公开(公告)号：US20100118140A1

公开(公告)日：2010-05-13

申请号：US12444777

申请日：2008-02-13

申请人： Hideyuki Iwakiri ,  Yasushi Makino ,  Yuuichi Kubota ,  Tomohiko Endo ,  Miyuki Omori ,  Yukiko Kawabata

发明人： Hideyuki Iwakiri ,  Yasushi Makino ,  Yuuichi Kubota ,  Tomohiko Endo ,  Miyuki Omori ,  Yukiko Kawabata

IPC分类号： H04N7/18

CPC分类号： G01S13/931 ,  B60R1/00 ,  B62D15/027 ,  B62D15/028 ,  G01B21/22 ,  G01S13/867 ,  G01S15/025 ,  G01S15/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9314 ,  G01S2013/9353 ,  G01S2013/9375 ,  G01S2015/932 ,  G01S2015/935 ,  G01S2015/937

摘要： A disclosed parking assisting apparatus can determine the angle of the own vehicle to be changed at the time of parking in a parking space by precisely estimating the direction of the parking space next to a parked vehicle. The parking assisting apparatus 10A, 10B for assisting tandem type parking of a vehicle in a parking space next to a parked vehicle comprises distance data acquiring means 70 for acquiring distance data representing a distance between an own vehicle and a plurality of points on a side of the parked vehicle when the own vehicle passes on the side of the parked vehicle, said parked vehicle existing on a proximal side of the parking space in a traveling direction of the own vehicle; and inclination angle calculating means 12A, 12B for calculating an inclination angle which is an angle of the traveling direction of the own vehicle with respect to the side of the parked vehicle, based on the distance data acquired by the distance data acquiring means; wherein said apparatus is configured to determine an angle to be changed at the time of parking in the parking space in a tandem type parking manner, based on the inclination angle calculated by the inclination angle calculating means.

摘要翻译： 所公开的停车辅助装置可以通过精确地估计停放车辆旁边的停车空间的方向，来确定在停车位停车时要改变的本车辆的角度。 用于辅助车辆在停放车辆旁边的停车空间中的串联式停车的停车辅助装置10A，10B包括：距离数据获取装置70，用于获取表示本车辆与一侧的多个点之间的距离的距离数据; 所述停放车辆在所述停放车辆的所述车辆的行进方向上存在于所述停车位置的近侧时， 以及倾斜角度计算装置12A，12B，用于根据由距离数据获取装置获取的距离数据计算作为本车辆相对于停放车辆侧的行进方向的角度的倾斜角; 其特征在于，所述装置被配置为基于由所述倾斜角度计算装置计算出的倾斜角度，以串联式停车方式确定在所述停车空间停车时要改变的角度。

公开(公告)号：US08035531B2

公开(公告)日：2011-10-11

申请号：US12092095

申请日：2006-10-24

申请人： Akio Yoshihashi ,  Yuuichi Kubota ,  Tomohiko Endo ,  Yukiko Kawabata ,  Takashi Nonoyama ,  Takashi Ohira ,  Keisuke Ikari ,  Yasushi Makino ,  Takuya Ito

发明人： Akio Yoshihashi ,  Yuuichi Kubota ,  Tomohiko Endo ,  Yukiko Kawabata ,  Takashi Nonoyama ,  Takashi Ohira ,  Keisuke Ikari ,  Yasushi Makino ,  Takuya Ito

IPC分类号： G08G1/14

CPC分类号： B62D15/0285 ,  B60W50/14 ,  B60W2050/146

摘要： To provide a parking support device for easily and quickly moving or rotating a target parking frame to an appropriate position. The parking support device includes a target parking position setting unit configured to set a target parking position at which a vehicle is to be parked with a target parking frame superimposed on an actual image displaying an area surrounding the vehicle. The parking support device guides the vehicle to the target parking position set by the target parking position setting unit. The target parking position setting unit moves the target parking frame initially displayed on a touch display to a position indicated by a coordinate point determined by a touch operation.

