parking assist
1. Other options include navigation, rear entertainment, parking assist, chrome wheels, and run - flat tires.
其它一些选配包括导航 、 后座娱乐装置 、 停车协助 、 镀铬轮毂 、 零压轮胎(跑气保用轮胎).
来自互联网
2. Xeon lights, parking assist and automatic wipers are available in some equipment trims.
至强灯, 停车辅助系统和自动雨刷,在某些设备,装饰用.
来自互联网
3. Ground personnel the airline use hand signals assist the pilot to parking the aircraft the gate.
航空公司的地面工作人员用手持信号牌协助飞行员把飞机停靠在登机口.
来自互联网
1. 泊车辅助
奥迪现有安全技术：泊车辅助系统泊车辅助（park assist） 奥迪为全系车型提供各种不同的泊车系统。这些系统或采用超声波、声光 …
- 基于678个网页
2. 泊车辅助系统
泊车辅助系统（Park Assist）：泊车辅助系统（Park Assist）能将汽车停入纵向和横向停车位以及驶出纵向停车位。该系统可以实现 …
- 基于54个网页
1. 停车辅助系统
...双回路真空辅助煞车系统，同等级音响及空调系统，以及停车辅助系统 (Parking Assistant)等。
- 基于75个网页
2. 以及停车辅助之
新闻｜Ford Focus... ... 夜视功能，以及停车辅助之 Parking Assistant， 在整个替代能源硬体的技术和全球布局，除了 Fit EV，Honda.
- 基于42个网页
0){var rand = parseInt(Math.random() * (000)+100000);top.location.href='/'+encodeURIComponent(document.getElementById('s').value.trim().replace( / /g, '_'))+'?renovate='+}else{top.location.href='/'+encodeURIComponent(document.getElementById('s').value.trim().replace( / /g, '_'));};}" action="/">
查过的词自动加入生词本
Tip：此功能设置只能在登录状态下生效
parking assist
需要改进的内容：
单词大小写
其他（请在下面补充描述）
错误描述：
您还可在这里补充说明下 O(∩_∩)O~
方便的话，请您留下一种联系方式，便于问题的解决：Patent application title: PARKING ASSIST SYSTEM
Inventors:
&Alexander Von Reyher (Kanagawa, JP)
& (Kanagawa, JP)
& (Kanagawa, JP)
IPC8 Class: AG08G9900FI
USPC Class:
Class name:
Publication date:
Patent application number:
Sign up to receive free email alerts when patent applications with chosen keywords are published
To provide a parking assist system that can easily perform parking
assistance even when a parking area is narrow and small.
A parking assist system which, after a vehicle has passed the side of a
parking area formed between parked vehicles, assists parking of the
vehicle from a stopped position of the vehicle to the parking area, the
parking assist system comprising: a distance sensor 2 that emits radio
waves or ultrasonic waves and detects the distance to the parked vehicles
on the basis of parking area detecting means 1a that
measures, when the vehicle passes the parked vehicles and the side of the
parking area, the distance to the parked vehicles with the distance
sensor 2 and detects, after the vehicle has passed the side of the
parking area, the parking area on the basis of th
parking target position calculating means 1b that calculates a parking
target position of the vehicle on the basis of the parking area that has
been detected by the parking area detecting means 1a; and vehicle
trajectory calculating means 1c that calculates, on the basis of the
parking target position of the vehicle that has been calculated by the
parking target position calculating means, vehicle trajectories from a
stopped position where the vehicle has stopped to the parking target
position.Claims:
1-16. (canceled)
17. A parking assist system which, after a vehicle has passed the side of
a parking area formed between parked vehicles, assists parking of the
vehicle from a stopped position of the vehicle to the parking area, the
parking assist system comprising:a distance sensor that emits radio waves
or ultrasonic waves and detects a distance to the parked vehicles based
parking area detecting means that measures, when the
vehicle passes the parked vehicles and a side of the parking area, the
distance to the parked vehicles with the distance sensor and detects,
after the vehicle has passed the side of the parking area, the parking
area based on a measurement result fromparking
target position calculating means that calculates a parking target
position of the vehicle based on the parking area that has been detected
by the parking
andvehicle trajectory calculating
means that calculates, based on the parking target position of the
vehicle that has been calculated by the parking target position
calculating means, vehicle trajectories from a stopped position where the
vehicle has stopped to the parking target position.
18. The parking assist system according to claim 17, wherein the parking
area detecting means detects, based on the measurement result resulting
from the distance sensor, first and second corner portions positioned on
the parking area side of two parked vehicles located on both sides of the
parking area and detects the parking area based on the positions of the
first and second corner portions.
19. The parking assist system according to claim 17, wherein the vehicle
trajectory calculating means calculates vehicle trajectories on which the
vehicle is moved directly backward from the stopped position and is then
guided to the parking target position.
20. The parking assist system according to claim 18, wherein the vehicle
trajectory calculating means calculates vehicle trajectories on which the
vehicle is moved directly backward from the stopped position and is then
guided to the parking target position.
21. The parking assist system according to claim 19, wherein the vehicle
trajectory calculating means calculates vehicle trajectories on which the
vehicle is moved directly backward from the stopped position, is then
moved forward in a direction away from the parking area, and is then
moved backward and guided to the parking target position.
22. The parking assist system according to claim 20, wherein the vehicle
trajectory calculating means calculates vehicle trajectories on which the
vehicle is moved directly backward from the stopped position, is then
moved forward in a direction away from the parking area, and is then
moved backward and guided to the parking target position.
23. A parking assist system which, while a vehicle is passing or after the
vehicle has passed a side of a parking area formed between parked
vehicles, assists parking of the vehicle from a stopped position of the
vehicle to the parking area, the parking assist system comprising:parking
area detecting means that detects, while the vehicle is passing the
parking area, the parking area by receiving from a driver a position of
at least one of first and second corner portions positioned on inner
sides of two parked vehicles located on both sides of the parking
parking target position calculating means that calculates a parking
target position of the vehicle based on the parking area that has been
detected by the parking
andvehicle trajectory
calculating means that calculates, based on the parking target position
of the vehicle that has been calculated by the parking target position
calculating means, vehicle trajectories on which the vehicle is moved
directly backward from a stopped position where the vehicle has stopped
and is then guided to the parking target position.
