公开(公告)号：US09708003B2

公开(公告)日：2017-07-18

申请号：US14392177

申请日：2013-06-26

Applicant: Hironobu Ishijima ,  Eriko Yamazaki ,  Keisuke Oyama ,  Hisashi Satonaka ,  Hidehiko Miyoshi ,  Keisuke Hata

Inventor： Hironobu Ishijima ,  Eriko Yamazaki ,  Keisuke Oyama ,  Hisashi Satonaka ,  Hidehiko Miyoshi ,  Keisuke Hata

IPC: B62D15/02

CPC classification number: B62D15/0285

Abstract: When performing automatic control of a steering device that assists a host vehicle to be pulled into or out of a parking space, an electronic control unit performs the following procedure. When there is, as a path for pulling the vehicle into or out of the parking space, a path in which a predicted temperature of the steering device for when the automatic control is performed to move the vehicle along the path would be lower than an allowable upper limit value, the electronic control unit starts the automatic control to move the vehicle along the path. In contrast, when there is no path in which the predicted temperature is lower than the allowable upper limit value, the electronic control unit prohibits the automatic control.

公开(公告)号：US20140136096A1

公开(公告)日：2014-05-15

申请号：US14111377

申请日：2012-04-13

Applicant: Ryuji Funayama ,  Jun Sato ,  Hisashi Satonaka ,  Keiichi Yamada ,  Hideki Banno ,  Osami Yamamoto ,  Kensaku Asahi ,  Akira Ogawa

Inventor： Ryuji Funayama ,  Jun Sato ,  Hisashi Satonaka ,  Keiichi Yamada ,  Hideki Banno ,  Osami Yamamoto ,  Kensaku Asahi ,  Akira Ogawa

IPC: G01S3/808

CPC classification number: G01S3/808 ,  G01S3/8083 ,  G01S11/14

Abstract: An approaching vehicle detecting system that detects an approaching vehicle on the basis of sounds collected by a plurality of sound collectors mounted on a host vehicle determines whether a transverse moving direction of a sound source detected by the plurality of sound collectors is a direction approaching the host vehicle, determines whether a vertical position of the sound source detected using the plurality of sound collectors is in the same plane as that of the host vehicle, and detects that sound source as the approaching vehicle when it is determined that the transverse moving direction of the sound source is the direction approaching the host vehicle and the vertical position of the sound source is in the same plane as that of the host vehicle.

Abstract translation: 基于由安装在主车辆上的多个收集器收集的声音来检测接近的车辆的接近车辆检测系统确定由多个收集器检测到的声源的横向移动方向是否是接近主机的方向 确定使用多个收集器检测到的声源的垂直位置是否处于与本车辆相同的平面中，并且当确定该声源的横向移动方向时，检测该声源作为接近车辆 声源是接近主车辆的方向，声源的垂直位置在与本车辆相同的平面上。

公开(公告)号：US07843767B2

公开(公告)日：2010-11-30

申请号：US12063961

申请日：2006-08-29

Applicant: Shoichi Hayasaka ,  Masato Okuda ,  Hisashi Satonaka

Inventor： Shoichi Hayasaka ,  Masato Okuda ,  Hisashi Satonaka

IPC: G01S15/93

CPC classification number: G01S15/025 ,  G01S7/52004 ,  G01S15/931 ,  G01S2013/9314 ,  G01S2013/9353 ,  G01S2015/934 ,  G01S2015/935 ,  G01S2015/936

Abstract: A reflection-point estimation section constituting an object detection apparatus first calculates a rotational correction angle for each estimated reflection point Pn by using the following equation, using the fact that the ratio of the amount of change in a detected distance dn to a movement amount In of a sonar is nearly equal to a tangent with respect to the direction normal to the surface of an object: Rotational correction angleφ=a tan {(dn+1−dn)/In} in which n is a natural number. Subsequently, the reflection-point estimation section obtains estimated reflection points Pn′ after correction, by rotating each estimated reflection point Pn based on the calculation result.

Abstract translation: 构成物体检测装置的反射点估计部分首先利用以下事实来计算每个估计反射点Pn的旋转校正角，使用以下事实：检测距离dn的变化量与移动量In 的声纳几乎等于相对于垂直于物体表面的方向的切线：旋转校正角＆phgr = = tan（（dn + 1-dn）/ In}其中n是自然数。 随后，反射点估计部通过基于计算结果旋转每个估计反射点Pn来获得校正后的估计反射点Pn'。

公开(公告)号：US07739046B2

公开(公告)日：2010-06-15

申请号：US11324583

申请日：2006-01-04

Applicant: Hisashi Satonaka ,  Masato Okuda ,  Hiroshi Toyoda

Inventor： Hisashi Satonaka ,  Masato Okuda ,  Hiroshi Toyoda

IPC: G05D1/02 ,  G06F17/10 ,  G06G7/78 ,  G01M15/00 ,  G01M17/04 ,  B60Q1/00 ,  B60Q1/48 ,  G08G1/16 ,  G08G1/14

CPC classification number: B62D15/0285 ,  G01S2013/9314 ,  G01S2015/935 ,  G01S2015/936

Abstract: In a parking support device, a distance measuring unit measures a quantity equivalent to a distance from an automotive vehicle to an object existing in a predetermined direction. A storage unit stores a sequence of points indicating results of the measurement performed multiple times. A first object specifying unit generates first object information based on the sequence of points when a length of the sequence of points has exceeded a first reference length. A second object specifying unit generates second object information based on the sequence of points when a length of the sequence of points has exceeded a second, larger reference length. A target parking position is determined based on the first object information in a stage where the first object information is generated.