摘要翻译： 提供用于容易且快速地将目标停车框架移动或旋转到适当位置的停车支撑装置。 停车支援装置包括目标停车位置设定单元，其被配置为将车辆停放的目标停车位置与重叠在显示车辆周围的区域的实际图像上的目标停车位相对应。 停车支援装置将车辆引导到由目标停车位置设定单元设定的目标停车位置。 目标停车位置设定单元将触摸显示器上最初显示的目标停车位移动到由触摸操作确定的坐标点所指示的位置。

公开(公告)号：US20100049413A1

公开(公告)日：2010-02-25

申请号：US12513934

申请日：2008-02-18

申请人： Yasushi Makino ,  Hideyuki Iwakiri ,  Yuuichi Kubota ,  Tomohiko Endo ,  Yukiko Kawabata ,  Miyuki Omori ,  Kiyotaka Moriizumi

发明人： Yasushi Makino ,  Hideyuki Iwakiri ,  Yuuichi Kubota ,  Tomohiko Endo ,  Yukiko Kawabata ,  Miyuki Omori ,  Kiyotaka Moriizumi

IPC分类号： G06F19/00

CPC分类号： B60R1/00 ,  B60W10/06 ,  B60W10/184 ,  B60W10/20 ,  B60W30/06 ,  B60W30/188 ,  B60W2510/0604 ,  B60W2510/1005 ,  B60W2520/10 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2550/10 ,  B60W2710/0666 ,  B62D15/0285 ,  G01S15/931 ,  G01S2013/9314 ,  G01S2015/935

摘要： A vehicle drive assist apparatus for assisting in driving a vehicle by varying drive torque of wheels that includes: a torque-up mechanism increasing the drive torque; a step detecting mechanism detecting a step that may exist on a road surface in a traveling direction of the vehicle; and a switching mechanism switching a status of control between a first status in which the torque-up mechanism is permitted to operate and a second status in which the torque-up mechanism is restricted to operate, wherein the switching mechanism forms the first status if the step is detected by the step detecting mechanism.

摘要翻译： 一种车辆驾驶辅助装置，用于通过改变车轮的驱动扭矩来辅助驾驶车辆，该车辆驱动辅助装置包括：增大驱动扭矩的扭矩上升机构; 步骤检测机构，其检测可能存在于车辆的行进方向上的路面上的台阶; 以及切换机构，其在允许所述加大力机构的运行的第一状态与所述加大力矩机构被限制的第二状态之间切换控制状态，其中，如果所述切换机构形成所述第一状态 步骤由步骤检测机构检测。

公开(公告)号：US20090251334A1

公开(公告)日：2009-10-08

申请号：US12092095

申请日：2006-10-24

申请人： Akio Yoshihashi ,  Yuuichi Kubota ,  Tomohiko Endo ,  Yukiko Kawabata ,  Takashi Nonoyama ,  Takashi Ohira ,  Keisuke Ikari ,  Yasushi Makino ,  Takuya Ito

发明人： Akio Yoshihashi ,  Yuuichi Kubota ,  Tomohiko Endo ,  Yukiko Kawabata ,  Takashi Nonoyama ,  Takashi Ohira ,  Keisuke Ikari ,  Yasushi Makino ,  Takuya Ito

IPC分类号： B60Q1/48

CPC分类号： B62D15/0285 ,  B60W50/14 ,  B60W2050/146

摘要： To provide a parking support device for easily and quickly moving or rotating a target parking frame to an appropriate position. The parking support device includes a target parking position setting unit configured to set a target parking position at which a vehicle is to be parked with a target parking frame superimposed on an actual image displaying an area surrounding the vehicle. The parking support device guides the vehicle to the target parking position set by the target parking position setting unit. The target parking position setting unit moves the target parking frame initially displayed on a touch display to a position indicated by a coordinate point determined by a touch operation.