24. The parking assist system according to claim 23, further comprising a
distance sensor that emits radio waves or ultrasonic waves and detects a
distance to the parked vehicles based on reflected waves, wherein the
parking area detecting means receives from the driver the position of the
first corner portion, detects the position of the second corner portion
based on a measurement result resulting from the distance sensor, and
detects the parking area based on the positions of the first and second
corner portions.
25. The parking assist system according to claim 23, wherein the parking
area detecting means receives from the driver the positions of the first
and second corner portions and detects the parking area based on the
positions of the first and second corner portions.
26. The parking assist system according to claim 23, wherein the vehicle
trajectory calculating means calculates vehicle trajectories on which the
vehicle is moved directly backward from the stopped position, is then
moved forward in a direction away from the parking area, and is then
guided to the parking target position.
27. The parking assist system according to claim 24, wherein the vehicle
trajectory calculating means calculates vehicle trajectories on which the
vehicle is moved directly backward from the stopped position, is then
moved forward in a direction away from the parking area, and is then
guided to the parking target position.
28. The parking assist system according to claim 25, wherein the vehicle
trajectory calculating means calculates vehicle trajectories on which the
vehicle is moved directly backward from the stopped position, is then
moved forward in a direction away from the parking area, and is then
guided to the parking target position.
29. A parking assist system which, after a vehicle has passed a side of a
parking area formed between parked vehicles, assists parking of the
vehicle from a stopped position of the vehicle to the parking area, the
parking assist system comprising:parking area detecting means that
detects the parking area while the vehicle is passing or after the
vehicle has passed the sideparking target position
calculating means that calculates a parking target position of the
vehicle based on the parking area that has been detected by the parking
andvehicle trajectory calculating means that
calculates, based on the parking target position of the vehicle that has
been calculated by the parking target position calculating means, vehicle
trajectories on which the vehicle is moved directly backward from a
stopped position where the vehicle has stopped and is then guided to the
parking target position.
30. The parking assist system according to claim 29, wherein the vehicle
trajectory calculating means calculates vehicle trajectories on which the
vehicle is moved directly backward from the stopped position, is then
moved forward in a direction away from the parking area, and is then
moved backward and guided to the parking target position.
31. The parking assist system according to claim 17, wherein the parking
assist system calculates vehicle operations, by which the vehicle travels
on the calculated vehicle trajectories, and gives vehicle operation
instructions to the driver based on the vehicle operations.
32. The parking assist system according to claim 17, wherein the parking
assist system calculates a vehicle control procedure, by which the
vehicle travels on the calculated vehicle trajectories. and automatically
guides the vehicle to the parking target position based on the vehicle
control procedure.
33. The parking assist system according to claim 17, further comprising
wheel stop detecting means disposed in a side portion of the vehicle and
which detects wheel stops disposed inside the parking area, wherein the
parking target position calculating means calculates the parking target
position of the vehicle based on the parking area that has been detected
by the parking area detecting means and positions of the wheel stops that
have been detected by the wheel stop detecting means.
34. A control method of a parking assist system which, after a vehicle has
passed a side of a parking area formed between parked vehicles, assists
parking of the vehicle from a stopped position of the vehicle to the
parking area, the method comprising:a parking area detecting step where
parking area detecting means measures, when the vehicle passes the parked
vehicles and the side of the parking area, a distance to the parked
vehicles with a distance sensor and detects, after the vehicle has passed
the side of the parking area, the parking area based on a measurement
result ofa parking target position calculating step
where parking target position calculating means calculates a parking
target position of the vehicle based on the parking area that has been
detected by the parking
anda vehicle trajectory
calculating step where vehicle trajectory calculating means calculates,
based on the parking target position of the vehicle that has been
calculated by the parking target position calculating means, vehicle
trajectories from a stopped position where the vehicle has stopped to the
parking target position.
35. A control method of a parking assist system which, while a vehicle is
passing or after the vehicle has passed a side of a parking area formed
between parked vehicles, assists parking of the vehicle from a stopped
position of the vehicle to the parking area, the method comprising:a
parking area detecting step where parking area detecting means detects,
while the vehicle is passing the parking area, the parking area by
receiving from a driver a position of at least one of first and second
corner portions positioned on inner sides of two parked vehicles located
on both sidesa parking target position calculating
step where parking target position calculating means calculates a parking
target position of the vehicle based on the parking area that has been
detected by the parking
anda vehicle trajectory
calculating step where vehicle trajectory calculating means calculates,
based on the parking target position of the vehicle that has been
calculated by the parking target position calculating means, vehicle
trajectories on which the vehicle is moved directly backward from a
stopped position where the vehicle has stopped and is then guided to the
parking target position.
36. A control method of a parking assist system which, after a vehicle has
passed a side of a parking area formed between parked vehicles, assists
parking of the vehicle from a stopped position of the vehicle to the
parking area, the method comprising:a parking area detecting step where
parking area detecting means detects the parking area while the vehicle
is passing or after the vehicle has passed the sidea
parking target position calculating step where parking target position
calculating means calculates a parking target position of the vehicle
based on the parking area that has been detected by the parking area
anda vehicle trajectory calculating step where vehicle
trajectory calculating means calculates, based on the parking target
position of the vehicle that has been calculated by the parking target
position calculating means, vehicle trajectories on which the vehicle is
moved directly backward from a stopped position where the vehicle has
stopped and is then guided to the parking target position.Description:
TECHNICAL FIELD
[0001]The present invention relates to a parking assist system that
assists parking of a vehicle to a parking target position, for example,
and relates to a parking assist system that detects a parking target
position on the basis of a corner position of a parked vehicle.
