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WO2008099846A1 - 駐車支援装置 - Google Patents

駐車支援装置 Download PDF

Info

Publication number
WO2008099846A1
WO2008099846A1 PCT/JP2008/052343 JP2008052343W WO2008099846A1 WO 2008099846 A1 WO2008099846 A1 WO 2008099846A1 JP 2008052343 W JP2008052343 W JP 2008052343W WO 2008099846 A1 WO2008099846 A1 WO 2008099846A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
user
assistance device
parked
parking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2008/052343
Other languages
English (en)
French (fr)
Inventor
Hideyuki Iwakiri
Yasushi Makino
Yuuichi Kubota
Tomohiko Endo
Miyuki Omori
Yukiko Kawabata
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to US12/444,777 priority Critical patent/US20100118140A1/en
Publication of WO2008099846A1 publication Critical patent/WO2008099846A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

　駐車車両に隣接する駐車空間の向きを精度良く推定して、駐車空間に駐車する際に変化させるべき車両の角度を決定することができる駐車支援装置の提供。本発明は、駐車車両に隣接した駐車空間への縦列駐車を支援する駐車支援装置１０Ａ，１０Ｂにおいて、自車の進行方向で見て前記駐車空間に対して手前側に存在する駐車車両の側方を通過する際に、該駐車車両の側面の複数点に対する自車の距離を表すデータを取得する距離データ取得手段７０と、前記距離データ取得手段により取得された距離データに基づいて、前記駐車車両の側面に対する自車の進行方向のなす角度を、傾き角度として算出する傾き角度算出手段１２Ａ，１２Ｂと、前記傾き角度算出手段により算出される傾き角度に基づいて、前記駐車空間に縦列駐車する際に変化させるべき車両の角度を決定することを特徴とする。
PCT/JP2008/052343 2007-02-16 2008-02-13 駐車支援装置 Ceased WO2008099846A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/444,777 US20100118140A1 (en) 2007-02-16 2008-02-13 Parking assisting apparatus and method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007036917A JP2008201178A (ja) 2007-02-16 2007-02-16 駐車支援装置
JP2007-036917 2007-02-16

Publications (1)

Publication Number Publication Date
WO2008099846A1 true WO2008099846A1 (ja) 2008-08-21

Family

ID=39690074

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/052343 Ceased WO2008099846A1 (ja) 2007-02-16 2008-02-13 駐車支援装置

Country Status (3)

Country Link
US (1) US20100118140A1 (ja)
JP (1) JP2008201178A (ja)
WO (1) WO2008099846A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010140458A1 (ja) * 2009-06-03 2010-12-09 ボッシュ株式会社 駐車支援装置

