Toyota Jidosha Kabushiki Kaisha

Yu Hiei

Ryuji Okamura

Yuka Sobue

Daiki Maruki

Chika Morimoto

Chika Yoshioka

Shinya Sannodo

Kotaro Saiki

Koichiro Yamauchi

Tsutomu Mochida

Yuki Minase

Kazunori Kagawa

Toshihiro Takagi

Motonari Obayashi

Satoru Niwa

Ken Kuretake

Kazuhiro Morimoto

Keisuke Oyama

Shin Tanaka

Akihisa Yokoyama

Yasutaka Matsunaga

Keisuke Hata

Yusuke Kida

Atsushi Sagisaka

Yuusuke Nomura

Junichi Wakita

Chenyang Wang

Miho Shiotani

A parking assist apparatus is configured to perform a deviation control including at least one of a first notification control and a stop control when the parking assist apparatus determines that a vehicle that is performing an automatic parking deviates from a learned route. The parking assist apparatus is configured to learn, as the learned route, a position of the vehicle in each of multiple learned images that an outside-vehicle camera captures a space including the vehicle and the parking space multiple times while the vehicle is performing a manual parking or the automatic parking; and perform the deviation control when the parking assist apparatus determines that the vehicle deviates based on a position of the vehicle in a comparative image and a position of the vehicle in the learned image.

Parking assist apparatus

A vehicle parking assist apparatus acquires and registers first information on a parking lot from a camera image when a vehicle stops by the parking lot. The vehicle parking assist apparatus acquires and registers second information on the parking lot from the camera image when completing parking the vehicle in the parking lot by a parking assist control. The vehicle parking assist apparatus acquires the information on the parking lot as current parking lot information from the camera image when the vehicle stops by the parking lot after registering the first and second parking lot information and executes the parking assist control with realizing a relationship in position between the vehicle and the parking lot by comparing the current parking lot information with the registered parking lot information.

Vehicle parking assist apparatus

A parking assist apparatus including a controller configured to perform operations including image feature extraction, parking feature registration, identification of a parking position from the registered parking features, performance of parking assistance based on the identified parking position, and erasure of registered parking features based on non-detection of the parking features during the performance of parking assistance.

A vehicle driving assist system includes a controller and a display. The controller is configured to generate a bird's-eye view image based on information on images around a vehicle, respectively captured by cameras, and acquire a target route from a current location of the vehicle to a target stop location set by a driver. The display is configured to display the bird's-eye view image and the target route and allow the driver to use the bird's-eye view image to set a no entry area. The controller is configured to, when the controller determines that the vehicle enters the no entry area if the vehicle moves along the target route, correct the target route such that the vehicle does not enter the no entry area and cause the vehicle to move to the target stop location along the corrected target route and stop at the target stop location.

Vehicle driving assist system

A vehicle parking assist apparatus acquires a camera image when the vehicle stops by a non-determined parking lot and acquires feature points of a ground of an entrance of the non-determined parking lot as non-compared entrance feature points from the camera image. The vehicle parking assist apparatus determines whether the non-determined parking lot is a registered parking lot by comparing information on the non-compared entrance feature points with registered entrance feature point information. The vehicle parking assist apparatus executes a parking assist control with using the currently-acquired parking lot information and the registered parking lot information when the vehicle parking assist apparatus determines that the non-determined parking lot is the registered parking lot.

A parking assist apparatus of a vehicle includes an image recognition ECU and a vehicle control ECU. The image recognition ECU extracts characteristic points contained in an image of a surrounding region of the vehicle captured during a travel. The vehicle control ECU can register, as parking lot information, the position of a parking lot and a piece of information regarding characteristic points contained in an image of a scene of the entrance of the parking lot. The vehicle control ECU can automatically park the vehicle in the registered parking lot. The image recognition ECU extracts the characteristic points contained in the image of the surrounding region when the distance between the vehicle and the entrance of the registered parking lot is equal to or shorter than a threshold distance, and does not extract the characteristic points when the distance is longer than the threshold distance.

