Driving assist apparatus and method for vehicle
First Claim
1. A driving assist apparatus for a vehicle comprising:
- a setting portion that sets a basic path that changes a direction of the vehicle at an initial position so as to coincide with a direction of the vehicle at a target position based on a deflection angle that is an angle formed between the direction of the vehicle at the initial position and the direction of the vehicle at the target position, and an initial actual steering angle that is an actual steering angle of the vehicle at the initial position;
a transforming portion that computes a path obtained by similarity-transforming the basic path based on a relationship between the initial position and the target position; and
a correcting portion that corrects the similarity-transformed path into a target path along which the vehicle reaches the target position based on a difference between the initial actual steering angle and a steering angle occurring at an initial position on the similarity-transformed path.
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Accused Products
Abstract
A vehicle driving assist apparatus for guiding a vehicle to a target position is provided. A basic path that changes the deflection angle θ 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.
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Citations
15 Claims
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1. A driving assist apparatus for a vehicle comprising:
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a setting portion that sets a basic path that changes a direction of the vehicle at an initial position so as to coincide with a direction of the vehicle at a target position based on a deflection angle that is an angle formed between the direction of the vehicle at the initial position and the direction of the vehicle at the target position, and an initial actual steering angle that is an actual steering angle of the vehicle at the initial position;
a transforming portion that computes a path obtained by similarity-transforming the basic path based on a relationship between the initial position and the target position; and
a correcting portion that corrects the similarity-transformed path into a target path along which the vehicle reaches the target position based on a difference between the initial actual steering angle and a steering angle occurring at an initial position on the similarity-transformed path. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A driving assist method for a vehicle comprising the steps of:
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setting a basic path that changes a direction of the vehicle at an initial position so as to coincide with a direction of the vehicle at a target position based on a deflection angle that is an angle formed between the direction of the vehicle at the initial position and the direction of the vehicle at the target position, and an initial actual steering angle that is an actual steering angle of the vehicle at the initial position;
computing a path obtained by similarity-transforming the basic path based on a relationship between the initial position and the target position; and
correcting the similarity-transformed path into a target path along which the vehicle reaches the target position based on a difference between the initial actual steering angle and a steering angle occurring at an initial position on the similarity-transformed path. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A driving assist apparatus for a vehicle comprising:
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setting means for setting a basic path that changes a direction of the vehicle at an initial position so as to coincide with a direction of the vehicle at a target position based on a deflection angle that is an angle formed between the direction of the vehicle at the initial position and the direction of the vehicle at the target position, and an initial actual steering angle that is an actual steering angle of the vehicle at the initial position;
transforming means for computing a path obtained by similarity-transforming the basic path based on a relationship between the initial position and the target position; and
correction means for correction the similarity-transformed path into a target path along which the vehicle reaches the target position based on a difference between the initial actual steering angle and a steering angle occurring at an initial position on the similarity-transformed path.
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Specification