公开(公告)号：US07233851B2

公开(公告)日：2007-06-19

申请号：US10870919

申请日：2004-06-21

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

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

IPC: G06F19/00

CPC classification number: B62D15/0285 ,  B60T2201/10

Abstract: A vehicle driving assist apparatus for guiding a vehicle to a target position is provided. A basic path that changes the deflection angle θ to 0 is determined, and is subjected to similarity transformation. On the basis of the similarity-transformed path, a path factoring in transition from the initial steering angle is set. Then, a correction is made such that the area in the running distance-curvature graph regarding this path becomes equal to a corresponding area regarding the basic path, thereby setting a corrected path. The corrected path is similarity-transformed, and then is re-corrected in accordance with transition from the initial steering angle. Thus, a final target path is obtained.

Abstract translation: 提供了一种用于将车辆引导到目标位置的车辆驾驶辅助装置。 确定将偏转角θ改变为0的基本路径，并进行相似变换。 在相似变换路径的基础上，设定从初始转向角度转移的路径分解。 然后，进行校正，使得关于该路径的行驶距离 - 曲率图的面积等于与基本路径相对应的对应区域，由此设定校正路径。 校正路径进行相似变换，然后根据从初始转向角度的转变重新校正。 因此，获得最终的目标路径。

公开(公告)号：US20070112490A1

公开(公告)日：2007-05-17

申请号：US10580791

申请日：2005-04-27

Applicant: Kazufumi Mizusawa

Inventor： Kazufumi Mizusawa

IPC: G06F19/00

CPC classification number: B62D15/028 ,  B60T2201/10

Abstract: Problems It is an object of the present invention to provide a parking assisting apparatus for assisting a vehicle driver in parking a vehicle more easily than the conventional apparatuses. Means for Solving Problems The parking assisting apparatus comprises an image pickup unit for picking up the image of the area behind a vehicle (80), display means for displaying the image picked up by the image pickup means; and image processing means for having the display means display a parking assisting guide for assisting a vehicle driver in parking the vehicle (80) superposed on the image picked up by the image pickup means; and in which the parking assisting guide includes a steering start marker (31) for notifying the vehicle driver of start of steering of the vehicle (80); the steering start marker (31) is constituted by an intersection of tangential lines (33, 34) respectively tangent to a predetermined track (32) at two different points; the predetermined track (32) is a track expected to be drawn by a predetermined fixed point (35) fixed with respect to the vehicle (80) while the vehicle (80) is driven backwardly at a maximum steering angle, and the fixed point (35) is located on a side opposite to a center (36) of a rotation of the vehicle (80) around which the vehicle (80) is expected to rotate while the vehicle (80) is driven backwardly at a maximum steering angle, with respect to the vehicle (80).

Abstract translation: 问题本发明的目的是提供一种比常规装置更容易地辅助车辆驾驶员停车的停车辅助装置。 解决问题的手段停车辅助装置包括用于拾取车辆后方区域（80）的图像的图像拾取单元，用于显示由图像拾取装置拾取的图像的显示装置; 以及图像处理装置，用于使所述显示装置显示驻车辅助引导件，用于辅助车辆驾驶员停放重叠在由所述图像拾取装置拾取的图像上的车辆; 并且其中所述停车辅助引导件包括用于通知所述车辆驾驶员所述车辆（80）的转向开始的转向开始标记（31）。 转向启动标记（31）由分别在两个不同点处与预定轨道（32）相切的切线（33,34）的交点构成; 预定轨道（32）是在车辆（80）以最大转向角向后驱动的情况下预定由相对于车辆（80）固定的预定固定点（35）拉出的轨道，并且固定点 35）位于与车辆（80）的旋转的中心（36）相对的一侧，车辆（80）预期在车辆（80）以最大转向角向后驱动的同时旋转，与 相对于车辆（80）。

公开(公告)号：US20070063874A1

公开(公告)日：2007-03-22

申请号：US10564371

申请日：2004-05-26

Applicant: Christian Danz ,  Cyrille Bollengier

Inventor： Christian Danz ,  Cyrille Bollengier

IPC: G08G1/14

CPC classification number: B60T7/22 ,  B60Q9/006 ,  B60T2201/10 ,  B62D15/027 ,  G01S2013/9314 ,  G08G1/166 ,  G08G1/167 ,  G08G1/168

