Parking assistance device

• US 8,130,120 B2
• Filed: 02/20/2008
• Issued: 03/06/2012
• Est. Priority Date: 02/27/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kawabata, Yukiko, Makino, Yasushi, Iwakiri, Hideyuki, Kubota, Yuichi, Endo, Tomohiko, Omori, Miyuki, Ito, Takuya, Nakanishi, Atsuko
• Primary Examiner(s): Lu, Shirley
• Application Number:
  US12/525,732
• Publication Number:
  US 20100019935A1
• Time in Patent Office: 1,476 Days
• Field of Search: 340/104, 340/932.2, 701/36, 701/1
• US Class Current: 340/908
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/16 Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: G01S 2015/935 for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
• CPC Class Codes: G01S 2015/936 for measuring parking spaces extending transverse or diagonal to the driving direction, i.e. not parallel to the driving direction

Abstract

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.

Claims

1. A parking assistance device comprising:

a sensor that detects an object;

a guiding unit configured to guide a vehicle to a parking initial position from which the vehicle can be parked in a parking space, the parking space being located adjacent to and on a far side of the object located adjacent to the vehicle, the far side of the object being defined with respect to a running direction of the vehicle;

a timing setting unit configured to set a timing to start guiding the vehicle based on a speed of the vehicle; and

an obstacle detecting unit configured to detect an obstacle adjacent to the vehicle in response to a reflected wave of a wave emitted from the vehicle in a predetermined direction,

wherein, when an obstacle is not detected, in the running direction of the vehicle, in the parking space within a predetermined distance from the object, the guiding unit starts guiding the vehicle, the predetermined distance being a reference length extending from the far side of the object in the running direction of the vehicle, and

wherein the timing setting unit adjusts the predetermined distance based on the speed of the vehicle.

2. The parking assistance device as claimed in claim 1, wherein the parking space is a space sandwiched between the object and an obstacle located in the running direction.

3. The parking assistance device as claimed in claim 1, wherein the predetermined distance is less than an effective width required for the vehicle to be parked in the parking space.

4. The parking assistance device as claimed in claim 3, wherein when an obstacle in the parking space is detected within the predetermined distance by the obstacle detecting unit, the guiding unit guides the vehicle according to a clearance distance between the object and the obstacle, which is detected by the reflected wave, the clearance distance being calculated and obtained according to the reflected wave obtained after the obstacle is detected.

5. The parking assistance device as claimed in claim 4, wherein the guiding unit starts guiding the vehicle when the calculated and obtained clearance distance is the effective width or greater.

6. The parking assistance device as claimed in claim 4, wherein when the calculated and obtained clearance distance is less than the effective width, the guiding unit delays or cancels a start of guiding the vehicle.

7. The parking assistance device as claimed in claim 4, wherein when the calculated and obtained clearance distance is less than the effective width, the guiding unit makes a notification meaning that the parking space is narrower than the effective width.

16. The parking assistance device as claimed in claim 1, wherein the obstacle detecting unit estimates whether a parking space is available based on whether the obstacle is detected within the predetermined distance.

8. A parking assistance device comprising:

a sensor that detects an object;

a guiding unit configured to guide a vehicle to a parking initial position from which the vehicle can be parked in a parking space, the parking space being located adjacent to and on a far side of an object located adjacent to the vehicle, the far side of the object being defined with respect to a running direction of the vehicle;

an obstacle detecting unit configured to detect an obstacle adjacent to 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 guiding the vehicle based on a detection result of the obstacle detecting unit, the detection result indicating whether an obstacle was detected, in the running direction of the vehicle, in the parking space within a predetermined distance from the object, the predetermined distance being a reference length extending from the far side of the object in the running direction of the vehicle,

wherein the predetermined distance is adjusted based on a speed of the vehicle.

9. The parking assistance device as claimed in claim 8, wherein the guiding unit starts guiding the vehicle when the obstacle is not detected, by the obstacle detecting unit, in the parking space within the predetermined distance.

10. The parking assistance device as claimed in claim 8, wherein the parking space is a space sandwiched between the object and an obstacle located in the running direction.

11. The parking assistance device as claimed in claim 8, wherein the predetermined distance is less than an effective width required for the vehicle to be parked in the parking space.

12. The parking assistance device as claimed in claim 11, wherein when an obstacle in the parking space is detected within the predetermined distance by the obstacle detecting unit, the guiding unit guides the vehicle according to a clearance distance between the object and the obstacle, which is detected by the reflected wave, the clearance distance being calculated and obtained according to the reflected wave obtained after the obstacle is detected.

13. The parking assistance device as claimed in claim 12, wherein the guiding unit starts guiding the vehicle when the calculated and obtained clearance distance is the effective width or greater.

14. The parking assistance device as claimed in claim 12, wherein when the calculated and obtained clearance distance is less than the effective width, the guiding unit delays or cancels a start of guiding the vehicle.

15. The parking assistance device as claimed in claim 12, wherein when the calculated and obtained clearance distance is less than the effective width, the guiding unit makes a notification meaning that the parking space is narrower than the effective width.