Parking assistance apparatus

• US 8,958,986 B2
• Filed: 06/28/2011
• Issued: 02/17/2015
• Est. Priority Date: 06/29/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kagawa, Kazunori, Sobue, Yuka, Niwa, Satoru, Tanaka, Shin, Yokoyama, Akihisa, Morimoto, Kazuhiro, Wakita, Junichi, Hiei, Yu, Okamura, Ryuji, Yoshioka, Chika
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US13/807,520
• Publication Number:
  US 20130173148A1
• Time in Patent Office: 1,330 Days
• Field of Search: 701/400, 701/408, 701/523, 701/467, 701/527, 340/932.2, 340/937, 340/435, 340/436, 348/119, 345/581, 345/621, 280/761, 180/199
• US Class Current: 701/527
• CPC Class Codes: B62D 15/0275 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically

Abstract

A parking assistance apparatus includes a display unit that displays an image of a scene behind a host vehicle. At least when the host vehicle moves forward or when the host vehicle is stopped, the display unit displays an indication including a plurality of kinds of trajectories along which the host vehicle is able to back up from a point at which the host vehicle is currently positioned, in a manner such that the indication is superimposed on the image of the scene behind the host vehicle.

Claims

1. A parking assistance apparatus comprising:

a display that displays an image of a scene behind a host vehicle; and

an electronic control unit that performs calculation to depict at least one kind of trajectory,

wherein at least when the host vehicle moves forward or when the host vehicle is stopped, the electronic control unit performs the calculation to depict a plurality of kinds of trajectories along which the host vehicle is able to back up from a point at which the host vehicle is currently positioned, and the display displays an indication including the plurality of kinds of trajectories depicted through the calculation performed by the electronic control unit, in a manner such that the indication is superimposed on the image of the scene behind the host vehicle,

wherein the display displays the depicted trajectories each of which includes a curved portion and a straight line portion, the curved portion extends rearward from the point at which the host vehicle is currently positioned, and the straight line portion extends from a rear end portion of the curved portion, and

wherein the display displays the depicted trajectories in a manner such that a length of the curved portion of each of the trajectories is changed in accordance with an angle formed by a longitudinal direction of a parking frame in which the host vehicle is to be parked and a longitudinal direction of the host vehicle.

2. The parking assistance apparatus according to claim 1, wherein

when the host vehicle backs up, the electronic control unit performs the calculation to depict one kind of trajectory along which the host vehicle is to back up, in accordance with an actual steering angle of the host vehicle, and the display displays the depicted one kind of trajectory.

3. The parking assistance apparatus according to claim 1, wherein

the electronic control unit performs the calculation to depict the plurality of kinds of trajectories along which the host vehicle is to back up while being steered toward a side opposite to a side toward which the host vehicle is steered when the host vehicle moves forward, and the display displays the depicted plurality of kinds of trajectories.

4. The parking assistance apparatus according to claim 1, wherein

each kind of trajectory is composed of trajectories for paired rear wheels of the host vehicle.

5. The parking assistance apparatus according to claim 4, wherein

at least when the host vehicle moves forward or when the host vehicle is stopped, the electronic control unit performs the calculation to depict trajectory ranges for the respective rear wheels, the display displays the depicted trajectory ranges for the respective rear wheels, and each of the depicted trajectory ranges is defined by the trajectories for one of the rear wheels, the trajectories corresponding to different steering angles.

6. The parking assistance apparatus according to claim 4, wherein

at least when the host vehicle moves forward or when the host vehicle is stopped, the electronic control unit performs the calculation to depict trajectory ranges for the paired rear wheels, the display displays the depicted trajectory ranges for the paired rear wheels, and each of the depicted trajectory ranges is defined by the trajectories for the paired rear wheels, the trajectories corresponding to one steering angle.

7. A parking assistance apparatus comprising:

a display that displays an image of a scene behind a host vehicle; and

an electronic control unit that performs calculation to depict at least one kind of trajectory,

wherein at least when the host vehicle moves forward or when the host vehicle is stopped, the electronic control unit performs the calculation to depict a plurality of kinds of trajectories along which the host vehicle is able to back up from a point at which the host vehicle is currently positioned, and the display displays an indication including the plurality of kinds of trajectories depicted through the calculation performed by the electronic control unit, in a manner such that the indication is superimposed on the image of the scene behind the host vehicle, and

wherein the display displays the depicted trajectories each of which includes a curved portion and a straight line portion, the curved portion extends from the point at which the host vehicle is currently positioned, to a point at which the curved portion is parallel to a longitudinal direction of a parking frame in which the host vehicle is to be parked, and the longitudinal direction of the parking frame, in which the host vehicle is to be parked, is parallel to the straight line portion.

8. The parking assistance apparatus according to claim 7, wherein

when the host vehicle backs up, the electronic control unit performs the calculation to depict one kind of trajectory along which the host vehicle is to back up, in accordance with an actual steering angle of the host vehicle, and the display displays the depicted one kind of trajectory.

9. The parking assistance apparatus according to claim 7, wherein

the electronic control unit performs the calculation to depict the plurality of kinds of trajectories along which the host vehicle is to back up while being steered toward a side opposite to a side toward which the host vehicle is steered when the host vehicle moves forward, and the display displays the depicted plurality of kinds of trajectories.

