公开(公告)号：US06611744B1

公开(公告)日：2003-08-26

申请号：US09807348

申请日：2001-07-13

Applicant: Kazunori Shimazaki ,  Koji Hika ,  Satoshi Yamada ,  Isao Suzuki ,  Masahiko Ando ,  Tomio Kimura ,  Kousuke Teramura ,  Hisashi Kuriya

Inventor： Kazunori Shimazaki ,  Koji Hika ,  Satoshi Yamada ,  Isao Suzuki ,  Masahiko Ando ,  Tomio Kimura ,  Kousuke Teramura ,  Hisashi Kuriya

IPC: G06F700

CPC classification number: B60R1/00 ,  B60R2300/207 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/404 ,  B60R2300/806 ,  B60R2300/8086 ,  B60T2201/10 ,  B62D15/028

Abstract: A steering assist apparatus includes a camera for picking up the rear side of a vehicle, a monitor disposed in a driver's compartment of the vehicle, a steering angle sensor for detecting a steering angle of a steering wheel, and a display controlling unit for displaying on the monitor an image through said camera when the vehicle reverses and for superimposing and displaying on said monitor a guide display for assisting the drive of the vehicle when the vehicle is to be parked. The guide display includes a steering start guide line fixedly displayed in a predetermined position of an image field of the monitor for guiding a steering start position for parking, and a steering amount guide mark moved and displayed along the steering start guide line on the image field of the monitor in correspondence with a steering angle of the steering wheel detected by the steering angle sensor. The driver performs the steering operation of the vehicle while recognizing the position for the opposite turning of the steering wheel and the steering amount and the steering start position for parking on the basis of the image on the rear side of the vehicle and the steering amount guide mark and the steering start guide line.

Abstract translation: 转向辅助装置包括用于拾取车辆后侧的照相机，设置在车辆的驾驶室中的监视器，用于检测方向盘的转向角的转向角传感器，以及用于显示方向盘的显示控制单元 当车辆反转时，通过所述摄像机监视图像，并且在所述监视器上叠加和显示用于当车辆停放时辅助车辆的驱动的引导显示器。 引导显示器包括固定地显示在监视器的图像场的预定位置的导向引导线，用于引导用于停车的转向开始位置，以及沿着转向启动引导线在图像场上移动和显示的转向量引导标记 与转向角传感器检测到的方向盘的转向角对应的监视器。 驾驶员在基于车辆后方的图像识别出方向盘的相对转动的位置和转向量以及用于停车的转向开始位置的位置时，执行车辆的转向操作，并且转向量引导件 标记和转向启动指导线。

公开(公告)号：US20030111902A1

公开(公告)日：2003-06-19

申请号：US10021902

申请日：2001-12-17

Inventor： David Thiede ,  Jon P. Beatty ,  Richard A. Gunderson ,  John R. McKinley

IPC: B60T008/32

CPC classification number: B60W30/18036 ,  B60K31/0008 ,  B60T7/22 ,  B60T2201/02 ,  B60T2201/10 ,  B60W2550/402 ,  B60W2720/106 ,  G08G1/161

Abstract: A distance, speed and direction sensitive processor coupled to a brake controller. The processor executes instructions to compare actual vehicle performance with that of a deceleration profile and modulates the brake controller to bring vehicle performance into agreement with the profile. Distance information is provided by a radar sensor for long ranges, an ultrasonic sensor for medium ranges, and a wheel rotation sensor for short ranges. Speed information is provided by a vehicle mounted sensor or calculated by the processor based on distance. Direction information is provided by a vehicle mounted switch or determined by the processor based on distance. The brake controller includes a hold valve and a dump valve, each of which is modulated with a pulse train signal.

Abstract translation: 耦合到制动控制器的距离，速度和方向敏感处理器。 处理器执行指令以比较实际车辆性能与减速曲线的性能，并调制制动控制器以使车辆性能与轮廓一致。 距离信息由长距离雷达传感器，中等范围的超声波传感器和短距离的车轮旋转传感器提供。 速度信息由车载传感器提供或由处理器基于距离计算。 方向信息由车载开关提供，或由处理器根据距离确定。 制动控制器包括一个保持阀和一个倾卸阀，每个都用脉冲串信号进行调制。

公开(公告)号：US06567726B2

公开(公告)日：2003-05-20

申请号：US10146886

申请日：2002-05-17

Applicant: Kazuhiro Sakiyama ,  Toshihiro Shimizu ,  Kazuya Sako

Inventor： Kazuhiro Sakiyama ,  Toshihiro Shimizu ,  Kazuya Sako

IPC: H06F1700

CPC classification number: B60R1/00 ,  B60Q9/005 ,  B60Q9/007 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/806 ,  B60R2300/8086 ,  B60T2201/08 ,  B60T2201/089 ,  B60T2201/10 ,  B62D15/0275

Abstract: A camera unit 10 is mounted on a vehicle 3. When an attempt is made to park the vehicle 3 in a parking lot, a predicted path 5a and guidelines 5b are displayed on an information display 4 together with an image. Data to be used for displaying the predicted path 5a and the guidelines 5b are stored beforehand in internal memory of an image processing circuit 19 provided in a parking assist ECU 6 so that the data can be selected in accordance with specifications, such as the type of the vehicle 3. The predicted path 5a is computed on the basis of a steering angle detected by a steering angle sensor provided in an exposed portion of the steering shaft 11. The length or color of the predicted path 5a is changed in accordance with the speed of the vehicle 3. Further, a vehicle driving support system is provided with a back sonar 17, and hence the length or color of the predicted path 5a is also changed in accordance with the result of detection of an obstacle.