Abstract: A method and a device for determining the position and/or the anticipated position of a vehicle during a parking operation in relation to the oncoming lane of a multi-lane roadway. The object is to provide a method and a device which recognize the protrusion of a vehicle into the oncoming lane of a multi-lane roadway during a parking operation in a timely manner and, if necessary, activate suitable means for preventing the protrusion into the oncoming lane. Due to the fact that the position of the oncoming lane in relation to the vehicle at the beginning of the parking operation, the anticipated parking trajectory of the vehicle, and potential intersections of the anticipated parking trajectory with the oncoming lane are determined, a signal may be provided in the presence of at least one intersection of the parking trajectory with the oncoming lane; the signal may be processed into an alert of the driver of the vehicle or into a timely deceleration of the vehicle.

Abstract translation: 一种用于在停车操作期间相对于多车道道路的迎面车道确定车辆的位置和/或预期位置的方法和装置。 本发明的目的是提供一种方法和装置，其可以在停车操作期间及时识别车辆突出到多车道道路的迎面车道中，并且如果需要，激活合适的装置以防止突出进入迎面而来 车道。 由于在停车操作开始时相对于车辆的迎面车道的位置，车辆的预期停车轨迹以及预期停车轨迹与迎面而来的车道的潜在交叉点被确定，信号可以 在停车轨迹与迎面而来的车道的至少一个交点存在的情况下提供; 信号可以被处理成车辆的驾驶员的警报或车辆的及时减速。

公开(公告)号：US20060287825A1

公开(公告)日：2006-12-21

申请号：US11503899

申请日：2006-08-15

Applicant: Toshihiro Shimizu ,  Kazuhiro Sakiyama ,  Kazuya Sako

Inventor： Toshihiro Shimizu ,  Kazuhiro Sakiyama ,  Kazuya Sako

IPC: G01C21/00

CPC classification number: B60Q1/0023 ,  B60K35/00 ,  B60K2350/1004 ,  B60K2350/106 ,  B60K2350/1084 ,  B60K2350/2013 ,  B60Q1/484 ,  B60Q9/005 ,  B60Q9/007 ,  B60R1/00 ,  B60R2300/102 ,  B60R2300/103 ,  B60R2300/105 ,  B60R2300/106 ,  B60R2300/207 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/303 ,  B60R2300/305 ,  B60R2300/306 ,  B60R2300/607 ,  B60R2300/70 ,  B60R2300/8053 ,  B60R2300/806 ,  B60R2300/8086 ,  B60T2201/10 ,  B60T2210/32 ,  B60W30/06 ,  B62D15/0275 ,  B62D15/028 ,  G01C21/005 ,  G01C21/3602

Abstract: A vehicle drive assist system comprises a camera for picking up an image of an area existing in an advancing direction of a vehicle; display means for displaying the image picked up by the camera; steering angle detecting means for detecting a steering angle for steering the vehicle; traveling path predicting means for predicting a traveling path of the vehicle on the basis of the steering angle detected by the steering angle detecting means; and drive assist means for overlaying on the display means drive assist information containing the vehicle predictive traveling path predicted by the traveling path predicting means and guide lines prolonged from the lines defining the width of the vehicle body on the image of the area existing in the vehicle advancing direction.

公开(公告)号：US07124705B2

公开(公告)日：2006-10-24

申请号：US10225921

申请日：2002-08-23

Applicant: Kuldip Randhawa

Inventor： Kuldip Randhawa

IPC: E04H6/42

CPC classification number: G01C3/22 ,  B60T2201/10

Abstract: A visual parking guide, more particularly, a thin flat surface, divided into three zones, with a multitude of markings in each zone, to assist drivers of varying heights to park their car in a safe parking position. The visual parking guide is mountable on a supporting structure such that at least a portion of the parking guide is within the field of view of the driver. By parking the vehicle at a preferred distance from a stationary structure and aligning a fixed point relative to the vehicle with one of the multitude of markings on the visual parking guide, the driver can determine a reference point to use as a means to determine the safe parking position.

