Parking-lot-leaving support apparatus and vehicle

• US 10,232,850 B2
• Filed: 05/11/2016
• Issued: 03/19/2019
• Est. Priority Date: 05/19/2015
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Obayashi, Motonari, Ishijima, Hironobu, Kinoshita, Masaki, Hamamoto, Yutaka, Kato, Masaya, Kiyokawa, Yusuke
• Primary Examiner(s): Lin, Abby Y
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US15/151,833
• Publication Number:
  US 20160339911A1
• Time in Patent Office: 1,042 Days
• Field of Search: 701 291, 701 314, 701532, 701 1, 180204, 359862, 340903, 3409322, 386223, 348148, 19834101
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically

Abstract

A parking-lot-leaving support apparatus, to execute parking-lot-leaving support to support a vehicle leaving a parking lot, based on a positional relationship between the vehicle and an obstacle in a back-and-forth direction of the vehicle, includes a determination unit configured to determine whether an obstacle exists in a side direction of the vehicle, based on a detection result of a detection unit that detects an obstacle in the side direction of the vehicle; and an inhibition unit configured to, when the determination unit has determined that the obstacle exists in the side direction of the vehicle, inhibit the parking-lot-leaving support in a direction that coincides with the side direction.

Claims

1. A parking-lot-leaving support apparatus, to execute a parking-lot-leaving support to support a vehicle leaving a parking lot, based on a positional relationship between the vehicle and an obstacle in a back-and-forth direction of the vehicle, wherein the parking-lot-leaving support derives a parking-lot-leaving path to have the vehicle leave the parking lot without contacting the obstacle, the parking-lot-leaving support apparatus comprising:

an ECU configured to

determine whether an obstacle is in front of the vehicle, based on a detection result of a detection unit that detects an obstacle in the forward direction of the vehicle, or behind the vehicle, based on a detection result of the detection unit that detects an obstacle in the rearward direction of the vehicle,

determine that the vehicle is in a first parking state whenever the ECU determines that an obstacle is in front of the vehicle or behind the vehicle;

inhibit the parking-lot-leaving support when the ECU determines that the vehicle is not in the first parking state;

when the ECU determines that the vehicle is in the first parking state, determine whether an obstacle exists in a left side direction and a right side direction of the vehicle, based on a detection result of the detection unit that detects an obstacle in both side directions of the vehicle;

inhibit the parking-lot-leaving support when the ECU determines that the vehicle is in the first parking state and that an obstacle exists in the left side direction and the right side direction of the vehicle;

when the ECU determines that no obstacle exists in at least one of the left side direction and the right side direction of the vehicle, prompt a driver to select a parking-lot-leaving direction, the parking-lot-leaving direction being the left side direction or the right side direction of the vehicle;

receive a selection operation of the parking-lot-leaving direction from the driver of the vehicle;

after receiving the selection operation, determine whether an obstacle exists in the selected parking-lot-leaving direction;

inhibit the parking-lot-leaving support when the ECU determines that an obstacle exists in the selected parking-lot-leaving direction; and

activate the parking-lot-leaving support when the ECU determines that no obstacle exists in the selected parking-lot-leaving direction.

2. The parking-lot-leaving support apparatus as claimed in claim 1, wherein the ECU is further configured to, when the ECU has determined that an obstacle exists in one of a leftward direction and a rightward direction of the vehicle, inhibit the parking-lot-leaving support, based on a relative positional relationship between the obstacle and a parking-lot-leaving direction of the vehicle selected by an occupant of the vehicle.

3. The parking-lot-leaving support apparatus as claimed in claim 1, wherein the ECU is further configured to determine whether a distance between the vehicle and the obstacle detected in the left or right side direction of the vehicle is within a predetermined distance, for determining whether the obstacle exists in the left or right side direction of the vehicle.

