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1. 发明授权

US09540001B2 Parking assistance device 有权
标题翻译：停车辅助装置
公开(公告)号：US09540001B2
公开(公告)日：2017-01-10
申请号：US14502412
申请日：2014-09-30
申请人： AISIN SEIKI KABUSHIKI KAISHA , HONDA MOTOR CO., LTD.
发明人： Hiroki Inagaki , Yoshihito Mizuno , Masahiro Ishihara , Katsuhiro Sakai
IPC分类号： B60W30/06 , B62D15/02
CPC分类号： B60W30/06 , B62D15/028 , B62D15/0285
摘要： A parking assistance device includes: a route information storage unit storing in advance route information indicating a travel route at the time of parking, the route information being stored according to the forward start position; an inclination calculation unit configured to calculate a current inclination of a vehicle length direction of the vehicle with respect to the target parking position; an offset amount setting unit configured to set an offset amount in the interval direction of the forward route between the current vehicle position and the position at which the vehicle length direction is parallel with the forward route; and a guiding unit configured to guide the vehicle to the target parking position based on a travel route adjacent to the position at which the vehicle length direction is parallel with the forward route.
摘要翻译：停车辅助装置包括：路线信息存储单元，预先存储表示停车时的行驶路线的路线信息，根据前进开始位置存储路线信息; 倾斜计算单元，被配置为计算相对于目标停车位置的车辆的车辆长度方向的当前倾斜度; 偏移量设定单元，被配置为设置当前车辆位置与车辆长度方向与前进路线平行的位置之间的前进路线的间隔方向上的偏移量; 以及引导单元，其构造成基于与所述车辆长度方向与所述前进路线平行的位置相邻的行驶路线将所述车辆引导到所述目标停车位置。

2. 发明授权

US09216765B2 Parking assist apparatus, parking assist method and program thereof 有权
标题翻译：停车辅助装置，停车辅助方法及其程序
公开(公告)号：US09216765B2
公开(公告)日：2015-12-22
申请号：US14193244
申请日：2014-02-28
申请人： AISIN SEIKI KABUSHIKI KAISHA
发明人： Hiroki Inagaki , Masanori Torii , Yasumasa Yamamoto
IPC分类号： B60W30/06 , B62D15/02
CPC分类号： B62D15/0285
摘要： A parking assist apparatus includes a detection portion detecting a parking target position from a captured image captured by an imager or from distance information measured by a distance measuring portion, a setting portion setting the detected parking target position as a target of the parking assist, a moving amount calculation portion calculating a moving amount of the vehicle, the moving amount being calculated before the parking target position is set as the target of the parking assist, a correction portion correcting the parking target position on the basis of the calculated moving amount, and a display portion displaying a surrounding image which represents an external environment around the vehicle and a parking region image which indicates the parking-possible region at the parking target position corrected by the correction portion in a manner that the surrounding image and the parking region image are superimposed on each other.
摘要翻译：停车辅助装置包括：检测部，其从由摄像机拍摄的拍摄图像或距离测量部测量的距离信息中检测停车目标位置;设定部，其将检测到的停车目标位置设定为停车辅助的目标; 移动量计算部分计算车辆的移动量，在停车目标位置被设置为停车辅助的目标之前计算的移动量;校正部分，基于计算出的移动量来校正停车目标位置;以及显示部分，其显示表示车辆周围的外部环境的周围图像，以及停车区域图像，其以周围图像和停车区域图像的方式指示由校正部分校正的停车目标位置处的停车可能区域互相叠加。

3. 发明授权

US10179608B2 Parking assist device 有权
公开(公告)号：US10179608B2
公开(公告)日：2019-01-15
申请号：US15688948
申请日：2017-08-29
申请人： AISIN SEIKI KABUSHIKI KAISHA
发明人： Hiroki Inagaki , Hironori Hirata , Koichi Sassa
IPC分类号： B62D15/02
摘要： According to one embodiment, a parking assist device includes a detector configured to detect a target parking position from a captured image obtained from an imager; a position identifier that identifies, during a period while the vehicle is moving after the captured image was displayed on the display device and before a captured image captured next by the imager is displayed, the target parking position with respect to a current position of the vehicle, based on a first moving amount by which the vehicle has moved since the captured image was displayed on the display device and on a positional relation between the vehicle and the target parking position at the time when the captured image was captured; and a parking assist unit that guides the vehicle during the period based on the identified target parking position when a request for guiding the vehicle to the target parking position is made.