BACKGROUND ART
[0002]Conventionally, there has been proposed a system that captures, with
a camera (a rearview camera) that captures an image of the area behind
the rear portion of a vehicle, an image of a parking space and displays
the relative positional relationship between the vehicle and the parking
space on the basis of the captured information (e.g., see patent document
1). This system converts the image captured by the rearview camera into a
bird's-eye view image, detects the moving amount of the vehicle on the
basis of vehicle signals, moves the bird's-eye view image in accordance
with the moving amount of the vehicle, and creates an after-movement
bird's-eye view image. Additionally, the system combines the
after-movement bird's-eye view image with a newly read bird's-eye view
image to create a composite bird's-eye view image, converts that
bird's-eye view image into a projected image, and displays the projected
image on the screen of a monitor. According to this system, a driver can
always know the relative positional relationship between the vehicle and
the parking space, so this system facilitates operations by the driver to
park the vehicle in the parking space.
[0003]Further, conventionally, there is also a parking assist system
which, by capturing an image of a parking area with a camera installed on
the front of a vehicle, sets a parking target position of the vehicle and
performs parking assistance from a stopped position of the vehicle to the
parking target position.
[0004]Patent Document 1: JP-A-11-157404
DISCLOSURE OF THE INVENTION
Problem That the Invention is to Solve
[0005]In the parking assist system pertaining to patent document 1, the
driver sets a parking location from the image captured by the rearview
camera, but there is the problem that there are many distortions in the
image captured by the rearview camera such that it is difficult for the
driver to set the parking location. Further, there is the problem that
the parking assist system is not suited for practical use because it
takes time to set the parking location.
[0006]Further, in a system that captures an image of a parking area with a
camera installed in the front of a vehicle to thereby set a parking
target position of the vehicle, sometimes vehicle trajectories to the
parking target position cannot be computed depending on the stopped
position of the vehicle when the parking area is narrow and small (when
there is no leeway in the width of the parking area with respect to the
width of the system's own vehicle).
[0007]Further, in conventional parking assist systems, there has been the
problem that error in the measurement of corner positions of parked
vehicles is large.
[0008]The present invention has been made in view of the problems that the
above-described conventional examples have and is aimed to provide a
parking assist system that can easily set a parking area.
[0009]Further, another object of the present invention has been made in
view of the problems that the above-described conventional examples have
and is to provide a parking assist system that can reduce the amount of
time required to set a parking area.
[0010]Further, still another object of the present invention has been made
in view of the problems that the above-described conventional examples
have and is to provide a parking assist system that can easily perform
parking assistance even when a parking area is narrow and small.
[0011]Further, still another object of the present invention has been made
in view of the problems that the above-described conventional examples
have and is to reduce error in the measurement of a corner position of a
parked vehicle.
Means for Solving the Problems
[0012]An aspect of the present invention for achieving the above-described
objects is a parking assist system which, after a vehicle has passed the
side of a parking area formed between parked vehicles, assists parking of
the vehicle from a stopped position of the vehicle to the parking area,
the parking assist system characterized by comprising a distance sensor,
parking area detecting means, parking target position calculating means
and vehicle trajectory calculating means. The distance sensor emits radio
waves or ultrasonic waves and detects the distance to the parked vehicles
on the basis of the reflected waves. The parking area detecting means
measures, when the vehicle passes the parked vehicles and the side of the
parking area, the distance to the parked vehicles with the distance
sensor and detects, after the vehicle has passed the side of the parking
area, the parking area on the basis of the measurement result. The
parking target position calculating means calculates a parking target
position of the vehicle on the basis of the parking area that has been
detected by the parking area detecting means. The vehicle trajectory
calculating means calculates, on the basis of the parking target position
of the vehicle that has been calculated by the parking target position
calculating means, vehicle trajectories from a stopped position where the
vehicle has stopped to the parking target position.
[0013]This parking assist system has a configuration that detects the
parking area on the basis of the measurement result of the distance
sensor after the vehicle has passed the parking area, so it can
accurately detect the parking area and setting of the parking area is
[0014]Further, the parking assist system has a configuration that detects
the parking area on the basis of the measurement result of the distance
sensor after the vehicle has passed the parking area, so the burden of
data processing is light in comparison to when an image of the parking
area is captured with a camera, and the amount of time required to set
the parking area can be shortened.
[0015]Further, the parking assist system has a configuration that detects
the parking area on the basis of the measurement result of the distance
sensor after the vehicle has passed the parking area, so the parking
assist system can accurately measure corner positions of the parked
[0016]Another aspect of the present invention for achieving the
above-described object is a parking assist system which, while a vehicle
is passing or after the vehicle has passed the side of a parking area
formed between parked vehicles, assists parking of the vehicle from a
stopped position of the vehicle to the parking area, the parking assist
system characterized by comprising parking area detecting means, parking
target position calculating means and vehicle trajectory calculating
means. The parking area detecting means detects, while the vehicle is
passing the parking area, the parking area by receiving from a driver the
position of at least one of first and second corner portions positioned
on the parking area side of two parked vehicles located on both sides of
the parking area. The parking target position calculating means
calculates a parking target position of the vehicle on the basis of the
parking area that has been detected by the parking area detecting means.
The vehicle trajectory calculating means calculates, on the basis of the
parking target position of the vehicle that has been calculated by the
parking target position calculating means, vehicle trajectories on which
the vehicle is moved directly backward from a stopped position where the
vehicle has stopped and is then guided to the parking target position.
[0017]This parking assist system has a configuration that detects the
parking area on the basis of the measurement result of the distance
sensor after the vehicle has passed the parking area, so it can
accurately detect the parking area and setting of the parking area is
[0018]Further, the parking assist system has a configuration that detects
the parking area on the basis of the measurement result of the distance
sensor after the vehicle has passed the parking area, so the burden of
data processing is light in comparison to when an image of the parking
area is captured with a camera, and the amount of time required to set
the parking area can be shortened.
[0019]Further, after the vehicle has passed the side of the parking area
and stopped, the parking assist system first moves the vehicle backward,
then moves the vehicle forward (pokes the head of the vehicle out), and
then moves the vehicle backward and guides the vehicle to the parking
area, so there are few affects resulting from overhang and parking
assistance is easy even when the parking area is narrow and small.
