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1. 发明申请

US20100286872A1 PARKING ASSISTING APPARATUS 有权
标题翻译：停车辅助装置
公开(公告)号：US20100286872A1
公开(公告)日：2010-11-11
申请号：US12838529
申请日：2010-07-19
申请人： Tomohiko ENDO , Yasushi Makino , Yukiko Kawabata , Takuya Itoh , Atsuko Nakanishi
发明人： Tomohiko ENDO , Yasushi Makino , Yukiko Kawabata , Takuya Itoh , Atsuko Nakanishi
IPC分类号： G06F19/00 , G06F17/00
CPC分类号： B62D7/159 , B62D15/027 , B62D15/0285
摘要： The present invention relates to a parking assist apparatus 10 used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising: traveling path calculation means for calculating a traveling path for guiding the vehicle to a target position; and assist means for assisting traveling of the vehicle to the target position, based on the traveling path calculated by the traveling path calculation means. In the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a traveling path in which the front wheels and the rear wheels are steered in reverse directions, and said traveling path includes a section in which a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, creates a trajectory of a clothoid curve.
摘要翻译：本发明涉及一种用于车辆的停车辅助装置10，其具有能够独立地转向前轮和后轮的四轮转向模式，包括：行驶路径计算装置，用于计算用于引导车辆的行驶路径目标位置; 以及辅助装置，用于根据由行驶路径计算装置计算出的行进路径辅助车辆到达目标位置的行驶。在四轮转向模式中，由行驶路径计算装置计算出的行进路径包括前轮和后轮在相反方向转向的行进路径，并且所述行进路径包括一个恒定点，其是来自前后方向的车辆的中心线与从转向中心垂直于中心线的线的交点，产生回旋曲线的轨迹。

2. 发明授权

US09174674B2 Parking assisting apparatus 有权
标题翻译：停车辅助装置
公开(公告)号：US09174674B2
公开(公告)日：2015-11-03
申请号：US12838529
申请日：2010-07-19
申请人： Tomohiko Endo , Yasushi Makino , Yukiko Kawabata , Takuya Itoh , Atsuko Nakanishi
发明人： Tomohiko Endo , Yasushi Makino , Yukiko Kawabata , Takuya Itoh , Atsuko Nakanishi
IPC分类号： B62D15/02 , B62D7/15 , B60W30/06
CPC分类号： B62D7/159 , B62D15/027 , B62D15/0285
摘要： The present invention relates to a parking assist apparatus 10 used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising: traveling path calculation means for calculating a traveling path for guiding the vehicle to a target position; and assist means for assisting traveling of the vehicle to the target position, based on the traveling path calculated by the traveling path calculation means. In the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a traveling path in which the front wheels and the rear wheels are steered in reverse directions, and said traveling path includes a section in which a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, creates a trajectory of a clothoid curve.
摘要翻译：本发明涉及一种用于车辆的停车辅助装置10，其具有能够独立地转向前轮和后轮的四轮转向模式，包括：行驶路径计算装置，用于计算用于引导车辆的行驶路径目标位置; 以及辅助装置，用于根据由行驶路径计算装置计算出的行进路径辅助车辆到达目标位置的行驶。在四轮转向模式中，由行驶路径计算装置计算出的行进路径包括前轮和后轮在相反方向转向的行进路径，并且所述行进路径包括一个恒定点，其是来自前后方向的车辆的中心线与从转向中心垂直于中心线的线的交点，产生回旋曲线的轨迹。

3. 发明申请

US20100033348A1 PARKING ASSISTANCE DEVICE AND PARKING ASSISTANCE METHOD 有权
标题翻译：停车辅助装置和停车辅助方法
公开(公告)号：US20100033348A1
公开(公告)日：2010-02-11
申请号：US12525601
申请日：2008-02-12
申请人： Yukiko Kawabata , Yasushi Makino , Hideyuki Iwakiri , Yuichi Kubota , Tomohiko Endo , Miyuki Omori , Takuya Ito , Atsuko Nakanishi
发明人： Yukiko Kawabata , Yasushi Makino , Hideyuki Iwakiri , Yuichi Kubota , Tomohiko Endo , Miyuki Omori , Takuya Ito , Atsuko Nakanishi
IPC分类号： G08G1/14
CPC分类号： B62D15/028 , B60R1/00 , B60R2300/105 , B60R2300/301 , B60R2300/302 , B60R2300/305 , B60R2300/806
摘要： A parking assisting device includes an ambient area detecting unit that detects an obstacle or a parking frame in an ambient area surrounding a vehicle, and a guiding unit guides the vehicle to a parking initial position from which parking of the vehicle to a parking space, adjacent to the detected obstacle, or the detected parking frame is permissible. In the parking assisting device, a guidance mode in which the guiding unit guides the vehicle to the parking initial position is set up based on a distance between the vehicle and the detected obstacle or the detected parking frame in a vehicle width direction of the vehicle.
摘要翻译：停车辅助装置包括环境区域检测单元，其检测围绕车辆的周围环境中的障碍物或停车框架，并且引导单元将车辆引导到停车初始位置，从该停车初始位置停车到停车位，相邻或检测到的停车框是允许的。在停车辅助装置中，基于车辆与检测到的障碍物之间的距离或车辆的车辆宽度方向上检测到的停车框架，建立引导单元将车辆引导到停车初始位置的引导模式。