公开(公告)号：US20060052917A1

公开(公告)日：2006-03-09

申请号：US10497229

申请日：2002-11-26

Applicant: Andreas Schwarzhaupt ,  Gernot Spiegelberg

Inventor： Andreas Schwarzhaupt ,  Gernot Spiegelberg

IPC: G01M17/00

CPC classification number: B60W10/06 ,  B60T7/12 ,  B60T7/22 ,  B60T8/00 ,  B60T8/32 ,  B60T8/3275 ,  B60T8/4809 ,  B60T2201/08 ,  B60T2201/085 ,  B60T2201/088 ,  B60T2201/10 ,  B60T2260/08 ,  B60T2260/09 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W40/08 ,  B60W40/10 ,  B60W50/023 ,  B60W50/06 ,  B60W50/14 ,  B60W2050/0006 ,  B60W2050/0066 ,  B60W2050/143 ,  B60W2540/04

Abstract: The device according to the invention relates to a device for evaluating and/or influencing a vehicle movement variable and/or the vehicle movement behavior. For this purpose, the device has the following means: operator control means (10) with which the driver can generate predefined values (VG) for influencing at least one vehicle movement variable. Evaluation means (42, 44, 46, 48) with which the behavior of a vehicle movement variable with respect to a predefined value is evaluated, and/or with which the vehicle movement behavior is evaluated with respect to a predefined vehicle movement behavior as a function of vehicle movement variables and/or of variables which represent the surroundings of the vehicle. These evaluation means (42, 44, 46, 48) can be operated in at least two different operating states, only an information item (OHAx) relating to the behavior of the vehicle movement variable and/or relating to the vehicle movement behavior being made available to the driver in a first operating state as a function of the result of the evaluation which is carried out, and output signals (AGSx) for influencing a vehicle movement variable and/or the vehicle movement behavior independently of the driver being determined in a second operating state as a function of the result of the evaluation which is carried out. In addition, the device has influencing means (40) by means of which the driver can switch over the evaluation means (42, 44, 46, 48) between the at least two operating states. There is also provision of processing means (12, 14, 16, 18, 20, 22) with which actuation signals (ASSx) for actuating actuators (26, 28, 30) which are arranged in the vehicle are generated on the basis of the predefined values (VG) which are generated by the driver and/or, if the evaluation means (42, 44, 46, 48) are operated in the second operating state, on the basis of the output signals (AGSx). The actuation of the actuator (26, 28, 30) influences the vehicle movement variable and/or the vehicle movement behavior.

公开(公告)号：US20060028065A1

公开(公告)日：2006-02-09

申请号：US11237386

申请日：2005-09-28

Applicant: David Thiede ,  Jon Beatty ,  Richard Gunderson ,  John McKinley

Inventor： David Thiede ,  Jon Beatty ,  Richard Gunderson ,  John McKinley

IPC: B60T8/32

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.

公开(公告)号：US20060025893A1

公开(公告)日：2006-02-02

申请号：US10522038

申请日：2003-06-25

Applicant: Eckart Fischer ,  Helmut Keller ,  Jens Koehnlein ,  Jakob Seller ,  Andreas Spieker ,  David Ulmer ,  Andy Yap

Inventor： Eckart Fischer ,  Helmut Keller ,  Jens Koehnlein ,  Jakob Seller ,  Andreas Spieker ,  David Ulmer ,  Andy Yap

IPC: G06F7/00

CPC classification number: B62D15/028 ,  B60K31/0008 ,  B60K31/0066 ,  B60K31/04 ,  B60T7/12 ,  B60T7/22 ,  B60T2201/10 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/06 ,  B60W30/09 ,  B60W2710/20

Abstract: The invention relates to a method for assisting the driver of a vehicle (10) when performing a driving maneuver, such as a parking or shunting maneuver. In this case, a reference trajectory (16) is determined, along which the vehicle (10) is to be moved. A steering wheel position to be set and controlling the vehicle along the reference trajectory (16) is indicated to the driver during the driving maneuver. The vehicle longitudinal speed is influenced independently of the driver in the event of a steering angle deviation between the actual steering angle actually set by the driver and the desired steering angle corresponding to the requested steering wheel position. As a result, the driver can be given a greater reaction time in order to set the indicated steering wheel position.

