公开(公告)号：US07755511B2

公开(公告)日：2010-07-13

申请号：US11885858

申请日：2006-02-28

申请人： Satoshi Yamamoto ,  Kazunori Shimazaki ,  Tomio Kimura

发明人： Satoshi Yamamoto ,  Kazunori Shimazaki ,  Tomio Kimura

IPC分类号： G08G1/14

CPC分类号： B62D15/028 ,  B62D15/0275

摘要： In a parking assistance apparatus disclosed herein, a position and a yaw angle of a vehicle are acquired continuously from an initial stop position A, and a vehicle mark C2′ in moving the vehicle backwards with a steering angle maintained during a backward movement operation from a backward movement start position B in parking the vehicle in a target parking space S is displayed on a display. The vehicle mark C2′ is displayed in a shifting manner on the display such that the target parking space S is traced based on a momentary steering angle and a momentary yaw angle of the vehicle, which result from backward movement of the vehicle. When the vehicle mark C2′ deviates from the target parking space S during the backward movement operation, a driver adjusts the steering angle. The vehicle mark C2′ is shifted on the display based on a change in the steering angle to be turned into a vehicle mark C4 at a suitable position corresponding to the target parking space S.

摘要翻译： 在本文所公开的停车辅助装置中，从初始停止位置A连续地获取车辆的位置和偏航角，并且在向后移动操作期间保持的转向角从车辆向后移动的车辆标记C2' 将车辆停放在目标停车位S中的向后运动开始位置B显示在显示器上。 车辆标记C2'以显示器的移动方式显示，使得基于车辆的后向移动导致的车辆的瞬时转向角和瞬时偏航角来追踪目标停车位S。 当车辆标记C2'在向后移动操作期间偏离目标停车位S时，驾驶员调节转向角。 基于在与目标停车空间S对应的适当位置处转向车辆标记C4的转向角的变化，车辆标记C2'在显示器上移动。

公开(公告)号：US20080174452A1

公开(公告)日：2008-07-24

申请号：US11885858

申请日：2006-02-28

申请人： Satoshi Yamamoto ,  Kazunori Shimazaki ,  Tomio Kimura

发明人： Satoshi Yamamoto ,  Kazunori Shimazaki ,  Tomio Kimura

IPC分类号： B60Q1/48

CPC分类号： B62D15/028 ,  B62D15/0275

摘要： In a parking assistance apparatus disclosed herein, a position and a yaw angle of a vehicle are acquired continuously from an initial stop position A, and a vehicle mark C2′ in moving the vehicle backwards with a steering angle maintained during a backward movement operation from a backward movement start position B in parking the vehicle in a target parking space S is displayed on a display. The vehicle mark C2′ is displayed in a shifting manner on the display such that the target parking space S is traced based on a momentary steering angle and a momentary yaw angle of the vehicle, which result from backward movement of the vehicle. When the vehicle mark C2′ deviates from the target parking space S during the backward movement operation, a driver adjusts the steering angle. The vehicle mark C2′ is shifted on the display based on a change in the steering angle to be turned into a vehicle mark C4 at a suitable position corresponding to the target parking space S.

摘要翻译： 在本文公开的停车辅助装置中，从初始停止位置A连续地取得车辆的位置和偏航角，并且在向后移动操作期间保持的转向角向后移动车辆的车辆标记C 2' 将车辆停放在目标停车位S中的向后移动开始位置B显示在显示器上。 车辆标记C 2'以显示器的移动方式显示，使得目标停车位S基于由车辆的后向运动引起的车辆的瞬时转向角和瞬时偏航角而被跟踪。 当车辆标记C 2'在向后移动操作期间偏离目标停车位S时，驾驶员调节转向角。 车辆标记C 2'基于在对应于目标停车空间S的适当位置处转向车辆标记C 4的转向角的变化而在显示器上移动。

公开(公告)号：US07375651B2

公开(公告)日：2008-05-20

申请号：US10558061

申请日：2005-04-12

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamamoto

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamamoto

IPC分类号： B60Q1/48 ,  G05D1/00 ,  B60S9/205

CPC分类号： B62D15/0275 ,  B60T2201/10 ,  B62D15/028

摘要： In a parking assistance apparatus disclosed herein, when a lateral parking mode switch is set at an initial stop position A, a controller calculates a backward movement start position B for parking based on a yaw angle and a steering angle of a vehicle, and issues guiding information to stop the vehicle upon having determined that the vehicle has reached the calculated backward movement start position B. After having sensed that a shift lever was shifted to a reverse position, the controller displays on a display an image captured by a camera as to an area behind the vehicle, and also displays on the display in a superimposed manner an estimated vehicle space in the case where the vehicle moves backwards while maintaining a steering angle at the time of the shift of the shift lever. The driver operates a steering wheel so as to establish a suitable positional relation between the estimated vehicle space and a target parking space on the display, whereby an appropriate steering angle is obtained in moving the vehicle backwards.