公开(公告)号：US20030004617A1

公开(公告)日：2003-01-02

申请号：US10183734

申请日：2002-06-27

Inventor： Tomio Kimura ,  Kazunori Shimazaki ,  Satoshi Yamada

IPC: G06F017/00

CPC classification number: B60T8/172 ,  B60T2201/10 ,  B62D15/028

Abstract: When a vehicle advances in parallel with a parking frame to reach an initial stop position, measurement of a distance to a parked vehicle is continuously performed by means of an ultrasonic sensor and a moving distance of the vehicle is simultaneously calculated using a signal from a wheel speed sensor. When actuating an in-line mode switch under a state where the vehicle stops in the initial stop position, a turning angle is calculated so as to enable appropriate in-line parking to the parking frame from an actual initial stop position, based on a deviation of the vehicle from a reference position for the initial stop measured by the ultrasonic sensor. Information on a driving operation that is necessary for back parking is provided to a driver via a speaker based on this turning angle and output from a yaw rate sensor.

Abstract translation: 当车辆与停车架平行前进以达到初始停止位置时，通过超声波传感器连续地进行对停放车辆的距离的测量，并且使用来自车轮的信号同时计算车辆的移动距离 速度传感器 当在初始停止位置的车辆停止的状态下致动在线模式开关时，计算转向角度，以便能够从实际的初始停止位置基于偏差进行对驻车框架的适当的在线停车 从用于由超声波传感器测量的初始停止的参考位置的车辆。 通过基于该转向角的扬声器向偏航速度传感器输出关于驾驶操作的关于后退停车所必需的信息。

公开(公告)号：US20020198634A1

公开(公告)日：2002-12-26

申请号：US10176459

申请日：2002-06-21

Inventor： Kazunori Shimazaki ,  Tomio Kimura ,  Satoshi Yamada

IPC: G06F017/00

CPC classification number: B62D15/028 ,  B60T2201/10

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

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

公开(公告)号：US20020132702A1

公开(公告)日：2002-09-19

申请号：US10075607

申请日：2002-02-15

Applicant: NISSAN MOTOR CO., LTD

Inventor： Itsuro Muramoto

IPC: B60K041/20

CPC classification number: B60T7/12 ,  B60T2201/10 ,  B60W30/06 ,  B60W2520/10 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2720/10 ,  F02D2200/602 ,  Y10T477/621 ,  Y10T477/6223 ,  Y10T477/644 ,  Y10T477/81 ,  Y10T477/814

Abstract: In braking/driving force controlling apparatus and method for an automotive vehicle, a state discriminating section discriminates between a parking state in which a manipulation for the vehicle to be parked is carried out and a non-parking state in which no manipulation for the vehicle to be parked is carried out, a controller detects a manipulated variable of a manual input section, generates a constant target vehicle speed corresponding to the detected manipulated variable in a case where the state discriminating section discriminates the parking state, calculates a vehicular braking/driving force for a present vehicle speed to become the target vehicle speed, and controls the vehicular braking/driving force on the basis of the calculated braking/driving force.

Abstract translation: 在用于机动车辆的制动/驱动力控制装置和方法中，状态判别部鉴别执行要停放的车辆的操作的停车状态与不进行车辆的操纵的非停车状态 执行停车时，控制器检测手动输入部的操作变量，在状态判别部识别停车状态的情况下，生成与检测到的操作量相对应的恒定目标车速，计算车辆制动/驱动力 用于当前车辆速度成为目标车速，并且基于所计算的制动/驱动力来控制车辆制动/驱动力。

公开(公告)号：US06223847B1

公开(公告)日：2001-05-01

申请号：US09059384

申请日：1998-04-14

Applicant: Yasuo Shimizu ,  Katsuhiro Sakai

Inventor： Yasuo Shimizu ,  Katsuhiro Sakai

IPC: B62D100

CPC classification number: B62D15/0285 ,  B60T2201/10 ,  B62D15/028

Abstract: If a driver starts an automatic parking control operation with a vehicle V stopped at a starting position, the vehicle V is guided from the starting position via a reversing position to a target position. Left and right markers are provided on the vehicle V. The vehicle V can be stopped at the starting position by aligning any of the markers with the center line of a parking position.