[0020]Another aspect of the present invention for achieving the
above-described object is a parking assist system which, after a vehicle
has passed the side of a parking area formed between parked vehicles,
assists parking of the vehicle from a stopped position of the vehicle to
the parking area, the parking assist system characterized by comprising
parking area detecting means, parking target position calculating means
and vehicle trajectory calculating means. The parking area detecting
means detects the parking area while the vehicle is passing or after the
vehicle has passed the side of the parking area. The parking target
position calculating means calculates a parking target position of the
vehicle on the basis of the parking area that has been detected by the
parking area detecting means. The vehicle trajectory calculating means
calculates, on the basis of the parking target position of the vehicle
that has been calculated by the parking target position calculating
means, vehicle trajectories on which the vehicle is moved directly
backward from a stopped position where the vehicle has stopped and is
then guided to the parking target position.
[0021]While the vehicle is passing or after the vehicle has passed the
side of the parking area and stopped, this parking assist system first
moves the vehicle backward, then moves the vehicle forward (pokes the
head of the vehicle out), and then moves the vehicle backward and guides
the vehicle to the parking area, so there are few affects resulting from
overhang and parking assistance is easy even when the parking area is
narrow and small.
ADVANTAGE OF THE INVENTION
[0022]According to the present invention, there can be provided a parking
assist system that can easily set a parking area.
[0023]Further, according to the present invention, there can be provided a
parking assist system that can reduce the amount of time required to set
a parking area.
[0024]Further, according to the present invention, there can be provided a
parking assist system that can easily perform parking assistance even
when a parking area is narrow and small.
[0025]Further, according to the present invention, there can be provided a
parking assist system that can reduce error in the measurement of a
corner position of a parked vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
[0026]FIG. 1 is a general block diagram showing a hardware configuration
of a parking assist system pertaining to an embodiment of the present
[0027]FIG. 2 is a general block diagram showing the hardware configuration
of the parking assist system pertaining to the embodiment of the present
[0028]FIG. 3A is a diagram showing an example of a state of measuring a
parking area having the potential for the parking assist system's own
vehicle to park in while moving the parking assist system's own vehicle
[0029]FIG. 3B is a diagram showing an example of a state where a front
side ultrasonic sensor detects a corner portion C1
[0030]FIG. 3C is a diagram showing an example of a state where the front
side ultrasonic sensor detects a pair of wheel stops located in a parking
space formed
[0031]FIG. 3D is a diagram showing an example of a state where the front
side ultrasonic sensor detects a corner portion C2
[0032]FIG. 3E is a diagram showing an example of a state of calculating
vehicle trajectories to a parking target position and moving the parking
assist system's own vehicle directly backward to a forward starting
[0033]FIG. 3F is a diagram showing an example of a state of moving the
parking assist system's own vehicle forward from the forward starting
position to a backwa
[0034]FIG. 3G is a diagram showing an example of a state of moving the
parking assist system's own vehicle backward from the backward starting
position to a directly backwa
[0035]FIG. 3H is a diagram showing an example of a state of moving the
parking assist system's own vehicle from the directly backward starting
position to the par
[0036]FIG. 4 is an example of vehicle operation display displayed on a
display device and is a diagram showing a steering direction and a
[0037]FIG. 5A is a flowchart showing an example of a control flow of the
parking assist system pertaining to the embodiment of the present
[0038]FIG. 5B is a flowchart showing an example of the control flow of the
parking assist system pertaining to the embodiment of the present
[0039]FIG. 6 is a general block diagram showing a hardware configuration
when the parking assist system pertaining to the embodiment of the
present invention performs automatic control.
DESCRIPTION OF THE REFERENCE NUMERALS AND SIGNS
[0040]1 Parking Assist ECU [0041]1b Parking Target Position Calculating
Unit (Parking Target Position Calculating Means) [0042]2 Ultrasonic
Sensors (Distance Sensors) [0043]2a Front Side Ultrasonic Sensors
[0044]2b Front Ultrasonic Sensors [0045]2c Rear Ultrasonic Sensors
[0046]2d Wheel Stop Distance Calculating Unit [0047]3 Display Device
[0048]4 Wheel Stop Arrival Detection Sensors [0049]4a Tire Pressure
Sensors [0050]5 Vehicle Sensors [0051]6 Parking Switch [0052]10 Parking
Assist System [0053]11 Vehicle LAN
BEST MODE FOR CARRYING OUT THE INVENTION
[0054]An outline of a hardware configuration of a parking assist system
pertaining to an embodiment of the present invention will be described in
detail below on the basis of FIG. 1.
[0055]A parking assist system 10 pertaining to the embodiment of the
present invention is mainly equipped with a parking assist ECU 1 that
controls parking assistance of a vehicle, plural (e.g., ten) ultrasonic
sensors 2 that are distance sensors that detect objects around the
vehicle, a display device 3, wheel stop arrival detection sensors 4 that
detect the arrival of wheels at wheel stops, vehicle sensors 5 that
detect state quantities of the vehicle, and a parking switch 6 (FIG. 1).
[0056]The parking assist ECU (Electronic Control Unit) 1, the ultrasonic
sensors 2, the display device 3, the wheel stop arrival detection sensors
4, the vehicle sensors 5 and the parking switch 6 are interconnected via
a vehicle LAN (Local Area Network) 11, for example, such that
bidirectional data communication can be performed. This bidirectional
data communication is, for example, performed on the basis of CAN
(Controller Area Network) protocol that is a well-known technology.
[0057]The main hardware configuration of the parking assist ECU 1 is, for
example, configured from a CPU (Central Processing Unit) that performs
arithmetic processing, control processing, etc., a ROM (Read Only Memory)
in which control programs, etc. are stored, and a RAM (Random Access
Memory) that temporarily stores data. The CPU, the ROM and the RAM are
interconnected via a data bus, for example.
[0058]The parking assist ECU 1 performs, for example, various types of
parking assistance for parking the parking assist system's own vehicle in
a parking target position. More specifically, operation instructing means
1d of the parking assist ECU 1 performs display control that displays on
the display device 3 vehicle operations--that is, operation contents,
operation amounts, operation directions (steering wheel steering angle,
vehicle velocity, brakes ON/OFF, shift lever operation (reverse position
R, drive position D)), etc.--that guide the parking assist system's own
vehicle to the parking target position. Consequently, a driver can easily
park the parking assist system's own vehicle in the parking target
position by performing the vehicle operations in accordance with the
vehicle operation instructions displayed on the display device 3.
