Nissan Motor Company Limited

Renault S.a.s.

Ryota Yamanaka

Yasuhiro Suzuki

Junya Kobayashi

Yasuhiro Sakurai

Daisuke Tanaka

Ko Sato

Yasuhisa Hayakawa

Yusuke Musha

Teruhisa Takano

Satoshi Muramatsu

Yoshitsugu Takafuji

Manato Matsumoto

Whether an own vehicle is positioned in a parking space of a first type including a plurality of parking sections or the own vehicle is positioned in a vicinity of a parking space of a second type in which a single vehicle can be parked is determined. In a case where the own vehicle is determined to be positioned in the parking space of the first type, data representing a relative positional relationship between a target object indicating a parking section and a parking position in the target parking section are stored in a storage device, and in a case where the own vehicle is determined to be positioned in a vicinity of the parking space of the second type, data representing a relative positional relationship between a target object detected in the vicinity of the parking space and a target parking position are stored in the storage device.

Parking assisting method and parking assistance device

A parking assistance method includes: calculating a first target travel trajectory starting from a start point of an actual travel trajectory when a vehicle is parked by manual driving and reaching a target parking position; calculating a deviation range including a portion of the actual travel trajectory in which the actual travel trajectory deviates a first predetermined distance or more from the first target travel trajectory; setting a target intermediate position existing in the deviation range; when assisting the vehicle in parking at the target parking position, calculating a second target travel trajectory, that is a trajectory starting from a parking start position, the parking start position being a position of the vehicle at a time point when parking is started, passing through the target intermediate position, and reaching the target parking position; and performing parking assistance control to assist the vehicle in moving along the second target travel trajectory.

Parking assistance method and parking assistance device

A parking assist method performs a parking assist control of a host vehicle based on a target travel path when a distance between a self-position and a target parking position is determined to be equal to or less than a first predetermined distance, a parking assist permission condition is satisfied, and a shift operation for switching direction has been detected. The parking assist permission condition is satisfied where either a condition in which a predetermined time or longer has elapsed since the host vehicle departed from the target parking position, or a condition in which the distance between the self-position and the target parking position since the host vehicle departed from the target parking position exceeds a second predetermined distance that is equal to or less than the first predetermined distance. The parking assist control is suppressed when the parking assist permission condition is not satisfied.

Parking assist method and parking assist device

A parking assistance device includes: a sensor-information processing circuit that detects an empty parking space around a host vehicle; a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of the host vehicle from above; an image display circuit that displays a first assistance image at a position of the empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a stop determination circuit that determines whether the host vehicle has stopped. In a case where it is determined by the stop determination circuit that the host vehicle has stopped, the image display circuit displays the first assistance image.

A vehicle remote control method controls a vehicle having an autonomous travel control function to execute autonomous travel control. The method includes detecting an input position at which a touch operation is performed by an operator on a touch panel of a remote operation device and making a gesture determination area variable in accordance with the input position. The gesture determination area is an area in which a gesture for remotely controlling the vehicle is received. The method further includes detecting the gesture from the gesture determination area and determining whether or not the detected gesture is a command gesture that is preliminarily set. When the gesture is the command gesture, the vehicle is controlled to execute the autonomous travel control.

Vehicle remote control method and vehicle remote control device

A steering control device is configured to acquire a distance from a vehicle to obstacles detected by a distance detection sensor. The steering control device calculates a first target steering angle such that a steering angle increases for moving the vehicle in a direction away from the obstacle located on a left side with respect to a traveling direction as the vehicle travels as the distance to the obstacle decreases, and calculates a second target steering angle such that a steering angle increases for moving the vehicle in a direction away from the obstacle located on a right side with respect to the traveling direction as the vehicle travels as the distance to the obstacle decreases. Then, the steering control device adds the first and second target steering angles to calculate a final steering angle, and control the steered wheels of the vehicle based on the final steering angle.

Steering control method and steering control device

The relative position between a vehicle and an extension unit located outside the vehicle is detected, and a command touch operation for operating the vehicle with a remote operation device is set in accordance with the detected relative position. The touch operation of an operator is detected by a touch panel of the remote operation device, and a determination is made as to whether or not the detected touch operation is the command touch operation. When the touch operation is the command touch operation, the vehicle is controlled to execute autonomous travel control. The vehicle has an autonomous travel control function.

A parking control method includes: performing parking control of moving a vehicle to a target parking position on the basis of an operation command acquired from an operator located outside the vehicle; when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, calculating a moving direction of the vehicle on the basis of a parking direction when the vehicle is parked at a next target parking position; and moving the vehicle in the moving direction.

Parking control method and parking control apparatus

A parking control method includes: performing parking control of moving a vehicle to a target parking position on the basis of an operation command acquired from an operator located outside the vehicle; and when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, moving the vehicle so that at least part of the vehicle is present within a predetermined range from the operator.

In a parking assistance method of a parking control device which executes parking control with respect to a free parking space surroundings a host vehicle, a first frame line of free parking space in a direction orthogonal to a vehicle width direction and a second frame line which forms a pair with the first frame line are detected, and a parking target is set on a straight line connecting between a point on the first frame line and a point on the second frame line, for example, the parking target is set on the straight line connecting between an end on the first frame line and an end on the second frame line, and parking control is executed so that a position of wheels of the host vehicle is matched with the parking target.

Parking assistance method and parking control device

A parking assistance device includes: a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of a mobile object from above; an image display circuit that displays an assistance image at a position of an empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a turning determination circuit that determines whether the mobile object is turning. In a case where it is determined by the turning determination circuit that the mobile object is turning, the image display circuit prohibits the assistance image from being displayed.

A parking assistance method of a parking assistance device for generating a peripheral image indicating a periphery of a vehicle as viewed from above to detect an unoccupied parking space, and displaying, on the peripheral image, an assistance image indicating that the detected unoccupied parking space is an available parking space, determines whether the vehicle intrudes on the unoccupied parking space. The parking assistance method inhibits the assistance image from being displayed on the unoccupied parking space on which the vehicle is determined to intrude in the peripheral image.

A parking assistance method of the present invention includes detecting an empty parking space around a moving object, displaying a first assistance image indicating a position of the empty parking space on a surrounding image viewed from above the moving object, and setting a parking target using the displayed first assistance image. The parking assistance method includes: determining whether the detected empty parking space meets a display condition for displaying the first assistance image; and displaying the first assistance image in the empty parking space not meeting the display condition when a currently set mode is an adjustable mode that allows an occupant of the moving object to manually adjust the parking target.

First information including operation information is exchanged via a first communication path. Second information including presentation information regarding parking control is exchanged via a second communication path. The presentation information is presented on an operation terminal. When a first evaluation value of the first communication path is less than a first threshold, at least part of the first information is exchanged via one or more other communication paths. When a second evaluation value of the second communication path is less than a second threshold, at least part of the second information is exchanged via one or more other communication paths, and an information amount of the first information and/or the second information is reduced. A vehicle is parked in accordance with a control instruction for moving along a parking route. The control instruction is based on the operation information which is input to the external operation terminal.

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Kanagawa, Japan

Ryota Yamanaka