4. 发明申请

US20100019935A1 PARKING ASSISTANCE DEVICE 有权
标题翻译：停车辅助装置
公开(公告)号：US20100019935A1
公开(公告)日：2010-01-28
申请号：US12525732
申请日：2008-02-20
申请人： Yukiko Kawabata , Yasushi Makino , Hideyuki Iwakiri , Yuichi Kubota , Tomohiko Endo , Miyuki Omori , Takuya Ito , Atsuko Nakanishi
发明人： Yukiko Kawabata , Yasushi Makino , Hideyuki Iwakiri , Yuichi Kubota , Tomohiko Endo , Miyuki Omori , Takuya Ito , Atsuko Nakanishi
IPC分类号： B60Q1/48 , G08G1/14
CPC分类号： B60R1/00 , B60R2300/302 , B60R2300/305 , B60R2300/307 , B60R2300/806 , B60W50/082 , B60W50/16 , B60W2050/146 , B60W2520/10 , B62D15/028 , G01S2015/935 , G01S2015/936
摘要： A parking assistance device includes a guiding unit to perform guidance of a vehicle to a parking initial position from which the vehicle can be parked into a parking space located adjacent to and on a far side of an object existing around the vehicle with respect to a running direction of the vehicle; an obstacle detecting unit to detect an obstacle around the vehicle in response to a reflected wave of a wave emitted from the vehicle in a predetermined direction; and a timing setting unit configured to set a timing to start the guidance in response to a detection result of the obstacle detecting unit, which is related to an obstacle existing in a predetermined distance from the object in the parking space.
摘要翻译：停车辅助装置包括引导单元，用于执行车辆对停车初始位置的引导，该停车初始位置可以将车辆停放在相对于行驶中的车辆周围的物体的相邻并存在的停车位车辆方向; 障碍物检测单元，用于响应于从预定方向从车辆发射的波的反射波来检测车辆周围的障碍物; 以及定时设定单元，被配置为响应于障碍物检测单元的检测结果来设定开始引导的定时，所述检测结果与在停车空间中与物体预定距离存在的障碍物相关。

5. 发明授权

US08144031B2 Parking assistance device and parking assistance method 有权
标题翻译：停车辅助装置和停车辅助方法
公开(公告)号：US08144031B2
公开(公告)日：2012-03-27
申请号：US12525601
申请日：2008-02-12
申请人： Yukiko Kawabata , Yasushi Makino , Hideyuki Iwakiri , Yuichi Kubota , Tomohiko Endo , Miyuki Omori , Takuya Ito , Atsuko Nakanishi
发明人： Yukiko Kawabata , Yasushi Makino , Hideyuki Iwakiri , Yuichi Kubota , Tomohiko Endo , Miyuki Omori , Takuya Ito , Atsuko Nakanishi
IPC分类号： G01C21/00
CPC分类号： B62D15/028 , B60R1/00 , B60R2300/105 , B60R2300/301 , B60R2300/302 , B60R2300/305 , B60R2300/806
摘要： A parking assisting device includes an ambient area detecting unit that detects an obstacle or a parking frame in an ambient area surrounding a vehicle, and a guiding unit guides the vehicle to a parking initial position from which parking of the vehicle to a parking space, adjacent to the detected obstacle, or the detected parking frame is permissible. In the parking assisting device, a guidance mode in which the guiding unit guides the vehicle to the parking initial position is set up based on a distance between the vehicle and the detected obstacle or the detected parking frame in a vehicle width direction of the vehicle.
摘要翻译：停车辅助装置包括环境区域检测单元，其检测围绕车辆的周围环境中的障碍物或停车框架，并且引导单元将车辆引导到停车初始位置，从该停车初始位置停车到停车位，相邻或检测到的停车框是允许的。在停车辅助装置中，基于车辆与检测到的障碍物之间的距离或车辆的车辆宽度方向上检测到的停车框架，建立引导单元将车辆引导到停车初始位置的引导模式。

6. 发明授权

US08130120B2 Parking assistance device 有权
标题翻译：停车辅助装置
公开(公告)号：US08130120B2
公开(公告)日：2012-03-06
申请号：US12525732
申请日：2008-02-20
申请人： Yukiko Kawabata , Yasushi Makino , Hideyuki Iwakiri , Yuichi Kubota , Tomohiko Endo , Miyuki Omori , Takuya Ito , Atsuko Nakanishi
发明人： Yukiko Kawabata , Yasushi Makino , Hideyuki Iwakiri , Yuichi Kubota , Tomohiko Endo , Miyuki Omori , Takuya Ito , Atsuko Nakanishi
IPC分类号： G01C21/00
CPC分类号： B60R1/00 , B60R2300/302 , B60R2300/305 , B60R2300/307 , B60R2300/806 , B60W50/082 , B60W50/16 , B60W2050/146 , B60W2520/10 , B62D15/028 , G01S2015/935 , G01S2015/936
摘要： A parking assistance device includes a guiding unit to perform guidance of a vehicle to a parking initial position from which the vehicle can be parked into a parking space located adjacent to and on a far side of an object existing around the vehicle with respect to a running direction of the vehicle; an obstacle detecting unit to detect an obstacle around the vehicle in response to a reflected wave of a wave emitted from the vehicle in a predetermined direction; and a timing setting unit configured to set a timing to start the guidance in response to a detection result of the obstacle detecting unit, which is related to an obstacle existing in a predetermined distance from the object in the parking space.
摘要翻译：停车辅助装置包括引导单元，用于执行车辆对停车初始位置的引导，该停车初始位置可以将车辆停放在相对于行驶中的车辆周围的物体的相邻并存在的停车位车辆方向; 障碍物检测单元，用于响应于从预定方向从车辆发射的波的反射波来检测车辆周围的障碍物; 以及定时设定单元，被配置为响应于障碍物检测单元的检测结果来设定开始引导的定时，所述检测结果与在停车空间中与物体预定距离存在的障碍物相关。

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