Abstract translation: 在停车辅助装置中，距离测量单元测量相当于从机动车辆到存在于预定方向的物体的距离的量。 存储单元存储指示多次执行测量结果的点的顺序。 第一对象指定单元，当点序列的长度超过第一参考长度时，基于点的序列生成第一对象信息。 第二对象指定单元，当点序列的长度超过第二较大参考长度时，基于点序列生成第二对象信息。 基于在生成第一对象信息的阶段中的第一对象信息来确定目标停车位置。

公开(公告)号：US20090121899A1

公开(公告)日：2009-05-14

申请号：US11996571

申请日：2006-07-26

Applicant: Toshiaki Kakinami ,  Hisashi Satonaka

Inventor： Toshiaki Kakinami ,  Hisashi Satonaka

IPC: G08G1/16

CPC classification number: B62D15/027 ,  B60W30/06 ,  B60W40/04 ,  G06K9/00805 ,  G06K9/00812

Abstract: To provide a parking assistance device for accurately detecting obstacles in the periphery of a parking zone; for detecting a parking space in which a vehicle can be parked without coming into contact with the obstacles; and for satisfactorily assisting a driving operation. The parking assistance device detects a stationary object present in the periphery of a vehicle, and assists in parking the vehicle. The parking assistance device comprises surface shape detection means (1) for detecting the surface shape information of the stationary object; shape recognition means (2) for recognizing the outline shape of the stationary object on the basis of the surface shape information; movement status detection means (6) for detecting the movement status of the vehicle; relative placement calculation means (3) for calculating the relative placement relationship of the vehicle and the stationary object on the basis of the surface shape information, the outline shape, and the movement status; and parking space detection means (4) for detecting a parking space in which the vehicle can be parked on the basis of the placement relationship.

Abstract translation: 提供一种用于准确地检测停车区周围的障碍物的停车辅助装置; 用于检测车辆可以停放而不与障碍物接触的停车空间; 并且令人满意地协助驾驶操作。 停车辅助装置检测存在于车辆周边的静止物体，并辅助停车。 所述停车辅助装置包括用于检测所述静止物体的表面形状信息的表面形状检测装置（1） 形状识别装置（2），用于基于表面形状信息识别静止物体的轮廓形状; 用于检测车辆的运动状态的运动状态检测装置（6） 相对位置计算装置（3），用于根据表面形状信息，轮廓形状和运动状态计算车辆和静止物体的相对位置关系; 以及停车位检测单元（4），用于基于所述配置关系来检测能够停放所述车辆的停车空间。

公开(公告)号：US20070198152A1

公开(公告)日：2007-08-23

申请号：US10565642

申请日：2004-07-15

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

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

IPC: B62D6/00

CPC classification number: B62D15/0285 ,  B60T2201/10 ,  G08G1/161

Abstract: 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.

Abstract translation: 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：US07233851B2

公开(公告)日：2007-06-19

申请号：US10870919

申请日：2004-06-21

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

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

IPC: G06F19/00

CPC classification number: B62D15/0285 ,  B60T2201/10

Abstract: A vehicle driving assist apparatus for guiding a vehicle to a target position is provided. A basic path that changes the deflection angle θ to 0 is determined, and is subjected to similarity transformation. On the basis of the similarity-transformed path, a path factoring in transition from the initial steering angle is set. Then, a correction is made such that the area in the running distance-curvature graph regarding this path becomes equal to a corresponding area regarding the basic path, thereby setting a corrected path. The corrected path is similarity-transformed, and then is re-corrected in accordance with transition from the initial steering angle. Thus, a final target path is obtained.