4. 发明授权

US10068483B2 Parking assistance device 有权
公开(公告)号：US10068483B2
公开(公告)日：2018-09-04
申请号：US14502304
申请日：2014-09-30
申请人： AISIN SEIKI KABUSHIKI KAISHA , HONDA MOTOR CO., LTD.
发明人： Masanori Torii , Jun Kadowaki , Hiroki Inagaki , Katsuhiro Sakai
IPC分类号： G08G1/16 , G06K9/00
摘要： A parking assistance device includes: a ground object detection unit configured to, in a predetermined detection region set in advance in at least a portion of the vehicle periphery, perform detection of a ground object defining a parking stall in which garage parking is to be performed; an end portion specification unit configured to specify an end portion of the ground object detected by the ground object detection unit, the end portion being located on an entrance side of the parking stall; and a target parking stall setting unit configured to set, based on the end portion on the entrance side specified by the end portion specification unit, a corner portion of a rectangular parking frame that defines a target parking stall in which the vehicle is to be parked, and set the parking frame to extend from the corner portion in the depth direction of the parking stall.

5. 发明授权

US09393956B2 Parking support apparatus 有权
标题翻译：停车支援设备
公开(公告)号：US09393956B2
公开(公告)日：2016-07-19
申请号：US14501838
申请日：2014-09-30
申请人： AISIN SEIKI KABUSHIKI KAISHA
发明人： Hiroki Inagaki
IPC分类号： B60W30/06 , B62D15/02
CPC分类号： B60W30/06 , B62D15/027 , B62D15/0285
摘要： A parking support apparatus includes: a host vehicle positional information acquisition unit acquiring host vehicle positional information indicating a current position of a vehicle; an obliqueness calculation unit calculating obliqueness between a vehicle length direction and a longitudinal direction of the parking space, based on the host vehicle positional information; an obliqueness correction path calculation unit calculating an obliqueness correction path along which a position of the vehicle reaches a front end of the parking space, based on the obliqueness when the vehicle travels forward from a stop position at a steering angle; and a centering path calculation unit calculating a centering path which has a width at a central portion of the parking space in a width direction and along which the vehicle travels forward toward a central region set in the longitudinal direction, after a position of the vehicle reaches the front end of the parking space.
摘要翻译：一种停车支援装置，具备：主车位置信息取得部，取得表示车辆的当前位置的主车位置信息; 倾斜度计算单元，基于所述主机位置信息，计算所述停车空间的车辆长度方向和所述长度方向的倾斜度; 倾斜校正路径计算单元，基于当车辆以转向角从停止位置向前行进时的倾斜度，计算车辆的位置到达停车空间前端的倾斜度校正路径; 以及中心路径计算单元，在车辆的位置到达之后，计算在所述停车空间的宽度方向上的宽度方向上朝向所述长度方向设定的中心区域向前方行进的中心路径停车位的前端。

6. 发明授权

US10988174B2 Parking assist device, parking assist method, and driving assist device 有权
公开(公告)号：US10988174B2
公开(公告)日：2021-04-27
申请号：US15991077
申请日：2018-05-29
申请人： AISIN SEIKI KABUSHIKI KAISHA
发明人： Hironori Hirata , Hiroki Inagaki , Kenichi Ohshima
IPC分类号： B62D15/02 , G06F3/0481 , G06F3/0488 , G06K9/00 , G06T7/13 , G06T7/70 , G06T3/40
摘要： A parking assist device according to an embodiment includes: a peripheral image generation unit configured to generate a peripheral image representing conditions around a vehicle based on an imaging result of an imaging unit provided to the vehicle; a parking region acquisition unit configured to acquire a parking region where the vehicle is parkable; a display processing unit configured to display the peripheral image on a display device including a touch panel, and display a first symbol representing the parking region on the peripheral image; and an assist processing unit configured to start, when a position corresponding to the first symbol on the touch panel is touched, parking assist control for assisting parking at the parking region represented by the first symbol.

