EP1022903A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Apparatus for assisting steering of vehicle when backing
Assignee: Toyota Industries Corp
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Filing: 2000-01-18
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Granted: —
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Expires: 2020-01-18
Abstract
Abstract A steering assist apparatus (10) that assists a driver when backing a vehicle (1) in an S-shaped path or parallel parking. The apparatus displays guidance marking (17) on a monitor screen (19) and the driver refers to the guidance marking, which permits the driver to easily back the vehicle to a desired position. The apparatus includes a camera (2), a monitor (4), an angle sensor (9), obstacle sensors (6), an image processing unit (11), a controller (12) and a monitor controller (13). The image processing unit computes the predicted path of the vehicle at the current wheel angle. The monitor shows an image captured by the camera. The image processing unit generates data representing a guidance marking based on the predicted path and superimposes the marking on the monitor screen. The location of the marking on the screen is determined based on the current wheel angle. The marking represents part of the predicted path. Specifically, the marking matches the width of the vehicle. In the monitor screen, a marking is separated from the rear bumper of the vehicle by a distance corresponding to the wheelbase of the vehicle.
Inventors
- 👤 Goro Asahi
- 👤 Hisashi Kuriya
- 👤 Masashi Ushino
- 👤 Tomio Kimura
- 👤 Kousuke Teramura
- 👤 Kazunori Shimazaki
- 👤 Kanji Hattori
- 👤 Satoshi Yamada
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-23 23:32
CPC Classifications
G; G01; G01S; G01S15/00; G01S15/88; G01S15/93; G01S15/931; B; B60; B60R; B60R1/00; B60R1/20; B60R1/22; B60R1/23; B60R1/26; B62; B62D; B62D15/00; B62D15/02; B62D15/027; B62D15/0275; B62D15/028; G01S15/86; H; H04; H04N; H04N7/00; H04N7/18; H04N7/183; B60R2300/00; B60R2300/30; B60R2300/301; B60R2300/302; B60R2300/304; B60R2300/305; B60R2300/80; B60R2300/806; B60R2300/8093; G01S2015/932; G01S2015/933; G01S2015/935
Claims Analysis
Total Claims: 18
Claim 1
Independent Claim
133 words
An apparatus (10) for aiding steering when a vehicle
(1) is being driven in reverse, the moving direction of the
vehicle being determined in response to the position of
steered wheels (7a), the apparatus comprising a camera (2)
for capturing an image of an area behind the vehicle and a
monitor (4) for displaying the image captured by the
camera, characterized by a display control unit (11) for
displaying a guide marking (17) for aiding steering, the
marking and the image being simultaneously displayed on the
monitor when the vehicle is being driven in reverse,
wherein the marking (17) provides a driver with at least
first indication of the width of the vehicle and a second
indication of a prospective path of the vehicle
corresponding to the position of the steered wheels (7a).
Claim 2
Dependent Claim
89 words
The apparatus as recited in claim 1, wherein the
vehicle has a detector for detecting the position of the
steered wheels (7a), wherein the display control unit (11)
calculates the prospective path assuming that the vehicle
is moved in reverse, on the basis of information from the
detector, and wherein the marking (17) is displayed
according to the width of the vehicle, and at least one
mark is displayed to appear to be a predetermined distance
behind the rear end (3) of the vehicle (1) on the
prospective path.
Claim 3
Dependent Claim
36 words
The apparatus as recited in claim 2, wherein the
marking (17) includes an indication of a space that is as
side as the vehicle in appearance, the space being located
behind the vehicle in the image.
Claim 4
Dependent Claim
35 words
The apparatus as recited in claim 2, wherein at least
one of the marking (17) includes an indication defined by
two points that are spaced apart approximately by the width
of the vehicle in appearance.
Claim 5
Dependent Claim
77 words
The apparatus as recited in claim 2, wherein the
marking (17) includes an end mark (17a) that approximately
indicates the width of the vehicle in appearance at an
apparent predetermined distance behind the rear end (3) of
the vehicle on the prospective path and side marks (17b)
extending from the end mark (17a) toward the rear end (3)
of the vehicle, wherein the side marks (17b) are spaced
apart approximately by the apparent width of the vehicle.