[0059]The parking assist ECU 1 has a parking target position calculating
unit 1b that calculates a parking target position Y5 (see FIG. 3H) into
which the own vehicle can back and park. When the parking assist system's
own vehicle passes in front of a parking space (a parking area) formed
between two vehicles that are already parked, for example, the ultrasonic
sensors 2 can detect the depth and the width of the parking space by
emitting ultrasonic waves into the parking space (FIGS. 3B to 3D).
[0060]More specifically, a front side ultrasonic sensor 2a (FIG. 2)
detects the width of the parking space by detecting, among two vehicles,
a front corner portion (inner side) C1 of a vehicle parked on the near
side in the traveling direction (hereinafter called "the near vehicle")
and a front corner portion (inner side) C2 of a vehicle parked on the far
side in the traveling direction across the parking space (hereinafter
called "the far vehicle") (FIGS. 3B and 3D). Further, the front side
ultrasonic sensor 2a detects the depth of the parking space by detecting
wheel stops X1 in the parking space. When there are no wheel stops X1 or
when the parking assist system does not perform detection of the wheel
stops X1, the parking assist system checks that there are no obstacles in
the range of the depth of a standard parking space (e.g., about 5 m) and
detects the depth of the parking space as a standard value.
[0061]As for the detection of the corner portions C1 and C2, the parking
assist system may also be configured to detect the corner portion C1
using the front side ultrasonic sensor 2a and to detect the corner
portion C2 by input from the driver. For example, a corner position input
button connected to the vehicle LAN 11 may be disposed on an instrument
panel near the driver seat. When the corner position input button is
pressed, the corner position input button transmits a corner position
detection signal to the parking assist ECU 1. Input of the corner
position is, for example, performed when the driver presses the corner
position input button at a timing when a door mirror of the vehicle
coincides with the corner portion C2. Then, the parking assist ECU 1
receives the corner position detection signal and detects the position of
the corner portion C2. In this case, detection of the corner portions C1
and C2 is completed at the point in time when the door mirror arrives at
the corner portion C2, so the vehicle can be stopped before it passes the
parking space and parking assistance processing can be started.
Consequently, parking assistance processing can be started at a quicker
timing than when using the front side ultrasonic sensor 2a.
[0062]Further, the parking assist system may also be configured to detect
both of the corner portions C1 and C2 by input from the driver. In this
case, it becomes unnecessary to detect the corner portions with the front
side ultrasonic sensor 2a, so detection is not affected by error in the
measurement resulting from the front side ultrasonic sensor 2a.
[0063]The parking assist ECU 1 detects and sets the parking target
position as a settable parking space by comparing the depth and the width
of the parking space that have been detected with the parking assist
system's own vehicle dimensions (total length and width) that are stored
beforehand. This processing of detecting and setting the parking space is
performed by a parking area detection unit 1a.
[0064]The parking target position calculating unit 1b calculates the
parking target position of the parking assist system's own vehicle using,
as a reference, the positions of the pair of wheel stops X1 that have
been detected by the later-described ultrasonic sensors 2 (the front side
ultrasonic sensor 2a), for example. More specifically, when the pair of
wheel stops X1 are detected by the front side ultrasonic sensor 2a, the
parking target position calculating unit 1b calculates the parking target
position where the positions of the wheel stops X1 and the positions of
the rear wheels of the vehicle coincide. This parking target position
calculating unit 1b is realized by a program that is stored in the ROM
and executed by the CPU, for example.
[0065]When there are no wheel stops X1 or when the parking assist system
does not perform detection of the wheel stops X1, the parking target
position calculating unit 1b sets the positions of the wheels stops X1 to
standard positions such as, for example, about 4 m from the corner
portions C1 and C2.
[0066]Moreover, the parking assist ECU 1 has a vehicle trajectory
calculating unit 1c that calculates vehicle trajectories from a parking
assistance start position to the parking target position. The vehicle
trajectory calculating unit 1c calculates optimum vehicle trajectories
(e.g., vehicle trajectories with the fewest turns) of vehicle
trajectories where the vehicle is moved directly backward from the
parking assistance start position (a stopped position Y1 in FIG. 3E) to a
forward starting position Y2 (FIG. 3E), is moved forward in a direction
away from the parking space to a backward starting position Y3 (FIG. 3F),
and is moved backward to the parking target position Y5 (FIG. 3G, FIG.
3H). Additionally, the parking assist ECU 1 displays on the display
device 3 the vehicle operation instructions by which the parking assist
system's own vehicle travels on these calculated vehicle trajectories.
FIG. 4 is an example of vehicle operation display displayed on the
display device 3; here, the display device 3 is displaying the steering
direction and steering amount of the steering wheel. Because of this
vehicle operation display displayed on the display device 3, the driver
can easily understand the contents of the vehicle operations.
[0067]Each of the ultrasonic sensors 2 emits ultrasonic waves to the outer
periphery of the vehicle and can detect objects around the vehicle on the
basis of the reflected waves. The basic hardware configuration and object
detection method of each of the ultrasonic sensors 2 are well-known
technologies, so detailed description thereof will be omitted. Further,
the ultrasonic sensors 2 have a wheel stop distance calculating unit 2d
that calculates the distance from the rear end portion of the vehicle to
the wheel stops X1.
[0068]The ultrasonic sensors 2 are, for example, configured from four
front ultrasonic sensors 2b that are disposed at substantially regular
intervals on the front of a front bumper, the pair of left and right
front side ultrasonic sensors 2a that are disposed on the sides of the
front bumper (near corner portions of the front bumper), and four rear
ultrasonic sensors 2c that are disposed at substantially regular
intervals on a rear bumper.
[0069]The front ultrasonic sensors 2b mainly emit ultrasonic waves in
front of the vehicle, whereby they can detect objects located in front of
the vehicle. The front side ultrasonic sensors 2a mainly emit ultrasonic
waves in front and to the sides of the vehicle, whereby they can detect
objects located in front and to the sides of the vehicle. The two front
ultrasonic sensors 2b located on the vehicle outer sides of the four
front ultrasonic sensors 2b may also be placed so as to emit ultrasonic
waves in front and to the sides of the vehicle and configured to detect
objects in front and to the sides of the vehicle. In this case, the front
side ultrasonic sensors 2a can be omitted.