7. 发明授权

US10475210B2 Image processing device, image processing method, and computer-readable recording medium 有权
公开(公告)号：US10475210B2
公开(公告)日：2019-11-12
申请号：US15579787
申请日：2016-05-27
申请人： NEC Solution Innovators, Ltd. , AISIN SEIKI KABUSHIKI KAISHA
发明人： Yasutoshi Fukaya , Satoshi Kishima , Masanori Torii , Hiroki Inagaki , Jun Kadowaki
IPC分类号： G06T7/90 , G06K9/46 , G06T7/11 , G06T7/136 , G06T11/00 , G06K9/00
摘要： An image processing device (10) is for extracting pixels of a specific color from an image to be processed, and includes: a pixel information extraction unit (11) that extracts values of luminance, first chrominance, and second chrominance of pixels composing the image on a pixel-by-pixel basis; a calculation processing unit (12) that calculates, on a pixel-by-pixel basis, a distance from a point defined by the extracted values to a preset reference plane in a space in which the luminance, the first chrominance, and the second chrominance are set along axes that are perpendicular to one another; and a converted image generation unit (13) that generates an image in which pixels satisfying the following condition are emphasized: the distance calculated by the calculation processing unit (12) is larger than or equal to a threshold.

8. 发明授权

US11040739B2 Parking assist device, parking assist method, and driving assist device 有权
公开(公告)号：US11040739B2
公开(公告)日：2021-06-22
申请号：US15991077
申请日：2018-05-29
申请人： AISIN SEIKI KABUSHIKI KAISHA
发明人： Hironori Hirata , Hiroki Inagaki , Kenichi Ohshima
IPC分类号： B62D15/02 , G06F3/0481 , G06F3/0488 , G06K9/00 , G06T7/13 , G06T7/70 , G06T3/40
摘要： A parking assist device according to an embodiment includes: a peripheral image generation unit configured to generate a peripheral image representing conditions around a vehicle based on an imaging result of an imaging unit provided to the vehicle; a parking region acquisition unit configured to acquire a parking region where the vehicle is parkable; a display processing unit configured to display the peripheral image on a display device including a touch panel, and display a first symbol representing the parking region on the peripheral image; and an assist processing unit configured to start, when a position corresponding to the first symbol on the touch panel is touched, parking assist control for assisting parking at the parking region represented by the first symbol.

9. 发明授权

US10843731B2 Device for assisting a vehicle with exiting a parking space 有权
公开(公告)号：US10843731B2
公开(公告)日：2020-11-24
申请号：US15689107
申请日：2017-08-29
申请人： HONDA MOTOR CO., LTD. , AISIN SEIKI KABUSHIKI KAISHA
发明人： Hiroshi Iwami , Hiroki Inagaki , Hironori Hirata , Masahiro Ishihara
IPC分类号： B62D15/02 , B60W30/06 , B60W40/02 , B60W50/00
CPC分类号： B62D15/0285 , B60W30/06 , B60W40/02 , B62D15/028 , B60W2050/007
摘要： At a time when it is possible for a user's own vehicle to pull out from a parking space, an assist control unit of a parking exit assist device terminates an assist control in the event that the user's own vehicle has traveled forward by a predetermined distance (a minimum forward distance) from a predetermined position (a most recent intermediate position or an assist starting position).

10. 发明授权

US10259500B2 Parking assist apparatus 有权
公开(公告)号：US10259500B2
公开(公告)日：2019-04-16
申请号：US15704077
申请日：2017-09-14
申请人： AISIN SEIKI KABUSHIKI KAISHA
发明人： Hiroki Inagaki
IPC分类号： G08G1/14 , B62D15/02 , G08G1/16 , B60W30/06 , G01S7/56 , G06K9/00 , G01S13/93
摘要： A parking assist apparatus includes: a peripheral image generation portion that generates an overhead image of a periphery viewed from above based on a captured image of a periphery of a vehicle; and a display image generation portion that generates a display image by superimposing a host vehicle image displaying a host vehicle on one of left and right sides in the overhead image and superimposing a target frame displaying a target of a movement destination of the vehicle on the other of the left and right sides in the overhead image in an assist mode of a forward parking or a backward exit.

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