10. The parking assistance apparatus according to claim 7, wherein

each kind of trajectory is composed of trajectories for paired rear wheels of the host vehicle.

11. The parking assistance apparatus according to claim 10, wherein

at least when the host vehicle moves forward or when the host vehicle is stopped, the electronic control unit performs the calculation to depict trajectory ranges for the respective rear wheels, the display displays the depicted trajectory ranges for the respective rear wheels, and each of the trajectory ranges is defined by the trajectories for one of the rear wheels, the trajectories corresponding to different steering angles.

12. The parking assistance apparatus according to claim 10, wherein

at least when the host vehicle moves forward or when the host vehicle is stopped, the electronic control unit performs the calculation to depict trajectory ranges for the paired rear wheels, the display displays the depicted trajectory ranges for the paired rear wheels, and each of the depicted trajectory ranges is defined by the trajectories for the paired rear wheels, the trajectories corresponding to one steering angle.

13. A parking assistance apparatus comprising:

a display that displays an image of a scene behind a host vehicle, and

an electronic control unit that performs calculation to depict at least one kind of trajectory,

wherein at least when the host vehicle moves forward or when the host vehicle is stopped, the electronic control unit performs the calculation to depict a plurality of kinds of trajectories along which the host vehicle is able to back up from a point at which the host vehicle is currently positioned, and the display displays an indication including the plurality of kinds of trajectories depicted through the calculation performed by the electronic control unit, in a manner such that the indication is superimposed on the image of the scene behind the host vehicle, and

wherein the electronic control unit performs the calculation to depict the trajectories corresponding to steering angles of the host vehicle, which are changed in accordance with an angle formed by a longitudinal direction of a parking frame in which the host vehicle is to be parked and a longitudinal direction of the host vehicle, and the display displays the depicted trajectories.

14. The parking assistance apparatus according to claim 13, wherein

the electronic control unit performs the calculation to depict the trajectories corresponding to the steering angles of the host vehicle, which are increased with increase in the angle formed by the longitudinal direction of the parking frame in which the host vehicle is to be parked and the longitudinal direction of the host vehicle, and the display displays the depicted trajectories.

15. The parking assistance apparatus according to claim 13, wherein

when the host vehicle backs up, the electronic control unit performs the calculation to depict one kind of trajectory along which the host vehicle is to back up, in accordance with an actual steering angle of the host vehicle, and the display displays the depicted one kind of trajectory.

16. The parking assistance apparatus according to claim 13, wherein

the electronic control unit performs the calculation to depict the plurality of kinds of trajectories along which the host vehicle is to back up while being steered toward a side opposite to a side toward which the host vehicle is steered when the host vehicle moves forward, and the display displays the depicted plurality of kinds of trajectories.

17. The parking assistance apparatus according to claim 13, wherein

each kind of trajectory is composed of trajectories for paired rear wheels of the host vehicle.

18. The parking assistance apparatus according to claim 17, wherein

at least when the host vehicle moves forward or when the host vehicle is stopped, the electronic control unit performs the calculation to depict trajectory ranges for the respective rear wheels, the display displays the depicted trajectory ranges for the respective rear wheels, and each of the depicted trajectory ranges is defined by the trajectories for one of the rear wheels, the trajectories corresponding to different steering angles.

19. The parking assistance apparatus according to claim 17, wherein

at least when the host vehicle moves forward or when the host vehicle is stopped, the electronic control unit performs the calculation to depict trajectory ranges for the paired rear wheels, the display displays the depicted trajectory ranges for the paired rear wheels, and each of the depicted trajectory ranges is defined by the trajectories for the paired rear wheels, the trajectories corresponding to one steering angle.

20. A parking assistance apparatus comprising:

a display that displays an image of a scene behind a host vehicle; and

an electronic control unit that performs calculation to depict a trajectory,

wherein the electronic control unit performs the calculation to depict the trajectory along which the host vehicle is to back up from a point at which the host vehicle is currently positioned, and the display displays the depicted trajectory in a manner such that the depicted trajectory is superimposed on the image of the scene behind the host vehicle, in accordance with a time point at which a parking frame, in which the host vehicle is to be parked, is displayed in the image of the scene behind the host vehicle, and

wherein the electronic control unit performs the calculation to depict the trajectory along which the host vehicle is to back up from the point at which the host vehicle is currently positioned, and the display displays the depicted trajectory in the manner such that the depicted trajectory is superimposed on the image of the scene behind the host vehicle, after the time point at which the parking frame, in which the host vehicle is to be parked, is displayed in the image of the scene behind the host vehicle.

21. The parking assistance apparatus according to claim 20, wherein

when the host vehicle backs up, the electronic control unit performs the calculation to depict one kind of trajectory along which the host vehicle is to back up, in accordance with an actual steering angle of the host vehicle, and the display displays the depicted one kind of trajectory.

22. The parking assistance apparatus according to claim 20, wherein

the electronic control unit performs the calculation to depict the trajectory along which the host vehicle is to back up while being steered toward a side opposite to a side toward which the host vehicle is steered when the host vehicle moves forward, and the display displays the depicted trajectory.

23. The parking assistance apparatus according to claim 20, wherein

the trajectory is composed of trajectories for paired rear wheels of the host vehicle.