[0070]The front side ultrasonic sensors 2a can, for example, detect the
pair of wheel stops X1 located on the road surface of the parking target
position (the parking space) formed between two vehicles that are already
parked (FIG. 3C). The rear ultrasonic sensors 2c mainly emit ultrasonic
waves in back of the vehicle, whereby they can detect objects located in
back of the vehicle. The two rear ultrasonic sensors 2c located on the
vehicle outer sides of the four rear ultrasonic sensors 2c may also be
placed so as to emit ultrasonic waves in back and to the sides of the
vehicle and configured to detect objects in back and to the sides of the
[0071]The wheel stop arrival detection sensors 4 detect that the wheels
(e.g., the rear wheels) have arrived at the wheel stops X1. For these
wheel stop arrival detection sensors 4, there are used, for example, tire
pressure sensors 4a that detect the air pressure inside the tires (FIG.
2). The tire pressure sensors 4a detect that the wheels (e.g., the rear
wheels) have arrived at the wheel stops X1. For example, elastic
deformation arises in the tires when the tires of the wheels contact the
wheel stops X1. The tire pressure sensors 4a detect that the wheels have
arrived at the wheel stops X1 on the basis of the change in the air
pressure inside the tires that arises because of this elastic deformation
of the tires.
[0072]The display device 3 is, for example, disposed in a position (in the
instrument panel, etc.) where the driver can see it inside the vehicle
cabin. Further, the display device 3 can display, to the driver,
arbitrary information such as sensor information (outside air
temperature, current time) of the parking assist system's own vehicle,
position information of the parking assist system's own vehicle, and map
information. More specifically, the display device 3 can display the
parking target position, the trajectories for guiding the parking assist
system's own vehicle to the parking target position, the vehicle
operation method for moving the parking assist system's own vehicle to
the parking target position, and the distance from the rear end of the
vehicle to the wheel stops X1 that has been calculated by the wheel stop
distance calculating unit 2d. For the display device 3, arbitrary display
means such as a liquid crystal display or an organic EL display, for
example, is applicable.
[0073]The vehicle sensors 5 detect state quantities of the vehicle
(vehicle velocity, acceleration (longitudinal acceleration, lateral
acceleration, etc.), steering angle, yaw rate). As the vehicle sensors 5,
there are included, for example, a vehicle velocity sensor 5a that
detects the vehicle velocity, an acceleration sensor 5b that detects the
acceleration of the vehicle, a steering angle sensor 5c that detects the
steering angle of the vehicle, and a yaw rate sensor 5d that detects the
yaw rate of the vehicle.
[0074]The parking assist ECU 1 may also be configured to calculate
displacement between the calculated vehicle trajectories and the current
position of the vehicle on the basis of the state quantities of the
vehicle that have been detected by the vehicle sensors, correct this
displacement, and recalculate vehicle trajectories that will guide the
vehicle to the parking target position.
[0075]The parking switch 6 is a switch for detecting whether or not the
driver intends to park the parking assist system's own vehicle in the
parking target position. The parking switch 6 is, for example, an ON/OFF
switch and is disposed on the instrument panel near the driver is seat.
When the parking switch 6 is switched ON, it outputs an ON signal. The
parking assist ECU 1 recognizes that the driver intends to park the
vehicle when it receives the ON signal from the parking switch 6.
Further, when the parking switch 6 is switched OFF, it outputs an OFF
signal. The parking assist ECU 1 recognizes that the driver does not
intend to park the vehicle when it receives the OFF signal from the
parking switch 6.
[0076]Next, a control method of the parking assist system 10 pertaining to
the embodiment of the present invention will be described in detail. FIG.
5A and FIG. 5B are flowcharts showing an example of a control flow of the
parking assist system 10 pertaining to the embodiment of the present
invention. The control flow shown in FIG. 5A and FIG. 5B is repeatedly
executed every predetermined minute time period (e.g., about 100 msec),
for example.
[0077]For example, as shown in FIG. 3A, while the parking assist system's
own vehicle is moved forward inside a parking lot, the ultrasonic sensors
2 detect objects around the vehicle and measure a parking space (a
parking area) having the potential for the parking assist system's own
vehicle to park in (S100).
[0078]At this time, when the parking assist system's own vehicle passes
the side of the parking space, as shown in FIGS. 3B to 3D, the front side
ultrasonic sensor 2a detects the corner portion C1 of the near vehicle,
detects the pair of wheel stops X1 located in the parking space formed
between the two vehicles, and detects the corner portion C2 of the far
vehicle (S100), and the vehicle is stopped in the position shown in FIG.
3E after the parking assist system's own vehicle has passed the side of
the parking space (S130 described later). The parking assist system may
also receive from the driver the position of at least one of the corner
portions C1 and C2 as described previously.
[0079]The parking space between the vehicles has a depth of about 5 m, for
example, and the pair of wheel stops X1 are disposed sticking out on the
far side on the road surface.
[0080]The parking assist system calculates the width and the depth of the
parking space on the basis of the corner portions C1 and C2 and the pair
of wheel stops X1 and compares the calculated width and depth of the
parking space with the dimensions (total length and width) of the parking
assist system's own vehicle, and when a parking space in which the
parking assist system's own vehicle can park has been detected (YES in
S110), the parking target position calculating unit 1b of the parking
assist ECU 1 calculates the parking target position Y5 (FIG. 3H) using,
as a reference, the positions of the pair of wheel stops X1 that have
been detected by the front side ultrasonic sensor 2a (S120). On the other
hand, when a parking space is not detected (NO in S110), the parking
assist ECU 1 returns to the processing of S100.
[0081]When there are no wheel stops X1 and when the parking assist system
does not perform processing to detect the wheel stops X1, when the corner
portions C1 and C2 have been detected by the front side ultrasonic sensor
2a (S100), the parking assist system performs parking space detection.
