PARKING ASSIST APPARATUS

• US 20200130675A1
• Filed: 02/22/2018
• Published: 04/30/2020
• Est. Priority Date: 04/27/2017
• Status: Active Grant

• Current Assignee: Aisin Corp.
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Inventors: HIRATA, Hironori, ISHIHARA, Masahiro
• Granted Patent: US 11,358,591 B2
• Time in Patent Office: Days
• CPC Class Codes: B60R 99/00 Subject matter not provided for in other groups of this subclass
• CPC Class Codes: B60W 2400/00 Indexing codes relating to detected, measured or calculated conditions or factors
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

A parking assist apparatus according to an embodiment includes a memory and a hardware processor coupled to the memory. The hardware processor: sets a first circumference being in contact with a first straight line extending in a traveling direction of a vehicle and passing through a position of the vehicle; sets a second circumference being in contact with a second straight line extending in an exit direction from a parking target area of the vehicle and passing through the parking target area; sets a third circumference obtained by shifting the second circumference along the second straight line until the second circumference comes in contact with the first circumference; acquires a guidance route including part of the first circumference as a route for moving the vehicle forward and part of the third circumference as a route for moving the vehicle backward; and guides the vehicle along the acquired guidance route.

Claims

1. A parking assist apparatus comprising:

a memory; and

a hardware processor coupled to the memory, the hardware processor being configured to;

set a first circumference that is in contact with a first straight line extending in a traveling direction of a vehicle and that passes through a position of the vehicle;

set a second circumference that is in contact with a second straight line extending in an exit direction from a parking target area of the vehicle and that passes through the parking target area;

set a third circumference obtained by shifting the second circumference along the second straight line until the second circumference comes in contact with the first circumference;

acquire a guidance route that includes part of the first circumference as a route for moving the vehicle forward and includes part of the third circumference as a route for moving the vehicle backward; and

guide the vehicle along the acquired guidance route.

2. The parking assist apparatus according to claim 1, wherein the hardware processor

extracts, from among a plurality of first combinations of a fifth circumference and a seventh circumference, a second combination in which the fifth circumference and the seventh circumference are contactable with each other by shift of the seventh circumference along the second straight line,

the fifth circumference being one of a plurality of fourth circumferences each being in contact with the first straight line, each passing through the position of the vehicle, and each having different radii,

the seventh circumference being one of a plurality of sixth circumferences each being in contact with the second straight line, each passing through the parking target area, and each having different radii,

sets the fifth circumference constituting the second combination as the first circumference, and

sets the seventh circumference constituting the second combination as the second circumference.

3. The parking assist apparatus according to claim 2, wherein, when a plurality of the second combinations are extracted, the hardware processor selects, from the extracted second combinations, the second combination in which a shift amount of the seventh circumference is minimum.

4. The parking assist apparatus according to claim 2, wherein, when a plurality of second combinations are extracted, the hardware processor selects, from the extracted second combinations, the second combination in which a shift amount of the seventh circumference is maximum.

5. The parking assist apparatus according to claim 2, wherein the hardware processor determines sequentially whether each of the plurality of first combinations corresponds to the second combination and selects the first combination that is initially determined to correspond to the second combination.