公开(公告)号：US07599773B2

公开(公告)日：2009-10-06

申请号：US10928256

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： G06K9/32 ,  G08G1/14

CPC分类号： B62D15/0285 ,  B60T2201/10

摘要： 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.

摘要翻译： 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。

公开(公告)号：US07155325B2

公开(公告)日：2006-12-26

申请号：US10809545

申请日：2004-03-26

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

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

IPC分类号： G06F7/00

CPC分类号： B62D15/0285 ,  B60T2201/10 ,  B62D15/027

摘要： A method for performing a parking assist control for automatically guiding a vehicle to a target parking position includes the steps of calculating a change of a vehicle direction based on a traveling distance of the vehicle and a steering angle obtained by a steering angle sensor, calculating the change of the vehicle direction based on a yaw rate obtained by a yaw rate sensor, and determining whether or not the parking assist control is required to be stopped based on a result of a comparison between the calculated changes of the vehicle direction.

摘要翻译： 执行用于将车辆自动引导到目标停车位置的停车辅助控制的方法包括以下步骤：基于车辆的行驶距离和由转向角传感器获得的转向角来计算车辆方向的变化，计算 基于由横摆率传感器获得的横摆角速度来改变车辆方向，并且基于所计算的车辆方向的变化之间的比较结果来确定是否需要停止驻车辅助控制。

公开(公告)号：US07117073B2

公开(公告)日：2006-10-03

申请号：US10895332

申请日：2004-07-21

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： G06F19/00 ,  B60Q1/48

CPC分类号： G01S5/16 ,  B60T2201/10 ,  B62D15/0275 ,  B62D15/028 ,  B62D15/0285

摘要： A parking-assist device for an automotive vehicle comprises an imaging unit which creates an image of an exterior behind the vehicle. A target-parking-position input unit inputs a target parking position to park the vehicle when requested. A target-parking-position memory access unit stores the target parking position and reads the stored target parking position when requested. A vehicle-travel-amount detection unit detects an amount of travel of the vehicle. A parking-route determining unit calculates a parking route from a current position of the vehicle to the target parking position. A display unit displays the created image and displays one of the target parking position inputted and the stored target parking position read on the created image in a superimposed manner.

摘要翻译： 一种用于机动车辆的停车辅助装置包括一个在车辆后方产生外部图像的成像单元。 目标停车位置输入单元输入目标停车位置以在要求时停放车辆。 目标停车位置存储器存取单元存储目标停车位置，并在请求时读取存储的目标停车位置。 车辆行驶量检测单元检测车辆的行驶量。 停车路径决定单元计算从车辆的当前位置到目标停车位置的停车路线。 显示单元显示所创建的图像，并且以叠加的方式显示所输入的目标驻车位置和所创建的图像上读取的存储的目标停车位置中的一个。

公开(公告)号：US07039504B2

公开(公告)日：2006-05-02

申请号：US10927220

申请日：2004-08-27

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

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

IPC分类号： G06F7/00

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

摘要： A vehicle backward movement assist device includes a vehicle path determining means for determining a path from a current position of the vehicle moved at a moving amount detected by a vehicle moving amount detecting means to a first target position or a second target position, the vehicle path determining means determining the path by repeatedly calculating the path, and a displaying means for displaying an image of a rear view from a captured by an image capturing means, the displaying means superimposing the first or second target position of the vehicle moved based upon the first or second target position and the detected moving amount on the image of the rear view from the vehicle, the second target position calculated by updating the first target position.

摘要翻译： 车辆后退辅助装置包括车辆路径确定装置，用于确定从由车辆移动量检测装置检测到的移动量移动的车辆的当前位置到第一目标位置或第二目标位置的路径，车辆路径 确定装置通过重复计算路径确定路径;以及显示装置，用于从由图像捕获装置捕获的后视图显示后视图，所述显示装置叠加基于所述第一图像的车辆移动的第一或第二目标位置 或第二目标位置以及检测到的来自车辆的后视图的图像的移动量​​，通过更新第一目标位置而计算出的第二目标位置。

公开(公告)号：US07012550B2

公开(公告)日：2006-03-14

申请号：US10808362

申请日：2004-03-25

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

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

IPC分类号： G08G1/14

CPC分类号： B62D15/027 ,  B60T2201/10

摘要： Parking assist apparatus and method cause a vehicle driver to set a target parking position in which the vehicle is to be parked by prompting the driver to specify the position of a parking space frame in the screen of a touch display by touch-operating arrow button switches shown in the screen, and then calculate a path to the target parking position. If a path to the target parking position is not generated by calculation, the arrow button switches for moving the parking space frame in such directions that a path will not be generated (i.e., the vehicle cannot be parked), among all the arrow button switches, are made non-displayed or are displayed dimmer than the other arrow button switches, and are disabled.

摘要翻译： 驻车辅助装置和方法使车辆驾驶员通过提示驾驶员通过触摸操作箭头按钮开关来指定触摸显示屏幕中的停车位框架的位置来设定车辆要驻车的目标停车位置 显示在屏幕上，然后计算到目标停车位置的路径。 如果通过计算不产生到目标停车位置的路径，则箭头按钮切换用于在所有箭头按钮开关中沿着不会产生路径的方向（即，车辆不能停放）移动停车位框架 被禁止显示或显示比其他箭头按钮开关更暗，并被禁用。

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：US07233851B2

公开(公告)日：2007-06-19

申请号：US10870919

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 ,  Yuu Tanaka ,  Yoshifumi Iwata

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

IPC分类号： G06F19/00

CPC分类号： B62D15/0285 ,  B60T2201/10

摘要： 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.

摘要翻译： 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：US20050060073A1

公开(公告)日：2005-03-17

申请号：US10928256

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 ,  B60R1/00 ,  B62D6/00 ,  B62D15/02 ,  B62D113/00 ,  B62D119/00 ,  G06F19/00

CPC分类号： B62D15/0285 ,  B60T2201/10

摘要： 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.

摘要翻译： 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。

公开(公告)号：US20050055139A1

公开(公告)日：2005-03-10

申请号：US10927220

申请日：2004-08-27

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

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

IPC分类号： B60R21/00 ,  B60R1/00 ,  B62D15/02 ,  G06T1/00 ,  H04N7/18 ,  G06F7/00

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

摘要： A vehicle backward movement assist device includes a vehicle path determining means for determining a path from a current position of the vehicle moved at a moving amount detected by a vehicle moving amount detecting means to a first target position or a second target position, the vehicle path determining means determining the path by repeatedly calculating the path, and a displaying means for displaying an image of a rear view from a captured by an image capturing means, the displaying means superimposing the first or second target position of the vehicle moved based upon the first or second target position and the detected moving amount on the image of the rear view from the vehicle, the second target position calculated by updating the first target position.

摘要翻译： 车辆后退辅助装置包括车辆路径确定装置，用于确定从由车辆移动量检测装置检测到的移动量移动的车辆的当前位置到第一目标位置或第二目标位置的路径，车辆路径 确定装置通过重复计算路径确定路径;以及显示装置，用于从由图像捕获装置捕获的后视图显示后视图，所述显示装置叠加基于所述第一图像的车辆移动的第一或第二目标位置 或第二目标位置以及检测到的来自车辆的后视图的图像的移动量​​，通过更新第一目标位置而计算出的第二目标位置。