Claim 6
Dependent Claim
57 words
The apparatus as recited in claim 5, wherein the
marking (17) further includes two intermediate marks (17c,
17d) appearing between the end mark (17a) and the rear end
(3) of the vehicle (1), each intermediate mark (17c, 17d)
extending between the side marks (17b), wherein the
intermediate marks (17c, 17d) indicate the apparent width
of the vehicle.
Claim 7
Dependent Claim
26 words
The apparatus as recited in claim 2, wherein the
predetermined distance appears to be approximately the same
as the wheel base (L) of the vehicle (1).
Claim 8
Dependent Claim
37 words
The apparatus as recited in claim 5, wherein the
display control unit (11) calculates the prospective path
using polar coordinates and wherein the end mark (17a) is
determined by a radial line extending from the polar
coordinates.
Claim 9
Dependent Claim
43 words
The apparatus as recited in claim 2, wherein, when the
prospective path is circular, the display control unit (11)
displays the path in an elliptical manner by compressing
the prospective path in the longitudinal direction of the
vehicle (1) at a predetermined rate.
Claim 10
Dependent Claim
26 words
The apparatus as recited in claim 2, wherein the
display control unit (11) shifts the indication of the
prospective path in the direction of vehicle movement.
Claim 11
Dependent Claim
56 words
The apparatus as recited in claim 2, wherein the
display control unit (11) has an acquisition means (14) for
determining the steering speed, and wherein the display
control unit (11) calculates the prospective path using the
current position of the steered wheels (7a) and a value
obtained by multiplying the steering speed by a
predetermined coefficient.
Claim 12
Dependent Claim
80 words
The apparatus as recited in claim 2, wherein the
vehicle (1) has vehicle speed sensor for detecting the
speed of the vehicle, and the display control unit (11) has
an acquisition means (14) for determining the steering
speed, and wherein the display control unit (11) calculates
the prospective path using the current position of the
steered wheels (7a) and a value obtained by multiplying the
ratio (C) of the steering speed and the vehicle speed (V)
by a predetermined coefficient.
Claim 13
Independent Claim
23 words
The apparatus as recited in claim1, wherein the image
is displayed in black and white and the marking (17) is
displayed in color.
Claim 14
Independent Claim
158 words
An apparatus (10) for aiding steering when a vehicle
(1) is being driven in reverse, the moving direction of the
vehicle being determined in response to the position of
steered wheels (7a), the apparatus (10) comprising a camera
(2) for capturing an image of an area behind the vehicle
(1) and a monitor (4) for displaying the image captured by
the camera (2), characterized by a display control unit
(11) for displaying a guide marking (20, 21, 27a, 27b) that
is fixed at a predetermined position with respect to the
monitor screen (19) for aiding a driver in parking, the
control unit (11) displaying the guide marking and the
image simultaneously on the monitor (4) when the vehicle
moves in reverse, wherein the parallel parking is completed
by causing the marking to coincide with a target point (26,
E, E', E'') in the image, followed by backing while keeping
the steered wheels (7a) turned at their maximum angle.
Claim 15
Dependent Claim
69 words
The apparatus as recited in claim 14, wherein the
fixed marking includes a pair of side marks (20a) that are
spaced apart approximately by the apparent width of the
vehicle and a fixed end mark (20b) formed by connecting
ends of the side marks (20a) on the screen (19), and
wherein the fixed guide marking includes a center mark (21)
positioned at the center of the fixed guide marking.
Claim 16
Dependent Claim
36 words
The apparatus as recited in claim 14, wherein the
display includes a first marking (27a) used when performing
parallel parking to the left and a second marking (27b)
used when performing parallel parking to the right.
Claim 17
Dependent Claim
37 words
The apparatus as recited in claim 16, wherein the
first marking (27a) and the second marking (27b) are
selectively displayed depending on whether the vehicle (1)
is to be parked to the left or to the right.
Claim 18
Dependent Claim
57 words
The apparatus as recited in claim 14, wherein the
vehicle has obstruction detectors (6) for detecting an
obstruction existing near the front corners of the vehicle,
and wherein the display control unit (11) displays the
presence (22) of the obstruction on the monitor screen (19)
on the basis of a signal output from the obstruction
detectors (6).
References Cited (Backward Citations)
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