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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。
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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。
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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。
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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
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。
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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
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。
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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
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。
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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
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。
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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
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。
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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。
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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。
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