摘要翻译： 在本文公开的停车辅助装置中，当侧向停车模式切换被设定在初始停止位置A时，控制器基于车辆的偏航角和转向角计算停车的后退开始位置B，并且发出引导 在确定车辆已经达到计算出的向后移动开始位置B之后停止车辆的信息。在感测到变速杆被转移到倒退位置之后，控制器在显示器上显示由摄像机拍摄的图像，关于 并且在车辆向后移动的情况下以叠加的方式在显示器上显示估计的车辆空间，同时保持换档杆移动时的转向角。 驾驶员操作方向盘，以便在估计的车辆空间与显示器上的目标停车位之间建立合适的位置关系，从而在向后移动车辆时获得适当的转向角。

公开(公告)号：US20070010918A1

公开(公告)日：2007-01-11

申请号：US10558061

申请日：2005-04-12

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamamoto

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamamoto

IPC分类号： G05D1/00

CPC分类号： B62D15/0275 ,  B60T2201/10 ,  B62D15/028

摘要： In a parking assistance apparatus disclosed herein, when a lateral parking mode switch is set at an initial stop position A, a controller calculates a backward movement start position B for parking based on a yaw angle and a steering angle of a vehicle, and issues guiding information to stop the vehicle upon having determined that the vehicle has reached the calculated backward movement start position B. After having sensed that a shift lever was shifted to a reverse position, the controller displays on a display an image captured by a camera as to an area behind the vehicle, and also displays on the display in a superimposed manner an estimated vehicle space in the case where the vehicle moves backwards while maintaining a steering angle at the time of the shift of the shift lever. The driver operates a steering wheel so as to establish a suitable positional relation between the estimated vehicle space and a target parking space on the display, whereby an appropirate steering angle is obtained in moving the vehicle backwards.

摘要翻译： 在本文公开的停车辅助装置中，当侧向停车模式切换被设定在初始停止位置A时，控制器基于车辆的偏航角和转向角计算停车的后退开始位置B，并且发出引导 在确定车辆已经达到计算出的向后移动开始位置B之后停止车辆的信息。在感测到变速杆被转移到倒退位置之后，控制器在显示器上显示由摄像机拍摄的图像，关于 并且在车辆向后移动的情况下以叠加的方式在显示器上显示估计的车辆空间，同时保持换档杆移动时的转向角。 驾驶员操作方向盘，以便在显示器上建立估计的车辆空间与目标停车位之间的合适的位置关系，从而在向后移动车辆时获得适当的转向角。

公开(公告)号：US20100201810A1

公开(公告)日：2010-08-12

申请号：US12676063

申请日：2008-10-06

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Masami Tomioka

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Masami Tomioka

IPC分类号： H04N7/18

CPC分类号： B60R1/00 ,  B60R11/04 ,  B60R2300/30 ,  B60R2300/301 ,  B60R2300/303 ,  B60R2300/607 ,  B60R2300/806 ,  G06T7/73 ,  G06T2207/30204 ,  G06T2207/30264

摘要： Images are taken by a fixed camera and a moving camera, and a relative position calculation unit recognizes a current position and orientation of the moving object based on a detection signal that is input from a sensor for obtaining positional information of a moving object and calculates a relative positional relationship of the moving camera with respect to the fixed camera by comparing the current position and orientation of the moving object with a given position at which the fixed camera is installed. Based on the relative positional relationship, the image taken by the fixed camera and the image taken by the moving camera are synthesized into one image by an image composition unit, and a composite image viewed from a virtual viewpoint is displayed on a monitor.

摘要翻译： 图像由固定摄像机和移动摄像机拍摄，相对位置计算单元基于从用于获取移动物体的位置信息的传感器输入的检测信号来识别移动物体的当前位置和姿态，并且计算出 通过将移动物体的当前位置和姿态与安装固定照相机的给定位置进行比较，移动摄像机相对于固定照相机的相对位置关系。 基于相对位置关系，通过图像合成单元将由固定摄像机拍摄的图像和由移动摄像机拍摄的图像合成为一个图像，并且将从虚拟视点观看的合成图像显示在监视器上。

公开(公告)号：US06711473B2

公开(公告)日：2004-03-23

申请号：US10176459

申请日：2002-06-21

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamada

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamada

IPC分类号： G06F700

CPC分类号： B62D15/028 ,  B60T2201/10

摘要： A parking assisting device is provided with: a yaw rate sensor for detecting a yaw angle of a vehicle; a controller having a navigation function control unit and a parking assisting function control unit; a function selecting switch for determining switching to a parking assisting mode from a navigation mode; a monitor for providing navigation information, as well as for setting the reference position of the yaw angle and selecting a parking mode; and a speaker for providing parking assisting information to a driver in accordance with a vehicle position specified on the basis of the yaw angle.

