08G1/16 ,  G06F17/00

CPC分类号： B62D15/0285 ,  B60T2201/10

摘要： A driving assist apparatus for a vehicle that guides the vehicle to a target position is provided. On the basis of the present direction of the vehicle and the direction of the vehicle at the target position, a basic path that changes the vehicle direction so as to coincide with the target direction of the vehicle at the target position is computed. A path from the present position to the target position is computed by adding a straight-line path to the basic path under a predetermined condition.

摘要翻译： 提供一种用于将车辆引导到目标位置的车辆的驾驶辅助装置。 基于车辆的当前方向和目标位置处的车辆的方向，计算将车辆方向改变为与目标位置处的车辆的目标方向一致的基本路径。 通过在预定条件下将直线路径添加到基本路径来计算从当前位置到目标位置的路径。

公开(公告)号：US07486203B2

公开(公告)日：2009-02-03

申请号：US11115306

申请日：2005-04-27

申请人： Yuu Tanaka ,  Tomohiko Endo ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Yoichi Iwata ,  Hisashi Satonaka ,  Takuya Itoh

发明人： Yuu Tanaka ,  Tomohiko Endo ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Yoichi Iwata ,  Hisashi Satonaka ,  Takuya Itoh

IPC分类号： B60Q1/48 ,  G08G1/14

CPC分类号： B60Q9/004 ,  B60W10/18 ,  B60W10/20 ,  B62D15/028 ,  G08G1/161 ,  G08G1/168

摘要： A parking assist apparatus for a vehicle includes a recognizing apparatus for recognizing a target position for parking the vehicle, a calculating apparatus for calculating a course for parking the vehicle from a current vehicle position to the target position recognized by the recognizing apparatus during the vehicle being moving and an informing apparatus for informing a user of the vehicle that the vehicle can be parked at the recognized target position when the course of the vehicle has been correctly calculated by the calculating apparatus.

摘要翻译： 一种用于车辆的停车辅助装置，包括识别用于停放车辆的目标位置的识别装置，计算装置，用于计算在车辆期间将车辆从当前车辆位置停放到由识别装置识别的目标位置的路线 并且当通过计算装置正确地计算车辆的路线时，通知车辆用户可以将车辆停放在识别的目标位置的通知装置。

公开(公告)号：US20050264432A1

公开(公告)日：2005-12-01

申请号：US11115306

申请日：2005-04-27

申请人： Yuu Tanaka ,  Tomohiko Endo ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Yoichi Iwata ,  Hisashi Satonaka ,  Takuya Itoh

发明人： Yuu Tanaka ,  Tomohiko Endo ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Yoichi Iwata ,  Hisashi Satonaka ,  Takuya Itoh

IPC分类号： G01C21/00 ,  B60Q1/48 ,  B60R1/00 ,  B60R21/00 ,  B62D15/02 ,  G08G1/14 ,  G08G1/16 ,  H04N7/18

CPC分类号： B60Q9/004 ,  B60W10/18 ,  B60W10/20 ,  B62D15/028 ,  G08G1/161 ,  G08G1/168

摘要： A parking assist apparatus for a vehicle includes a recognizing apparatus for recognizing a target position for parking the vehicle, a calculating apparatus for calculating a course for parking the vehicle from a current vehicle position to the target position recognized by the recognizing apparatus during the vehicle being moving and an informing apparatus for informing a user of the vehicle that the vehicle can be parked at the recognized target position when the course of the vehicle has been correctly calculated by the calculating apparatus.

摘要翻译： 一种用于车辆的停车辅助装置，包括识别用于停放车辆的目标位置的识别装置，计算装置，用于计算在车辆期间将车辆从当前车辆位置停放到由识别装置识别的目标位置的路线 并且当通过计算装置正确地计算车辆的路线时，通知车辆用户可以将车辆停放在识别的目标位置的通知装置。

公开(公告)号：US08285479B2

公开(公告)日：2012-10-09

申请号：US12526680

申请日：2008-02-27

申请人： Yukiko Kawabata ,  Yasushi Makino ,  Hideyuki Iwakiri ,  Yuichi Kubota ,  Tomohiko Endo ,  Miyuki Omori ,  Takuya Ito ,  Daisuke Suzuki ,  Takashi Nitta

发明人： Yukiko Kawabata ,  Yasushi Makino ,  Hideyuki Iwakiri ,  Yuichi Kubota ,  Tomohiko Endo ,  Miyuki Omori ,  Takuya Ito ,  Daisuke Suzuki ,  Takashi Nitta

IPC分类号： G06F17/10

CPC分类号： B62D15/0285 ,  B60R1/00 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/806 ,  B60T2201/10 ,  B60W30/08

摘要： A parking assist apparatus for guiding a vehicle to a target parking position includes an initial position guiding unit configured to generate an initial position guiding path at a predetermined timing, the initial position guiding path leading from a current position of the vehicle to an initial position where vehicle guidance to the target parking position is started. The initial position guiding unit is also configured to guide the vehicle along the initial position guiding path to the initial position. The apparatus also includes an obstacle detecting unit configured to detect an obstacle around the vehicle. When the obstacle detected by the obstacle detecting unit is located along the initial position guiding path, the initial position guiding unit generates the initial position guiding path such that the obstacle detected by the obstacle detecting unit can be avoided.

摘要翻译： 一种用于将车辆引导到目标停车位置的驻车辅助装置包括：初始位置引导单元，其被配置为在预定定时产生初始位置引导路径，所述初始位置引导路径从当前位置引导到初始位置， 开始对目标停车位置的车辆引导。 初始位置引导单元还构造成将车辆沿着初始位置引导路径引导到初始位置。 该装置还包括：障碍物检测单元，被配置为检测车辆周围的障碍物。 当由障碍物检测单元检测到的障碍物沿着初始位置引导路径定位时，初始位置引导单元产生初始位置引导路径，从而可以避免障碍物检测单元检测到的障碍物。

公开(公告)号：US08144031B2

公开(公告)日：2012-03-27

申请号：US12525601

申请日：2008-02-12

申请人： Yukiko Kawabata ,  Yasushi Makino ,  Hideyuki Iwakiri ,  Yuichi Kubota ,  Tomohiko Endo ,  Miyuki Omori ,  Takuya Ito ,  Atsuko Nakanishi

发明人： Yukiko Kawabata ,  Yasushi Makino ,  Hideyuki Iwakiri ,  Yuichi Kubota ,  Tomohiko Endo ,  Miyuki Omori ,  Takuya Ito ,  Atsuko Nakanishi

IPC分类号： G01C21/00

CPC分类号： B62D15/028 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/806

摘要： A parking assisting device includes an ambient area detecting unit that detects an obstacle or a parking frame in an ambient area surrounding a vehicle, and a guiding unit guides the vehicle to a parking initial position from which parking of the vehicle to a parking space, adjacent to the detected obstacle, or the detected parking frame is permissible. In the parking assisting device, a guidance mode in which the guiding unit guides the vehicle to the parking initial position is set up based on a distance between the vehicle and the detected obstacle or the detected parking frame in a vehicle width direction of the vehicle.

摘要翻译： 停车辅助装置包括环境区域检测单元，其检测围绕车辆的周围环境中的障碍物或停车框架，并且引导单元将车辆引导到停车初始位置，从该停车初始位置停车到停车位，相邻 或检测到的停车框是允许的。 在停车辅助装置中，基于车辆与检测到的障碍物之间的距离或车辆的车辆宽度方向上检测到的停车框架，建立引导单元将车辆引导到停车初始位置的引导模式。