Specifically, the parking assist system determines the width of the
parking space from the positions of the corner portions C1 and C2, sets
the depth of the parking space to a standard value, compares the width
and the depth of the parking space with the dimensions (total length and
width) of the parking assist system's own vehicle, and detects a parking
space in which the parking assist system's own vehicle can park (YES in
S110). When the parking assist system has detected a parking space in
which the parking assist system's own vehicle can park, the parking
target position calculating unit 1b of the parking assist ECU 1
calculates the parking target position Y5 (FIG. 3H) using, as a
reference, standard positions of the wheel stops X1 (S120).
[0082]When the parking target position Y5 is calculated, the parking
assist ECU 1 instructs the driver to stop the parking assist system's own
vehicle (S130). When the parking assist system's own vehicle is stopped
as in FIG. 3E (YES in S140), the parking assist ECU 1 prompts the driver
to input, from the parking switch 6, whether or not the driver intends to
park the vehicle in the detected parking target position Y5. In FIG. 3E,
the position in which the parking assist system's own vehicle has been
stopped is represented by the stopped position Y1. When the parking
assist system's own vehicle does not stop, the parking assist ECU 1
returns to the processing of S100.
[0083]The parking assist ECU 1 receives the signal from the parking switch
6 and judges whether or not the driver intends to park the vehicle
[0084]When the parking assist ECU 1 receives the ON signal from the
parking switch 6 and judges that the driver intends to park the vehicle
(YES in S150), the parking assist ECU 1 calculates, on the basis of the
parking target position Y5 that has been calculated by the parking target
position calculating unit 1b, vehicle trajectories from the current
position of the parking assist system's own vehicle (e.g., the stopped
position Y1) to the parking target position Y5 as indicated by vehicle
trajectories M1 to M4 in FIGS. 3E to 3H (S160). The method of calculating
the vehicle trajectories is a well-known technology, so detailed
description thereof will be omitted.
[0085]Further, the parking assist ECU 1 calculates vehicle operations
(e.g., brake pedal ON/OFF, steering wheel steering angle, shift lever
position (AT range position), etc.), by which the parking assist system's
own vehicle travels on the calculated vehicle trajectories, and
appropriately displays those vehicle operations on the display device 3
as shown in FIG. 4 (S170 to S260 of FIGS. 5A and 5B). Thus, the driver
can easily park the parking assist system's own vehicle in the parking
target position simply by performing the vehicle operations in accordance
with the vehicle operations displayed on the display device 3. The
parking assist ECU 1 may also be configured to display on the display
device 3 the distance from the rear end of the vehicle to the wheel stops
X1 that has been calculated by the wheel stop distance calculating unit
2d of the rear ultrasonic sensors 2c. Thus, the driver can grasp the
general distance from the rear end of the vehicle to the wheel stops X1,
so this is convenient and safe. When it is detected by the tire pressure
sensors 4a that the rear wheels have arrived at the wheel stops X1, the
parking assist ECU 1 may also perform display control to display an
indication thereof on the display device 3.
[0086]On the other hand, in S150, when the parking assist ECU 1 does not
receive the ON signal from the parking switch 6 (when it is receiving the
OFF signal) and judges that the driver does not intend to park the
vehicle (No in S150), the parking assist ECU 1 returns to the processing
[0087]Next, the ECU 1 instructs the driver to move the parking assist
system's own vehicle directly backward (S170) so that, as shown in FIG.
3E, the parking assist system's own vehicle is moved backward on the
vehicle trajectory M1 to the forward starting position Y2 and is stopped.
[0088]When the parking assist system's own vehicle stops in the forward
starting position Y2 (YES in S180), the parking assist ECU 1 instructs
the driver to operate the AT range to the D range position (S190). When
the AT range has been moved to the D range position (instruction
position) (YES in S200), the parking assist ECU 1 instructs the driver of
a steering operation amount (S210). Then, when the steering operation
amount has been operated in the instructed amount (S220), the parking
assist ECU 1 instructs the driver to move the parking assist system's own
vehicle forward (S230). In accordance with this, the driver moves the
parking assist system's own vehicle from the forward starting position Y2
on the vehicle trajectory M2 to the backward starting position Y3 as
shown in FIG. 3F.
[0089]When the travel amount of the parking assist system's own vehicle
has arrived at a set value (a travel amount from the forward starting
position Y2 on the vehicle trajectory M2 to the backward starting
position Y3) (YES in S240), the parking assist ECU 1 instructs the driver
to stop the parking assist system's own vehicle (S250). In accordance
with this, the driver stops the parking assist system's own vehicle in
the backward starting position Y3 shown in FIG. 3F. At this time, it is
judged whether or not the vehicle position is the parking target position
Y5, but because the vehicle position is not the parking target position
Y5, the parking assist ECU 1 returns to S190 (NO in S260).
[0090]In the backward starting position Y3, the ECU 1 instructs the driver
to operate the AT range to the R range position (S190). When the AT range
has been moved to the R range position (YES in S200), the parking assist
ECU 1 instructs the driver of a steering operation amount (S210). Then,
when the steering operation amount has been operated in the instructed
amount (S220), the parking assist ECU 1 instructs the driver to move the
parking assist system's own vehicle backward (S230). In accordance with
this, the driver moves the parking assist system's own vehicle from the
backward starting position Y3 on the vehicle trajectory M3 to a directly
backward starting position Y4 as shown in FIG. 3G.
[0091]When the travel amount of the parking assist system's own vehicle
has arrived at a set value (a travel amount from the backward starting
position Y3 on the vehicle trajectory M3 to the directly backward
starting position Y4) (YES in S240), the parking assist ECU 1 instructs
the driver to stop the parking assist system's own vehicle (S250). In
accordance with this, the driver stops the parking assist system's own
vehicle in the directly backward starting position Y4 shown in FIG. 3G.
At this time, it is judged whether or not the vehicle position is the
parking target position Y5, but because the vehicle position is not the
parking target position Y5, the parking assist ECU 1 returns to S190 (NO
[0092]In the directly backward starting position Y4, the ECU 1 instructs
the driver to operate the AT range to the R range position (S190). At
this time, the AT range is in the R range position, so the parking assist
ECU 1 checks that the AT range is the R range position (YES in S200) and
thereafter instructs the driver of a steering operation amount (S210).