摘要翻译： 一种停车辅助装置设置有用于检测车辆的偏航角的偏航率传感器; 控制器，具有导航功能控制单元和停车辅助功能控制单元; 功能选择开关，用于确定从导航模式切换到驻车辅助模式; 用于提供导航信息的监视器，以及用于设置偏航角的参考位置并选择停车模式; 以及扬声器，用于根据基于偏航角指定的车辆位置向驾驶员提供停车辅助信息。

公开(公告)号：US20110298926A1

公开(公告)日：2011-12-08

申请号：US13202004

申请日：2010-02-25

申请人： Hiroshi Katsunaga ,  Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Koji Hika ,  Keisuke Inoue

发明人： Hiroshi Katsunaga ,  Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Koji Hika ,  Keisuke Inoue

IPC分类号： H04N7/18

CPC分类号： B62D15/027 ,  G06K9/00798 ,  G06K9/00912 ,  G06T7/73 ,  G06T2207/30208 ,  G06T2207/30264 ,  G08G1/16 ,  G08G1/168

摘要： Provided is a parking assistance apparatus utilizing a fixed target by taking an image thereof, the parking assistance apparatus being capable of recognizing the fixed target with high recognition accuracy while using simple image recognition processing. A mark (M) includes a plurality of illuminators (1). Sets of the plurality of illuminators (1) form characteristic points C1 to C4. Turn-ON request generation means (36) of a vehicle-side device (20) sequentially generates turn-ON requests for each characteristic point and transmits the generated turn-ON requests to a parking-lot-side device (10). A display control unit (11) of the parking-lot-side device (10) turns ON the characteristic points based on the turn-ON requests. An image recognition unit (31) of the vehicle-side device (20) performs image recognition for the characteristic points sequentially. Using the recognition result, positional parameter calculation means (34) of the vehicle-side device (20) calculates positional parameters of a camera with respect to the mark (M).

摘要翻译： 提供一种通过拍摄图像来利用固定目标的停车辅助装置，在使用简单的图像识别处理的同时，能够以高识别精度识别固定目标的停车辅助装置。 标记（M）包括多个照明器（1）。 多个照明器（1）的组合形成特征点C1〜C4。 车辆侧设备（20）的接通请求产生装置（36）顺序地产生每个特征点的接通请求，并将生成的接通请求发送到停车场侧设备（10）。 停车场侧装置（10）的显示控制单元（11）基于接通请求接通特征点。 车辆侧装置（20）的图像识别单元（31）依次对特征点进行图像识别。 使用识别结果，车辆侧装置（20）的位置参数计算装置（34）计算相机相对于标记（M）的位置参数。

公开(公告)号：US07295227B1

公开(公告)日：2007-11-13

申请号：US09484316

申请日：2000-01-18

申请人： Goro Asahi ,  Hisashi Kuriya ,  Masashi Ushino ,  Tomio Kimura ,  Kousuke Teramura ,  Kazunori Shimazaki ,  Kanji Hattori ,  Satoshi Yamada

发明人： Goro Asahi ,  Hisashi Kuriya ,  Masashi Ushino ,  Tomio Kimura ,  Kousuke Teramura ,  Kazunori Shimazaki ,  Kanji Hattori ,  Satoshi Yamada

IPC分类号： H04N7/00 ,  H04N7/18

CPC分类号： G01S15/931 ,  B60R1/00 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/806 ,  B60R2300/8093 ,  B62D15/0275 ,  B62D15/028 ,  G01S15/025 ,  G01S2015/935 ,  H04N7/183

摘要： A steering assist apparatus that assists a driver when backing a vehicle in an S-shaped path or parallel parking. The apparatus displays guidance marking on a monitor screen and the driver refers to the guidance marking, which permits the driver to easily back the vehicle to a desired position. The apparatus includes a camera, a monitor, an angle sensor, obstacle sensors, an image processing unit, a controller and a monitor controller. The image processing unit computes the predicted path of the vehicle at the current wheel angle. The monitor shows an image captured by the camera. The image processing unit generates data representing a guidance marking based on the predicted path and superimposes the marking on the monitor screen. The location of the marking on the screen is determined based on the current wheel angle. The marking represents part of the predicted path. Specifically, the marking matches the width of the vehicle. In the monitor screen, a marking is separated from the rear bumper of the vehicle by a distance corresponding to the wheelbase of the vehicle.