A park assist system includes a controller that executes park assist control with which a vehicle is automatically parked in a parking spot. The controller is configured to set a point at a position higher than the vehicle and across the vehicle from the parking spot as a viewpoint used to generate the parking spot image, set an angle according to a parking spot distance that is an actual distance between the vehicle and a parking spot shown by the parking spot image as a depression angle used to generate the parking spot image, generate a parking spot image by using the set viewpoint and depression angle, cause a display device to display the parking spot image, and park the vehicle with the park assist control in a parking spot set by the driver as a target parking spot by way of viewing the parking spot image.

Park assist system

A parking assist apparatus comprises an imaging apparatus and a controller configured to extract feature points from captured image where a region a driver desires to register a parking position therein is captured, and register the extracted feature points in association with the parking position, registering this position as registered parking position. When it is determined that a feature point(s) is detectable from captured image, the controller calculates the registered parking position by detecting the feature point(s), and performs parking assist control for parking the vehicle in the registered parking position. When a situation where a feature point(s) is not detected even once from the captured image has occurred consecutively a predetermined number of times, the controller erases this feature point(s), newly extracts a same number of feature point(s) as the erased feature point(s) from the captured image, and registers the newly extracted feature point(s) in association with the registered parking position.

A parking assistance apparatus obtains a target travelling route including a forward section and a backward section and lets a vehicle move along the target travelling route such that the vehicle reaches a target parking position. The parking assistance apparatus execute a collision avoidance processing when an obstacle which is closer than a threshold distance is detected while the vehicle moves along the target travelling route. The distance between the vehicle and a specific region is kept to be larger than a clearance distance while the vehicle moves along the backward section such that the obstacle for the collision avoidance processing which cannot be detected while the vehicle moves along the forward section will not be found while the vehicle moves along the backward section. The specific region is determined on the basis of a detection region of a sensor device for detecting the obstacle and the threshold distance.

Parking assistance apparatus

When an automatic parking registration method is selected, a vehicle control ECU performs a pre-registration automatic parking control and stores a position determined based on a position of a vehicle at a time point at which the vehicle is set to a stop state by the pre-registration automatic parking control as a registered parking position in a non-volatile memory. When an execution condition of a post-registration automatic parking control is satisfied, the vehicle control ECU performs the post-registration automatic parking control after setting a target parking position to registered parking position which has been stored in the non-volatile memory.

Parking support apparatus

A vehicle control system includes: an outside-of-vehicle operation device configured to cause a vehicle to travel operated by an operator from outside of the vehicle, inside of a compartment of the vehicle being isolated from the outside of the vehicle by a vehicle body; an assist instruction device configured to cause the operator to select a travel mode in which the vehicle is allowed to travel by an operation of the outside-of-vehicle operation device; a parking brake operation detector configured to detect an operation of a parking brake; and a warning device configured to issue warning in a compartment to stimulate sense of hearing or sense of sight at the time the travel mode is selected and the operation of the parking brake is detected.

Vehicle control system

A parking assist system parks a vehicle at a target parking position by automatically steering an EPS. The parking assist system includes a acquiring unit configured to acquire the position of the vehicle, a position determining unit configured to determine the target parking position, a generating unit configured to generate a path from the position of the vehicle to the target parking position, a detecting unit configured to detect the temperature of the EPS, and a assist unit configured to automatically steer the vehicle so as to move along the path generated by the generating unit. The generating unit generates a path in which a degree of stationary steering by which the vehicle is steered in a state where the vehicle stops is small when the temperature of the EPS is high, compared with when the temperature of the EPS is low.

Parking assist system

A parking support deviceincludes a calculation unitthat calculates a speed pattern, an acceleration recognition unitthat recognizes driver-requested acceleration, a parking support control unitthat performs parking support control in a target parking position based on the speed pattern, and a determination unitthat determines whether a host vehicle V can stop in the target parking position at a set deceleration. When the driver-requested acceleration is recognized during the control and exceeds acceleration of the speed pattern at the time of recognition, the parking support control unitaccelerates the host vehicle V at the driver-requested acceleration. When the determination unitdetermines that the host vehicle V can stop in the target parking position at the set deceleration, the host vehicle V is decelerated at the set deceleration and is stopped in the target parking position regardless of the driver-requested acceleration.

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Toyota, Japan

Yu Hiei