Abstract: A parking assist system includes an image obtaining means for obtaining an image of a view from a vehicle, a displaying means for displaying the image obtained by the image obtaining means in a monitor display provided in the vehicle, an inputting means for inputting a target parking position, at which the vehicle is parked, on the monitor display, a detecting means for detecting a relative relationship between the vehicle and the target parking position, and a judging means for judging whether or not the vehicle can be parked at the target parking position based upon the relative relationship detected by the detecting means.

Abstract: In a parking assist apparatus that assists with moving, by automatic steering, a vehicle from an arbitrary stopping position to a target parking position set by the driver, a setting portion (i.e., a parking assist ECU) sets both a path from the stopping position to the target parking position and a steering operation necessary to bring the vehicle along that path. When this path cannot be set with the steering angle in the stopping position set as the initial steering angle, and when the path can be set with another steering angle as the initial steering angle, an instruction portion (i.e., a monitor or a speaker) instructs the driver to turn the steering wheel to this other steering angle.

Abstract: According to a parking assist device and a method for assisting parking of the invention, when a parking assist is canceled after a start of the parking assist, and the parking assist is restarted, a target parking position (P2B) is reset at a reset position (P1B). In the invention, at this time, the target parking position (P2B) is determined based on a target parking position (P2A) which is set at a parking preparation position (P1A), and the determined target parking position (P2B) is displayed on a screen of a monitor (4) as a default display position of a target parking frame (11) at a reset time.

Abstract: An automatic steering device applies a steering torque in an automatic steering mode to a steering shaft of a steering mechanism that turns a wheel of a vehicle in accordance with rotation of the steering shaft connected to a steering wheel. The automatic steering device includes a controller that calculates an automatic steering torque value and a target assist torque value, and an actuator that is controlled by the controller so as to apply torque corresponding to a sum of the automatic steering torque value and the target assist torque value to the steering shaft. The controller calculates the target assist torque value by multiplying an assist torque gain by a steering torque applied by an operator of the vehicle from the steering wheel to the steering shaft, and sets the assist torque gain in the automatic steering mode so as to be smaller than an assist torque gain in a non-automatic steering mode.

Abstract: The steering angle with respect to the running distance is changed by changing the steering angular velocity in accordance with the steering angle and the vehicle speed such that the turning rate has a linear relationship with the moving distance.

Abstract: A parking assist device for assisting parking operation to a target parking position includes an initial position setting device for setting an initial position of the target parking position to park a vehicle, a designation display showing the target parking position, a display position calculation device for calculating an initial display position of the designation display showing the target parking position at a screen showing vehicle surroundings based on the initial position determined by the initial position setting device, and an initial display position shifting device for shifting the initial display position of the designation display to a position within a display range on the screen in case the initial display position calculated by the display position calculation device is positioned outside of the display range on the screen.

Abstract: A parking assist device includes a leading path generation judging device for judging whether an effective leading path to a target parking position is generated. According to the parking assist device, a parking assist for leading a vehicle to the target parking position is conducted in accordance with a judged result of the leading path generation judging device. The leading path generation judging device includes a first judging device for judging whether the leading path is generated when an initial steering angle of the vehicle is determined as a steering angle initial value, and a second judging device for judging whether the leading path is generated when a steering angle other than the initial steering angle is determined as the steering angle initial value in case it is judged that the leading path is not generated by the first judging device.

Abstract: A vehicle backward movement assist device includes a vehicle path determining means for determining a path from a current position of the vehicle moved at a moving amount detected by a vehicle moving amount detecting means to a first target position or a second target position, the vehicle path determining means determining the path by repeatedly calculating the path, and a displaying means for displaying an image of a rear view from a captured by an image capturing means, the displaying means superimposing the first or second target position of the vehicle moved based upon the first or second target position and the detected moving amount on the image of the rear view from the vehicle, the second target position calculated by updating the first target position.

Abstract: A vehicle backward movement assist device includes an image capturing means for capturing an image of an outside area in back of a vehicle, a parking mode judging means for judging whether a parking mode by reversing of the vehicle is a back-in parking or a parallel parking, a target parking position inputting means for setting a target parking position where the vehicle is parked based on the parking mode determined by the parking mode judging means, and a displaying means for displaying the image captured by the image capturing means and superimposedly displaying the target parking position set by the target parking position inputting means on the captured image so as to guide the vehicle to the target parking position.

Abstract: A parking assist apparatus performs a guidance of a vehicle toward a target parking position, even after the guidance has been canceled. The target parking position is set in accordance with an operation applied to a target parking position designation display that is displayed on a screen showing a periphery of the vehicle. It is determined whether a cancellation condition of canceling the guidance of the vehicle toward the target parking position is established. A memory continuously holds target parking position information even after the cancellation condition is established.