Abstract translation: 提供了一种用于将车辆引导到目标位置的车辆驾驶辅助装置。 确定将偏转角θ改变为0的基本路径，并进行相似变换。 在相似变换路径的基础上，设定从初始转向角度转移的路径分解。 然后，进行校正，使得关于该路径的行驶距离 - 曲率图的面积等于与基本路径相对应的对应区域，由此设定校正路径。 校正路径进行相似变换，然后根据从初始转向角度的转变重新校正。 因此，获得最终的目标路径。

公开(公告)号：US20060167633A1

公开(公告)日：2006-07-27

申请号：US11322353

申请日：2006-01-03

Applicant: Hisashi Satonaka ,  Masato Okuda ,  Takao Yamaga

Inventor： Hisashi Satonaka ,  Masato Okuda ,  Takao Yamaga

IPC: G06G7/78

CPC classification number: G01S13/931 ,  B60W10/20 ,  B62D15/027 ,  G01S2013/9314 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/9385 ,  G01S2015/935 ,  G01S2015/936 ,  G06K9/00805 ,  G06K9/00812 ,  G08G1/165 ,  G08G1/166 ,  G08G1/168

Abstract: A neighboring object information acquisition device comprises a distance measuring unit measuring a quantity equivalent to a distance to a neighboring object in a predetermined direction. A storage unit stores a sequence of points indicating results of the measurement performed multiple times. An object detection unit detects existence of the object based on the sequence of points. An approximation unit outputs an approximation of the sequence of points by applying a curve or a straight line, so that an approximate curve or an approximate straight line is derived. An evaluation unit outputs a result of evaluation of a reliability of the sequence of points. A determination unit determines object information by selecting one of information derived from the sequence of points and information derived from the result of approximation in accordance with the result of evaluation.

Abstract translation: 相邻对象信息获取装置包括距离测量单元，该距离测量单元在预定方向上测量与相邻对象的距离相当的量。 存储单元存储指示多次执行测量结果的点的顺序。 对象检测单元基于点的顺序来检测对象的存在。 近似单元通过应用曲线或直线输出点序列的近似值，从而导出近似曲线或近似直线。 评估单元输出点序列的可靠性的评价结果​​。 确定单元根据评估结果从点序列导出的信息和从近似结果得到的信息中选择一个来确定对象信息。

公开(公告)号：US06950035B2

公开(公告)日：2005-09-27

申请号：US10408232

申请日：2003-04-08

Applicant: Yuu Tanaka ,  Yoshifumi Iwata ,  Hisashi Satonaka ,  Tomohiko Endo ,  Mitsuhiko Morita ,  Katsuhiko Iwazaki ,  Seiji Kawakami ,  Hiroaki Kataoka

Inventor： Yuu Tanaka ,  Yoshifumi Iwata ,  Hisashi Satonaka ,  Tomohiko Endo ,  Mitsuhiko Morita ,  Katsuhiko Iwazaki ,  Seiji Kawakami ,  Hiroaki Kataoka

IPC: G03B15/00 ,  B60Q1/48 ,  B60R1/00 ,  B60R21/00 ,  B62D15/02 ,  G01S5/16

CPC classification number: B62D15/027 ,  B60Q9/004 ,  B60R1/00 ,  B60R2300/305 ,  B60R2300/806 ,  B60T2201/10 ,  G01S5/16

Abstract: A parking assist system includes an image obtaining means for obtaining an image of a view from a vehicle, a displaying means for displaying the image obtained by the image obtaining means in a monitor display provided in the vehicle, an inputting means for inputting a target parking position, at which the vehicle is parked, on the monitor display, a detecting means for detecting a relative relationship between the vehicle and the target parking position, and a judging means for judging whether or not the vehicle can be parked at the target parking position based upon the relative relationship detected by the detecting means.

Abstract translation: 停车辅助系统包括用于从车辆获取视图的图像的图像获取装置，用于在车辆中提供的监视器显示中显示由图像获取装置获得的图像的显示装置，用于输入目标停车 车辆停放的位置在监视器显示器上，检测装置，用于检测车辆与目标停车位置之间的相对关系，以及判断装置，用于判断车辆是否能够停在目标停车位置 基于由检测装置检测到的相对关系。

公开(公告)号：US20050060073A1

公开(公告)日：2005-03-17

申请号：US10928256

申请日：2004-08-30

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

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

IPC: B60R21/00 ,  B60R1/00 ,  B62D6/00 ,  B62D15/02 ,  B62D113/00 ,  B62D119/00 ,  G06F19/00

CPC classification number: B62D15/0285 ,  B60T2201/10

Abstract: A parking assist device for assisting parking operation to a target parking position includes an initial position setting device for setting an initial position of the target parking position to park a vehicle, a designation display showing the target parking position, a display position calculation device for calculating an initial display position of the designation display showing the target parking position at a screen showing vehicle surroundings based on the initial position determined by the initial position setting device, and an initial display position shifting device for shifting the initial display position of the designation display to a position within a display range on the screen in case the initial display position calculated by the display position calculation device is positioned outside of the display range on the screen.

Abstract translation: 一种用于辅助驻车操作到目标停车位置的停车辅助装置包括：初始位置设定装置，用于设定目标停车位置的初始位置以停放车辆;指示显示目标停车位置;显示位置计算装置， 基于由初始位置设定装置决定的初始位置的显示车辆周边的画面的指定显示的初始显示位置和用于将指定显示的初始显示位置移位到的初始显示位置移动装置 在由显示位置计算装置计算的初始显示位置位于屏幕上的显示范围之外的情况下在屏幕上的显示范围内的位置。