Automatic Parking control apparatus for vehicle
First Claim
1. An automatic parking control apparatus for a vehicle, the control apparatus comprising:
- steering means for turning a steering wheel of the vehicle;
steering/movement control means for performing a steering control with said steering means, a movement control for moving the vehicle forward or backward at a low speed, and a stop control for stopping the vehicle;
recognizing means for recognizing a parking space located on a side of the vehicle relative to a moving direction of the vehicle, and an initial position of the vehicle with reference to a position of the parking space, in response to a predetermined operation;
obstacle detecting means for detecting an obstacle located on an opposite side of the parking space relative to the moving direction of the vehicle; and
position detecting means for detecting a position of the vehicle,wherein said steering/movement control means performs the steering control, the movement control, and the stop control so that the vehicle moves forward from the initial position;
the steering wheel rotates in a first direction in order to move the vehicle forward from a first direction steering position in an opposite direction with respect to the parking space;
the vehicle stops when the vehicle reaches a backward movement starting position;
the steering wheel rotates in a second direction, which is opposite to the first direction; and
the vehicle moves backward into the parking space,wherein said steering/movement control means includes;
backward movement starting position calculating means for calculating the backward movement starting position as a position where the vehicle is able to move so that a first predetermined portion of the vehicle is kept away from the obstacle by a predetermined distance or more when the vehicle moves backward to the parking space, the first predetermined portion being defined as a portion which passes a closest point to the obstacle; and
steering position calculating means for calculating the first direction steering position as a position where a positional relationship between a second predetermined portion of the vehicle and the parking space satisfies a predetermined positional relationship when the vehicle moves backward to the parking space from the backward movement starting position.
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Accused Products
Abstract
An automatic parking control apparatus for a vehicle, that performs a steering control, a movement control for moving the vehicle forward or backward at a low speed, and a stop control for stopping the vehicle. A parking space and an initial position of the vehicle is recognized. The parking control is performed so that the vehicle moves forward from the initial position; the steering wheel rotates in a first direction in order to move the vehicle forward from a first direction steering position in an opposite direction with respect to the parking space; the vehicle stops when the vehicle reaches a backward movement starting position; the steering wheel rotates in a second direction which is opposite to the first direction; and the vehicle moves backward into the parking space.
85 Citations
6 Claims
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1. An automatic parking control apparatus for a vehicle, the control apparatus comprising:
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steering means for turning a steering wheel of the vehicle; steering/movement control means for performing a steering control with said steering means, a movement control for moving the vehicle forward or backward at a low speed, and a stop control for stopping the vehicle; recognizing means for recognizing a parking space located on a side of the vehicle relative to a moving direction of the vehicle, and an initial position of the vehicle with reference to a position of the parking space, in response to a predetermined operation; obstacle detecting means for detecting an obstacle located on an opposite side of the parking space relative to the moving direction of the vehicle; and position detecting means for detecting a position of the vehicle, wherein said steering/movement control means performs the steering control, the movement control, and the stop control so that the vehicle moves forward from the initial position;
the steering wheel rotates in a first direction in order to move the vehicle forward from a first direction steering position in an opposite direction with respect to the parking space;
the vehicle stops when the vehicle reaches a backward movement starting position;
the steering wheel rotates in a second direction, which is opposite to the first direction; and
the vehicle moves backward into the parking space,wherein said steering/movement control means includes; backward movement starting position calculating means for calculating the backward movement starting position as a position where the vehicle is able to move so that a first predetermined portion of the vehicle is kept away from the obstacle by a predetermined distance or more when the vehicle moves backward to the parking space, the first predetermined portion being defined as a portion which passes a closest point to the obstacle; and steering position calculating means for calculating the first direction steering position as a position where a positional relationship between a second predetermined portion of the vehicle and the parking space satisfies a predetermined positional relationship when the vehicle moves backward to the parking space from the backward movement starting position. - View Dependent Claims (2, 3)
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4. An automatic parking control method for a vehicle having a control unit for performing a steering control for turning a steering wheel of the vehicle, a movement control for moving the vehicle forward or backward at a low speed, and a stop control for stopping the vehicle, said control method comprising the steps of:
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a) recognizing a parking space located on a side of the vehicle relative to a moving direction of the vehicle, and an initial position of the vehicle with reference to a position of the parking space, in response to a predetermined operation; b) moving the vehicle forward from the initial position; c) turning the steering wheel in a first direction in order to move the vehicle forward from a first direction steering position in an opposite direction with respect to the parking space; d) detecting an obstacle located on an opposite side of the parking space relative to the moving direction of the vehicle; e) stopping the vehicle when the vehicle reaches a backward movement starting position; f) turning the steering wheel in a second direction, which is opposite to the first direction; and g) moving the vehicle backward into the parking space, wherein the backward movement starting position is calculated as a position where the vehicle is able to move so that a first predetermined portion of the vehicle is kept away from the obstacle by a predetermined distance or more when the vehicle moves backward to the parking space, the first predetermined portion being defined as a portion which passes a closest point to the obstacle detected in said step d); and the first direction steering position is calculated as a position where a positional relationship between a second predetermined portion of the vehicle and the parking space satisfies a predetermined positional relationship when the vehicle moves backward to the parking space from the backward movement starting position. - View Dependent Claims (5, 6)
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Specification