Abstract: A parking-assist device for an automotive vehicle comprises an imaging unit which creates an image of an exterior behind the vehicle. A target-parking-position input unit inputs a target parking position to park the vehicle when requested. A target-parking-position memory access unit stores the target parking position and reads the stored target parking position when requested. A vehicle-travel-amount detection unit detects an amount of travel of the vehicle. A parking-route determining unit calculates a parking route from a current position of the vehicle to the target parking position. A display unit displays the created image and displays one of the target parking position inputted and the stored target parking position read on the created image in a superimposed manner.

Abstract: A driving assist apparatus and method for a vehicle capable of guiding the vehicle at appropriate vehicle speed in accordance with the path is provided. The alarm vehicle speed for informing a driver of overspeed during driving assist is set lower for a changing steer region than for a fixed steer region. The lower alarm vehicle speed is set before the changing steer region is entered. Therefore, in the changing steer region, the vehicle speed can be sufficiently reduced, so that a set amount of steering can be accomplished. In the fixed steer region, the vehicle speed can be increased so as to reduce the time of travel.

Abstract: A driving assist apparatus for a vehicle which calculates a path by an algorithm suitable for real-time path calculation in a vehicle-installed computing device is provided. A basic path that changes the deflection angle of the vehicle to 0 is computed from an initial vehicle position. From the basic path, a target path is computed, for example, by adding straight-line paths to the two opposite ends of the basic path. On the basis of the target path, a driving assist is performed. During the driving assist, a basic path is re-calculated. If it is determined that a similarity-enlarged path obtained through similarity enlargement of the basic path can be used to reach the target position point, a target path is re-set on the basis of the similarity-enlarged path. Then a driving assist is performed on the basis of the re-set target path.

Abstract: A driving assist apparatus for a vehicle that guides the vehicle to a target position is provided. On the basis of the present direction of the vehicle and the direction of the vehicle at the target position, a basic path that changes the vehicle direction so as to coincide with the target direction of the vehicle at the target position is computed. A path from the present position to the target position is computed by adding a straight-line path to the basic path under a predetermined condition.

Abstract: A method for performing a parking assist control for automatically guiding a vehicle to a target parking position includes the steps of calculating a change of a vehicle direction based on a traveling distance of the vehicle and a steering angle obtained by a steering angle sensor, calculating the change of the vehicle direction based on a yaw rate obtained by a yaw rate sensor, and determining whether or not the parking assist control is required to be stopped based on a result of a comparison between the calculated changes of the vehicle direction.

Abstract: A vehicle driving assist apparatus for guiding a vehicle to a target position is provided. A basic path that changes the deflection angle &thgr; to 0 is determined, and is subjected to similarity transformation. On the basis of the similarity-transformed path, a path factoring in transition from the initial steering angle is set. Then, a correction is made such that the area in the running distance-curvature graph regarding this path becomes equal to a corresponding area regarding the basic path, thereby setting a corrected path. The corrected path is similarity-transformed, and then is re-corrected in accordance with transition from the initial steering angle. Thus, a final target path is obtained.

Abstract: A parking assist apparatus of the invention allows a target parking position to be set by a user moving a target parking frame displayed together with an actual image of surroundings of a vehicle, and automatically guides the vehicle to the set target parking position. In the parking assist apparatus, the target parking frame is initially displayed through the use of past setting position by the user.

Abstract: A parking assist apparatus includes a display unit that displays a target parking frame to be superimposed on an actual image around a vehicle with its position adjustable by a user, a position determining unit that determines a target parking position corresponding to the position of the target parking frame displayed on the actual image, and a parking assist control unit that controls to guide the vehicle to the target parking position on a target path. The parking assist apparatus further includes a feature determining unit that determines a feature on the actual image through an image recognition, and a path correction unit that automatically corrects the target path such that a correlation between the target parking position upon start of a parking assist control and the feature is maintained during execution of the parking assist control.

Abstract: A parking assist apparatus includes an initial traveling locus calculating means for calculating an initial traveling locus, a new traveling locus calculating means for calculating a new traveling locus when a deviation amount of the present vehicle position from a current traveling locus is equal to or greater than a first predetermined value, and a parking assist means for performing a parking assist to guide the vehicle along the traveling locus. The parking assist apparatus further includes an initial traveling locus deviation calculating means for calculating the deviation amount of the present vehicle position from the initial traveling locus generated by the calculation of the initial traveling locus calculating means. The parking assist means stops performing the parking assist when the deviation amount calculated by the initial traveling locus deviation calculating means is equal to or greater than a second predetermined value which is smaller than the fist predetermined value.

Abstract: A parking assist apparatus includes a target parking position setting means for setting a target parking position by an operation on a display appearing on an actual image that shows vehicle surroundings, and a traveling locus calculating means for calculating a traveling locus to the target parking position for performing a parking assist to guide the vehicle along the traveling locus. The parking assist apparatus further includes a memory means for keeping storing an information of the traveling locus being generated at a time immediately before a resetting of the target parking position is performed until a new traveling locus to a new target parking position is generated under a condition that the parking assist is once started based on the traveling locus initially generated and when the resetting of the target parking position is performed before the vehicle reaches the target parking position being initially set.