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Publication number Priority date Publication date Assignee Title
JP5257138B2 (ja) * 2009-02-26 2013-08-07 日産自動車株式会社 駐車支援装置及び駐車支援方法
US20120026836A1 (en) * 2010-08-02 2012-02-02 Lucian Scripca Proximity timer switch
DE102011118551C5 (de) 2011-11-16 2021-07-29 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung für ein Assistenzsystem in einem Fahrzeug zur Durchführung eines autonomen oder teilautonomen Fahrmanövers
DE102012201051A1 (de) * 2012-01-25 2013-07-25 Robert Bosch Gmbh Verfahren zur Fahrassistenz und Fahrassistenzsystem
CN102529961B (zh) * 2012-03-26 2015-06-10 江苏大学 自动泊车系统的初始寻库偏差校正方法
JP6187781B2 (ja) * 2012-11-06 2017-09-06 パナソニックＩｐマネジメント株式会社 駐車支援装置
KR101417399B1 (ko) * 2012-11-09 2014-07-08 현대자동차주식회사 차량의 주차 위치 표시 장치 및 방법
KR101428373B1 (ko) * 2013-03-19 2014-08-07 현대자동차주식회사 주차가능구획 판단 장치 및 방법
JP6067635B2 (ja) * 2014-09-12 2017-01-25 アイシン精機株式会社 駐車支援装置
KR102386670B1 (ko) * 2015-07-08 2022-04-14 엘지이노텍 주식회사 차량용 레이더의 자가 보정 장치 및 자가 보정 방법
KR102327345B1 (ko) * 2015-07-14 2021-11-17 주식회사 만도모빌리티솔루션즈 주차제어시스템 및 그 제어방법
FR3043049B1 (fr) * 2015-11-03 2017-12-08 Newtl Dispositif d'assistance pour les manœuvres d'accostage au niveau d'un quai
JP6694710B2 (ja) * 2015-12-25 2020-05-20 株式会社デンソーテン 駐車支援装置、駐車支援方法、及び、駐車支援システム
KR102638561B1 (ko) * 2016-11-02 2024-02-20 주식회사 에이치엘클레무브 주차지원시스템 및 주차지원방법
DE102018209959A1 (de) * 2018-06-20 2019-12-24 Robert Bosch Gmbh Verfahren und Fahrassistenzsystem zum Vermeiden einer Kollision eines Fahrzeugs mit einem Hindernis
CN112519937B (zh) * 2020-12-09 2022-06-07 湖南喜宝达信息科技有限公司 一种电单车及其停车控制方法、停车系统及可读存储介质
CN113611146A (zh) * 2021-06-30 2021-11-05 深圳市泰比特科技有限公司 一种基于nfc和方位角计算的规范停车方法
JP7563330B2 (ja) * 2021-08-16 2024-10-08 株式会社デンソー 駐車支援装置及びプログラム
JP2023076032A (ja) 2021-11-22 2023-06-01 トヨタ自動車株式会社 駐車支援装置

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JP2002228734A (ja) * 2001-02-05 2002-08-14 Nissan Motor Co Ltd 周囲物体認識装置
JP2002243857A (ja) * 2001-02-14 2002-08-28 Nissan Motor Co Ltd 周囲物体認識装置
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JP2003270344A (ja) 2002-03-14 2003-09-25 Nissan Motor Co Ltd 車両用駐車方向設定装置
JP2004048295A (ja) * 2002-07-10 2004-02-12 Toyota Motor Corp 画像処理装置、駐車支援装置、及び画像処理方法
JP2004098729A (ja) * 2002-09-05 2004-04-02 Yazaki Corp 駐車支援装置
JP2007036917A (ja) 2005-07-29 2007-02-08 Kyocera Mita Corp 画像処理装置

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Patent Citations (7)

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Publication number Priority date Publication date Assignee Title
JP2002228734A (ja) * 2001-02-05 2002-08-14 Nissan Motor Co Ltd 周囲物体認識装置
JP2002243857A (ja) * 2001-02-14 2002-08-28 Nissan Motor Co Ltd 周囲物体認識装置
JP2003063337A (ja) * 2001-08-24 2003-03-05 Nissan Motor Co Ltd 駐車支援装置
JP2003270344A (ja) 2002-03-14 2003-09-25 Nissan Motor Co Ltd 車両用駐車方向設定装置
JP2004048295A (ja) * 2002-07-10 2004-02-12 Toyota Motor Corp 画像処理装置、駐車支援装置、及び画像処理方法
JP2004098729A (ja) * 2002-09-05 2004-04-02 Yazaki Corp 駐車支援装置
JP2007036917A (ja) 2005-07-29 2007-02-08 Kyocera Mita Corp 画像処理装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010140458A1 (ja) * 2009-06-03 2010-12-09 ボッシュ株式会社 駐車支援装置
JP5506795B2 (ja) * 2009-06-03 2014-05-28 ボッシュ株式会社 駐車支援装置

Also Published As

Publication number Publication date
US20100118140A1 (en) 2010-05-13
JP2008201178A (ja) 2008-09-04

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