Abstract translation: 如果驾驶员在起动位置停止的车辆V启动自动停车控制操作，则车辆V从起始位置经由反转位置被引导到目标位置。 在车辆V上设置左右标记。车辆V可以通过将任何标记与停车位置的中心线对准而停在起始位置。

公开(公告)号：US06215415B1

公开(公告)日：2001-04-10

申请号：US09388760

申请日：1999-09-02

Applicant: Hans-Joachim Schröder

Inventor： Hans-Joachim Schröder

IPC: G08G114

CPC classification number: G01S13/931 ,  B60T2201/10 ,  G01S2013/9314 ,  G01S2013/9364 ,  G01S2013/9389

Abstract: A parking aid for a motor vehicle, which measures the distance between an object and the motor vehicle in a contactless manner and has a plurality of sensors which are arranged on the motor vehicle, each sensor emitting a signal and receiving the signal reflected from an object located in the direction of the beam, and an evaluation device connected to the sensors determining the distance between the object and the motor vehicle from the signals received. The outlay for electrically synchronizing the sensors is reduced and which nevertheless allows reliable detection of the actual object for accurate measurement of the distance, has three sensors which are arranged directly next to one another to provide approximate coverage of the same detection area, whereby the main beam of each sensor having approximately the same beam angle.

Abstract translation: 一种用于机动车辆的停车辅助装置，其以非接触方式测量物体与机动车辆之间的距离并且具有布置在机动车辆上的多个传感器，每个传感器发射信号并接收从物体反射的信号 位于所述梁的方向上，以及评估装置，连接到所述传感器，从接收的信号确定所述物体与所述机动车辆之间的距离。 减少了用于电气同步传感器的费用，并且仍然允许对实际物体的可靠检测以精确测量距离，具有三个传感器，它们彼此直接布置以提供相同检测区域的近似覆盖，从而主要 每个传感器的光束具有大致相同的光束角。

公开(公告)号：US5602542A

公开(公告)日：1997-02-11

申请号：US446593

申请日：1995-05-19

Applicant: Friedrich Widmann

Inventor： Friedrich Widmann

IPC: B60R21/00 ,  G01S7/52 ,  G01S15/02 ,  G01S15/93 ,  G08G1/16

CPC classification number: G01S15/931 ,  G01S15/025 ,  B60T2201/10 ,  G01S2015/935 ,  G01S7/52004 ,  Y10S367/909

Abstract: A circuit arrangement determines a distance of a motor vehicle from an obstacle in a near range by a displacement sensor instead of an ultrasonic measurement. The distance is determined, above a predetermined limiting value, in accordance with the known ultrasonic transit time measurement. In this range, by comparing the signals of the displacement sensor with the ultrasonic measurement a calibration can be carried out and a correction factor for the displacement sensor can be formed. The correction factor is taken into account during the measurement in the near range, as is the contour of the vehicle.

Abstract translation: PCT No.PCT / DE94 / 01028 Sec。 371日期1995年5月19日 102（e）日期1995年5月19日PCT 1994年9月8日PCT公布。 公开号WO95 / 09369 日期1995年4月6日电路布置通过位移传感器而不是超声波测量来确定机动车辆在近距离的障碍物的距离。 根据已知的超声波传播时间测量，确定高于预定极限值的距离。 在该范围内，通过比较位移传感器的信号与超声波测量，可以进行校准，并且可以形成用于位移传感器的校正系数。 在近距离的测量期间考虑校正因子，车辆的轮廓也是如此。

公开(公告)号：US4931930A

公开(公告)日：1990-06-05

申请号：US177975

申请日：1988-04-05

Applicant: Jia-Ming Shyu ,  Ching-Wang Chuang

Inventor： Jia-Ming Shyu ,  Ching-Wang Chuang

IPC: B60Q1/48 ,  B62D15/02 ,  G01S7/56 ,  G01S13/93 ,  G01S15/93

CPC classification number: G01S15/931 ,  B60Q9/007 ,  B60W30/06 ,  B62D15/028 ,  B62D15/0285 ,  G01S7/56 ,  B60T2201/10 ,  G01S2013/9314 ,  G01S2015/935 ,  G01S2015/936

Abstract: A device to be mounted on a car for assisting a driver to make a parallel parking or a perpendicular parking, comprises displacement-sensing devices to measure specific distance that the car moves, obstacle-sensing devices for sensing the position of obstacles around a car, and a microcomputer that can, in accordance with the driver's instructions and the data received from aforesaid displacement-sensing devices and obstacle-sensing devices, generate various signals to tell the driver to drive the car forwards, to stop the car, to turn the car left or right, or to back the car so as to park the car along a specific path, further more, the microcomputer may generate an output signal to control the steering mechanism the transmission, the accelerator, and the brake system for backing the car into a parking space automatically.

Abstract translation: 一种要安装在汽车上用于辅助驾驶员进行平行停车或垂直停车的装置，包括用于测量汽车移动的特定距离的位移感测装置，用于感测汽车周围的障碍物的位置的障碍物检测装置， 以及可以根据驾驶员的指示和从上述位移感测装置和障碍物检测装置接收的数据产生各种信号的微型计算机，以使驾驶员向前驱动汽车，停止汽车转动汽车 左右，或者背靠车，以便沿着特定路径停放汽车，此外，微型计算机可以产生输出信号，以控制转向机构的传动装置，加速器和用于将汽车支撑的制动系统 自动停车位。