4. A vehicle, comprising:

a first detection unit configured to detect an obstacle in a back-and-forth direction of the vehicle;

a second detection unit configured to detect an obstacle in a side direction of the vehicle; and

an ECU configured to execute a parking-lot-leaving support to support the vehicle leaving a parking lot, based on a positional relationship between the vehicle and the obstacle in the back-and-forth direction detected by the first detection unit, the parking-lot-leaving support deriving a parking-lot-leaving path to have the vehicle leave the parking lot without contacting the obstacle in the back-and-forth direction of the vehicle,

wherein the ECU is further configured to;

determine whether an obstacle is in front of the vehicle, based on a detection result of a detection unit that detects an obstacle in the forward direction of the vehicle, or behind the vehicle, based on a detection result of the detection unit that detects an obstacle in the rearward direction of the vehicle,

determine that the vehicle is in a first parking state whenever the ECU determines that an obstacle is in front of the vehicle or behind the vehicle;

inhibit the parking-lot-leaving support when the ECU determines that the vehicle is not in the first parking state;

when the ECU determines that the vehicle is in the first parking state, determine whether an obstacle exists in a left side direction and a right side direction of the vehicle, based on a detection result of the detection unit that detects an obstacle in both side directions of the vehicle;

inhibit the parking-lot-leaving support when the ECU determines that the vehicle is in the first parking state and that an obstacle exists in the left side direction and the right side direction of the vehicle;

when the ECU determines that no obstacle exists in at least one of the left side direction and the right side direction of the vehicle, prompt a driver to select a parking-lot-leaving direction, the parking-lot-leaving direction being the left side direction or the right side direction of the vehicle;

receive a selection operation of the parking-lot-leaving direction from the driver of the vehicle;

after receiving the selection operation, determine whether an obstacle exists in the selected parking-lot-leaving direction;

inhibit the parking-lot-leaving support when the ECU determines that an obstacle exists in the selected parking-lot-leaving direction; and

activate the parking-lot-leaving support when the ECU determines that no obstacle exists in the selected parking-lot-leaving direction.

5. A parking-lot-leaving support system, comprising:

a detection unit configured to detect an obstacle in the side direction of the vehicle; and

an ECU configured to execute a parking-lot-leaving support to support a vehicle leaving a parking lot, based on a positional relationship between the vehicle and an obstacle in a back-and-forth direction of the vehicle, the parking-lot-leaving support deriving a parking-lot-leaving path to have the vehicle leave the parking lot without contacting the obstacle in the back-and-forth direction of the vehicle, the ECU being further configured to;

determine whether an obstacle is in front of the vehicle, based on a detection result of a detection unit that detects an obstacle in the forward direction of the vehicle, or behind the vehicle, based on a detection result of the detection unit that detects an obstacle in the rearward direction of the vehicle,

determine that the vehicle is in a first parking state whenever the ECU determines that an obstacle is in front of the vehicle or behind the vehicle;

inhibit the parking-lot-leaving support when the ECU determines that the vehicle is not in the first parking state;

when the ECU determines that the vehicle is in the first parking state, determine whether an obstacle exists in a left side direction and a right side direction of the vehicle, based on a detection result of the detection unit that detects an obstacle in the side direction of the vehicle;

inhibit the parking-lot-leaving support when the ECU determines that the vehicle is in a parallel parking state and that an obstacle exists in the left side direction and the right side direction of the vehicle;

when the ECU determines that no obstacle exists in at least one of the left side direction and the right side direction of the vehicle, prompt a driver to select a parking-lot-leaving direction, the parking-lot-leaving direction being the left side direction or the right side direction of the vehicle;

receive a selection operation of the parking-lot-leaving direction from the driver of the vehicle;

after receiving the selection operation, determine whether an obstacle exists in the selected parking-lot-leaving direction;

inhibit the parking-lot-leaving support leaving when the ECU determines that an obstacle exists in the selected parking-lot-leaving direction; and

activate the parking-lot-leaving support when the ECU determines that no obstacle exists in the selected parking-lot-leaving direction.