US 2008/0174452 A1Published application

Parking Assistance Apparatus

AssigneeKabushiki Kaisha Toyota Jidoshokki

InventorsSatoshi Yamamoto, Kazunori Shimazaki, Tomio Kimura

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Abstract

In a parking assistance apparatus disclosed herein, a position and a yaw angle of a vehicle are acquired continuously from an initial stop position A, and a vehicle mark C2′ in moving the vehicle backwards with a steering angle maintained during a backward movement operation from a backward movement start position B in parking the vehicle in a target parking space S is displayed on a display. The vehicle mark C2′ is displayed in a shifting manner on the display such that the target parking space S is traced based on a momentary steering angle and a momentary yaw angle of the vehicle, which result from backward movement of the vehicle. When the vehicle mark C2′ deviates from the target parking space S during the backward movement operation, a driver adjusts the steering angle. The vehicle mark C2′ is shifted on the display based on a change in the steering angle to be turned into a vehicle mark C4 at a suitable position corresponding to the target parking space S.

Claims17

Dependent claims

A parking assistance apparatus for supporting a driving operation in parking a vehicle in a target parking space by moving the vehicle forwards from an initial position, which is in a predetermined positional relationship and a predetermined angular relationship with the target parking space, with a steering wheel turned, stopping the vehicle at a backward movement start position, and then moving the vehicle backwards with the steering wheel turned reversely thereto or further moving the vehicle backwards with the steering wheel turned again reversely thereto, the parking assistance apparatus comprising:

a camera for capturing an area behind the vehicle;
a display provided in a driver seat of the vehicle;
a steering angle sensor for detecting a steering angle;
yaw angle detecting means for detecting a yaw angle of the vehicle;
and
a controller,
the controller acquiring a position and a yaw angle of the vehicle continuously from the initial position based on the steering angle detected by the steering angle sensor and the yaw angle of the vehicle detected by the yaw angle detecting means and displaying the image captured by the camera on the display in moving the vehicle backwards,
the controller displaying on the display in a superimposed manner an estimated vehicle space indicating at least a lateral position of the vehicle at a position reached by the vehicle in moving the vehicle backwards by a difference between a current yaw angle of the vehicle and an angle of the target parking space while a current steering angle detected by the steering angle sensor is maintained during a final backward movement operation in parking the vehicle in the target parking space;
and
the controller displaying on the display in a shifting manner the estimated vehicle space based on a momentary steering angle and a momentary yaw angle of the vehicle, which result from backward movement of the vehicle, and shifting the estimated vehicle space on the display based on a difference between a yaw angle of the vehicle at a time when the steering angle is adjusted during the final backward movement operation and the angle of the target parking space, and on the adjusted steering angle detected by the steering angle sensor.

7 more elements

A parking assistance apparatus for supporting a driving operation in parking a vehicle in a target parking space by stopping the vehicle at a backward movement start position, which is in a predetermined positional relationship and a predetermined angular relationship with the target parking space, and then moving the vehicle backwards with the steering wheel operated or further moving the vehicle backwards with the steering wheel turned again reversely thereto, the parking assistance apparatus comprising:

a camera for capturing an area behind the vehicle;
a display provided in a driver seat of the vehicle;
a steering angle sensor for detecting a steering angle;
yaw angle detecting means for detecting a yaw angle of the vehicle;
and
a controller,
the controller acquiring a position and a yaw angle of the vehicle continuously from the backward movement start position based on the steering angle detected by the steering angle sensor and the yaw angle of the vehicle detected by the yaw angle detecting means, respectively, and displaying the image captured by the camera on the display in moving the vehicle backwards,
the controller displaying on the display in a superimposed manner an estimated vehicle space indicating at least a lateral position of the vehicle at a position reached by the vehicle in moving the vehicle backwards by a difference between a current yaw angle of the vehicle and an angle of the target parking space while a current steering angle detected by the steering angle sensor is maintained during a final backward movement operation in parking the vehicle in the target parking space;
and
the controller displaying on the display in a shifting manner the estimated vehicle space based on a momentary steering angle and a momentary yaw angle of the vehicle, which result from backward movement of the vehicle, and shifting the estimated vehicle space on the display based on a difference between a yaw angle of the vehicle at a time when the steering angle is adjusted during the final backward movement operation and the angle of the target parking space, and on the adjusted steering angle detected by the steering angle sensor.

7 more elements

Dependencies are inferred from the claim text.