摘要翻译： 提供用于容易且快速地将目标停车框架移动或旋转到适当位置的停车支撑装置。 停车支援装置包括目标停车位置设定单元，其被配置为将车辆停放的目标停车位置与重叠在显示车辆周围的区域的实际图像上的目标停车位相对应。 停车支援装置将车辆引导到由目标停车位置设定单元设定的目标停车位置。 目标停车位置设定单元将触摸显示器上最初显示的目标停车位移动到由触摸操作确定的坐标点所指示的位置。

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：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：US07085634B2

公开(公告)日：2006-08-01

申请号：US10810652

申请日：2004-03-29

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

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

IPC分类号： G06F7/00 ,  B60S9/00

CPC分类号： B62D15/0285 ,  B60T2201/10

摘要： A parking assist apparatus allows a target parking position to be set by a user moving a target parking frame displayed together with an actual image of surroundings of a vehicle, and automatically guides the vehicle to the set target parking position. In the parking assist apparatus, the target parking frame is initially displayed through the use of past setting of the target parking position by the user.

摘要翻译： 停车辅助装置允许用户移动与车辆的周围环境的实际图像一起显示的目标停车框架来设定目标停车位置，并且自动将车辆引导到设定目标停车位置。 在停车辅助装置中，通过使用用户对目标停车位置的过去设定来初始显示目标停车框。

公开(公告)号：US07043346B2

公开(公告)日：2006-05-09

申请号：US10828330

申请日：2004-04-21

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

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

IPC分类号： G06F19/00 ,  B60Q1/48

CPC分类号： B62D15/0285 ,  B60T2201/10

摘要： A parking assist apparatus includes a display unit that displays a target parking frame to be superimposed on an actual image around a vehicle with its position adjustable by a user, a position determining unit that determines a target parking position corresponding to the position of the target parking frame displayed on the actual image, and a parking assist control unit that controls to guide the vehicle to the target parking position on a target path. The parking assist apparatus further includes a feature determining unit that determines a feature on the actual image through an image recognition, and a path correction unit that automatically corrects the target path such that a correlation between the target parking position upon start of a parking assist control and the feature is maintained during execution of the parking assist control.

摘要翻译： 停车辅助装置包括：显示单元，其显示要重叠在车辆周围的实际图像上的目标停车框，其位置可由用户调节;位置确定单元，确定与目标停车位置相对应的目标停车位置 框架显示在实际图像上，驻车辅助控制单元控制在目标路径上引导车辆到目标停车位置。 停车辅助装置还包括通过图像识别确定实际图像上的特征的特征确定单元和自动校正目标路径的路径校正单元，使得停车辅助控制开始时的目标停车位置之间的相关性 并且在执行停车辅助控制期间维持该特征。

公开(公告)号：US20050057374A1

公开(公告)日：2005-03-17

申请号：US10928255

申请日：2004-08-30

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

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

IPC分类号： B60R21/00 ,  E03F3/04 ,  B60R1/00 ,  B62D15/02 ,  E03F5/04 ,  G08G1/14 ,  G08G1/16 ,  H02G1/06 ,  H02G9/06

CPC分类号： G08G1/14 ,  B60T2201/10 ,  B62D15/028 ,  B62D15/0285

摘要： A parking assist device includes a leading path generation judging device for judging whether an effective leading path to a target parking position is generated. According to the parking assist device, a parking assist for leading a vehicle to the target parking position is conducted in accordance with a judged result of the leading path generation judging device. The leading path generation judging device includes a first judging device for judging whether the leading path is generated when an initial steering angle of the vehicle is determined as a steering angle initial value, and a second judging device for judging whether the leading path is generated when a steering angle other than the initial steering angle is determined as the steering angle initial value in case it is judged that the leading path is not generated by the first judging device.

摘要翻译： 停车辅助装置包括用于判断到目标停车位置的有效前导路径是否产生的前导路径生成判断装置。 根据停车辅助装置，根据前导路径产生判断装置的判定结果，进行将车辆引导到目标停车位置的停车辅助。 前导路径产生判断装置包括：第一判断装置，用于当车辆的初始转向角被确定为转向角初始值时判断是否产生前导路径;以及第二判断装置，用于判断是否产生前导路径， 在判断出不是由第一判断装置产生前导路径的情况下，确定除初始转向角之外的转向角作为转向角初始值。

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 ）。