Abstract translation: 本发明涉及一种在执行诸如停车或分流机动的驾驶操作时辅助车辆（10）的驾驶员的方法。 在这种情况下，确定参考轨迹（16），车辆（10）沿着轨迹（16）移动。 在驾驶操作期间向驾驶员指示要设置并沿着参考轨迹（16）控制车辆的方向盘位置。 在驾驶员实际设定的实际转向角与对应于所要求的方向盘位置的期望转向角之间的转向角偏差的情况下，车辆纵向速度独立于驾驶员。 结果，为了设定指示的方向盘位置，可以给予驾驶员更大的反应时间。

公开(公告)号：US06950035B2

公开(公告)日：2005-09-27

申请号：US10408232

申请日：2003-04-08

Applicant: Yuu Tanaka ,  Yoshifumi Iwata ,  Hisashi Satonaka ,  Tomohiko Endo ,  Mitsuhiko Morita ,  Katsuhiko Iwazaki ,  Seiji Kawakami ,  Hiroaki Kataoka

Inventor： Yuu Tanaka ,  Yoshifumi Iwata ,  Hisashi Satonaka ,  Tomohiko Endo ,  Mitsuhiko Morita ,  Katsuhiko Iwazaki ,  Seiji Kawakami ,  Hiroaki Kataoka

IPC: G03B15/00 ,  B60Q1/48 ,  B60R1/00 ,  B60R21/00 ,  B62D15/02 ,  G01S5/16

CPC classification number: B62D15/027 ,  B60Q9/004 ,  B60R1/00 ,  B60R2300/305 ,  B60R2300/806 ,  B60T2201/10 ,  G01S5/16

Abstract: A parking assist system includes an image obtaining means for obtaining an image of a view from a vehicle, a displaying means for displaying the image obtained by the image obtaining means in a monitor display provided in the vehicle, an inputting means for inputting a target parking position, at which the vehicle is parked, on the monitor display, a detecting means for detecting a relative relationship between the vehicle and the target parking position, and a judging means for judging whether or not the vehicle can be parked at the target parking position based upon the relative relationship detected by the detecting means.

Abstract translation: 停车辅助系统包括用于从车辆获取视图的图像的图像获取装置，用于在车辆中提供的监视器显示中显示由图像获取装置获得的图像的显示装置，用于输入目标停车 车辆停放的位置在监视器显示器上，检测装置，用于检测车辆与目标停车位置之间的相对关系，以及判断装置，用于判断车辆是否能够停在目标停车位置 基于由检测装置检测到的相对关系。

公开(公告)号：US20050206233A1

公开(公告)日：2005-09-22

申请号：US10708676

申请日：2004-03-18

Applicant: Timothy Offerle ,  Craig Stephan ,  Douglas Rhode

Inventor： Timothy Offerle ,  Craig Stephan ,  Douglas Rhode

IPC: B60T8/17 ,  B60T8/1755 ,  B60T8/24 ,  B60T8/60 ,  B60W10/18 ,  B60W10/20 ,  B60W10/22

CPC classification number: B60T8/248 ,  B60T8/1708 ,  B60T8/1755 ,  B60T2201/10 ,  B60W10/18 ,  B60W10/20 ,  B60W10/22 ,  B60W30/045

Abstract: A system and method of controlling a vehicle with a trailer comprises determining the presence of a trailer, determining a vehicle velocity, determining a steering wheel angle, and determining a rear axle side slip angle. When the rear axle side slip angle is above a predetermined value, the vehicle velocity is above a velocity threshold, and the steering wheel is about zero, brake-steer is applied to the vehicle.

Abstract translation: 用拖车控制车辆的系统和方法包括确定拖车的存在，确定车辆速度，确定方向盘角度以及确定后轴侧滑角。 当后轴侧滑角高于预定值时，车速高于速度阈值，并且方向盘约为零，制动转向器被施加到车辆。