摘要翻译： 一种辅助驾驶员在将车辆背置在S形路径或平行停车场时的转向辅助装置。 该装置在监视器屏幕上显示引导标记，并且驾驶员参考引导标记，其允许驾驶员容易地将车辆返回到期望的位置。 该装置包括照相机，监视器，角度传感器，障碍传感器，图像处理单元，控制器和监视器控制器。 图像处理单元以当前车轮角度计算车辆的预测路径。 显示器显示相机拍摄的图像。 图像处理单元基于预测路径产生表示引导标记的数据，并将标记叠加在监视器屏幕上。 基于当前车轮角度确定屏幕上的标记位置。 标记代表预测路径的一部分。 具体地，该标记与车辆的宽度相匹配。 在监视器屏幕中，标记与车辆的后保险杠分开与车辆的轴距相对应的距离。

公开(公告)号：US08170752B2

公开(公告)日：2012-05-01

申请号：US12670713

申请日：2008-07-04

申请人： Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Masami Tomioka ,  Hideo Yanagisawa

发明人： Kazunori Shimazaki ,  Tomio Kimura ,  Yutaka Nakashima ,  Masami Tomioka ,  Hideo Yanagisawa

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D12/00 ,  G05D1/02

CPC分类号： G08G1/168 ,  B60R1/00 ,  B60R2300/108 ,  B60R2300/302 ,  B60R2300/50 ,  B60R2300/70 ,  B60R2300/8026 ,  B60R2300/806 ,  B60W30/095 ,  B60W40/02 ,  B60W2420/403 ,  B62D15/028

摘要： A parking assistance apparatus makes it easy for a driver to grasp a relative positional relation between a vehicle and a target parking position and makes it possible to park the vehicle at the target parking position in a parking space with accuracy.An image of a mark M in a parking space S is taken by a vehicle-side camera 7. A relative position calculation portion 8 calculates a relative positional relation between the vehicle and a target parking position T based on the taken image of the mark M. A backward locus calculation portion 9 calculates an expected locus when the vehicle moves based on the relative positional relation and based on a steering angle detected by a steering angle sensor 15. An image of the parking space S is taken by a parking-space-side camera 3 and transmitted to a vehicle-side apparatus 1. An image composition portion 12 composes the image of the parking space S from the parking-space-side camera 3 and the expected locus calculated by the backward locus calculation portion 9. The composed image is displayed on the monitor 14 located in the vicinity of a drivers seat of the vehicle.

摘要翻译： 停车辅助装置使驾驶员容易掌握车辆与目标停车位置之间的相对位置关系，并且能够准确地将车辆停放在停车位置的目标停车位置。 停车空间S中的标记M的图像由车辆侧照相机7拍摄。相对位置计算部8基于拍摄到的标记M的图像计算车辆与目标停车位置T之间的相对位置关系 反向轨迹计算部9基于相对位置关系，基于由转向角传感器15检测到的转向角来计算车辆移动时的预期轨迹。停车位S的图像由停车位 - 图像合成部12从停车位侧摄像机3构成停车空间S的图像，由向后轨迹计算部9计算出的预期轨迹构成。 图像显示在位于车辆驾驶员座位附近的监视器14上。

公开(公告)号：US07024286B2

公开(公告)日：2006-04-04

申请号：US10797334

申请日：2004-03-09

申请人： Tomio Kimura ,  Kazunori Shimazaki

发明人： Tomio Kimura ,  Kazunori Shimazaki

IPC分类号： G06F17/00 ,  B60Q1/48

CPC分类号： G06T7/60 ,  B60T2201/10 ,  B62D15/028 ,  G06T2207/30264

摘要： Disclosed is a parking assisting device, including: a camera for capturing an image behind a vehicle; a display provided to a dashboard of the vehicle; passage width measurement device that measures a width of a passage; and a controller for displaying the image captured with the camera on the display. Also disclosed is a device for calculating an initial stopping position required for parking the vehicle in-parallel into a target parking space perpendicular to the passage on the basis of the passage width measured, with the passage width measurement device, to superimpose on a screen of the display a displayed image for guidance used for guiding the vehicle to the initial stopping position.

摘要翻译： 公开了一种停车辅助装置，包括：摄像机，用于拍摄车辆后方的图像; 提供给车辆仪表板的显示器; 测量通道宽度的通道宽度测量装置; 以及用于在显示器上显示用相机拍摄的图像的控制器。 还公开了一种用于计算基于通过测量的通道宽度而将车辆并行停放在与通道垂直的目标停车位所需的初始停止位置的装置，以将通道宽度测量装置叠加在 显示用于将车辆引导到初始停止位置的用于引导的显示图像。