Here, the parking assist ECU 1 instructs the driver such that the
steering angle becomes zero because the parking assist system's own
vehicle will be moved directly backward. When steering has been directly
returned (S220), the parking assist ECU 1 instructs the driver to move
the parking assist system's own vehicle backward (S230). In accordance
with this, the driver moves the parking assist system's own vehicle from
the directly backward starting position Y4 on the vehicle trajectory M4
to the parking target position Y5 as shown in FIG. 3G and FIG. 3H.
[0093]When the travel amount of the parking assist system's own vehicle
has arrived at a set value (a travel amount from the directly backward
starting position Y4 on the vehicle trajectory M4 to the parking target
position Y5) (YES in S240), the parking assist ECU 1 instructs the driver
to stop the parking assist system's own vehicle (S250). The parking
assist ECU 1 may also give an instruction to stop the parking assist
system's own vehicle on the basis of the detection signals from the tire
pressure sensors 4a. In accordance with this, the driver stops the
parking assist system's own vehicle in the parking target position Y5 of
FIG. 3H. Thus, the parking assist system's own vehicle is parked in the
parking target position Y5 and ends processing (YES in S260).
[0094]As described above, in the parking assist system pertaining to the
present embodiment, when the parking assist system's own vehicle passes
the side of a parking space (a parking area), the parking assist system
detects the parking space, and after the parking assist system's own
vehicle has passed the side of the parking space, the parking assist
system is own vehicle is stopped. Then, the parking assist system's own
vehicle is moved directly backward, is then moved forward (poking out) in
a direction away from the parking space, and is then moved backward and
guided into the parking space.
[0095]Consequently, the parking assist system detects the parking space
when the parking assist system's own vehicle passes the side of the
parking space, so the precision of detecting the corner position of a
parked vehicle is high and the parking assist system can accurately
detect the parking space.
[0096]Further, the parking assist system's own vehicle is first poked out
and is then moved backward and parked, so there are few affects of
overhang and parking assistance is easy even when the parking space is
narrow and small.
[0097]The present invention has been described above with reference to an
exemplary embodiment, but it will be understood by those skilled in the
art that various changes may also be done and that various elements may
also be replaced with equivalents without departing from the scope of the
present invention. Moreover, many changes can be done and particular
situations or materials can be adapted with respect to the teachings of
the present invention without departing from the gist of the present
invention. Consequently, the present invention is not intended to be
limited to the particular embodiment disclosed as the best mode
contemplated for implementation, and the present invention includes all
embodiments in the category of the scope of the claims.
[0098]For example, in the above-described embodiment, the ultrasonic
sensors 2 are used as the distance sensors, but the distance sensors are
for example, radar sensors such as millimeter wave
sensors or microwave sensors may also be used. Further, six of the
distance sensors were disposed on the front bumper and four of the
distance sensors were disposed on the rear bumper, but as long as the
distance sensors can appropriately detect parking areas, the numbers of
the distance sensors disposed on the front and rear bumpers may be
arbitrary, and the positions where the distance sensors are disposed may
also be arbitrary.
[0099]In the above-described embodiment, the parking assist ECU 1 performs
parking assistance to park the vehicle in the parking space formed
between the two vehicles (the near vehicle and the far vehicle), but the
vehicle trajectories on which the parking assist system's own vehicle is
moved directly backward, is then moved forward (poking out) in a
direction away from the parking space, and is then moved backward and
guided into the parking space can also be applied to cases where the
vehicle is to be parked in a parking space formed by only the near
vehicle, a parking space formed by only the far vehicle, or a parking
space formed by only parking stripes.
[0100]Further, in the above-described embodiment, the parking assist ECU 1
may also perform automatic control to automatically park the parking
assist system's own vehicle in the parking target position on the basis
of the parking area that has been detected by the ultrasonic sensors 2.
In this case, the parking assist ECU 1 may also perform automatic control
to automatically park the parking assist system's own vehicle in the
parking target position by calculating vehicle trajectories and a vehicle
control procedure that guide the parking assist system's own vehicle to
the parking target position and, as shown in FIG. 6, controlling an
engine ECU 12 that controls the drive force of the parking assist
system's own vehicle, a steering ECU 13 that controls the steering of the
parking assist system's own vehicle, a brake ECU 14 that controls the
brake force of the parking assist system's own vehicle, and a
transmission ECU 15 that controls the variable speed position of the
parking assist system's own vehicle.
[0101]The engine ECU 12 controls the drive force of the parking assist
system's own vehicle by controlling the output (fuel injection amount,
intake air amount, etc.) of an engine 12a. Further, the steering ECU 13
controls the steering direction and steering force of the parking assist
system's own vehicle by controlling a steering device (power steering
device) 13a of the parking assist system's own vehicle. Moreover, the
transmission ECU 15 controls the variable speed position of the parking
assist system's own vehicle by controlling an automatic variable speed
device 15a of the parking assist system's own vehicle. The brake ECU 14
controls the brake force of the parking assist system's own vehicle by
controlling disc brake devices 14a disposed in each of the wheels.
[0102]In the above-described embodiment, the tire pressure sensors 4a that
detect the air pressure inside the tires are used as the wheel stop
arrival detection sensors 4, but the wheel stop arrival detection sensors
are for example, arbitrary vehicle sensors 5 such as
the acceleration sensor 5b that detects the acceleration of the vehicle
and the vehicle velocity sensor 5a that detect the vehicle velocity may
also be used.
[0103]In the above-described embodiment, the parking assist ECU 1 performs
driver parking assistance by displaying on the display device 3 vehicle
operations to the parking target position, but the parking assist ECU 1
is for example, the parking assist ECU 1 may also
use an audio output device (on-board audio) to output audio vehicle
operations to the parking target position. Further, the parking assist
ECU 1 may also instruct the driver of the vehicle operations and the like
and perform driver parking assistance by using a vibration device built
into the seat or the steering wheel to vibrate portions that the driver
touches. Moreover, the parking assist ECU 1 may also perform parking
assistance by arbitrarily combining the display device, the audio output
device and the vibration device.
Patent applications by
Hisashi Chiba, Kanagawa JP
Patent applications in class VEHICLE PARKING INDICATORS
Patent applications in all subclasses VEHICLE PARKING INDICATORS