Driving assist apparatus and method for vehicle
First Claim
Patent Images
1. A driving assist apparatus for a vehicle comprising:
- a detecting portion that detects an initial deflection angle at an initial position of the vehicle, the deflection angle being an angle formed between a direction of the vehicle at a target position and a direction of the vehicle at a present direction of the vehicle;
a setting portion that sets a basic path along which the deflection angle is changed from the initial deflection angle to a state of the deflection angle of 0 by steering under a predetermined condition in accordance with a running distance, wherein the running distance changes with respect to one of a steering angle and a turning curvature; and
a computing portion that computes a target path that extends from the initial position to the target position by using the basic path as a basis and adding a straight-line path to at least one of a site forward of the basic path and a site rearward of the basic path under a predetermined condition,wherein the computing portion computes a target path by similarity-enlarging the basic path.
1 Assignment
0 Petitions
Accused Products
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.
-
Citations
18 Claims
-
1. A driving assist apparatus for a vehicle comprising:
-
a detecting portion that detects an initial deflection angle at an initial position of the vehicle, the deflection angle being an angle formed between a direction of the vehicle at a target position and a direction of the vehicle at a present direction of the vehicle; a setting portion that sets a basic path along which the deflection angle is changed from the initial deflection angle to a state of the deflection angle of 0 by steering under a predetermined condition in accordance with a running distance, wherein the running distance changes with respect to one of a steering angle and a turning curvature; and a computing portion that computes a target path that extends from the initial position to the target position by using the basic path as a basis and adding a straight-line path to at least one of a site forward of the basic path and a site rearward of the basic path under a predetermined condition, wherein the computing portion computes a target path by similarity-enlarging the basic path. - View Dependent Claims (2, 3, 4)
-
-
5. A driving assist apparatus for a vehicle comprising:
-
a detecting portion that detects an initial deflection angle at an initial position of the vehicle, the deflection angle being an angle formed between a direction of the vehicle at a target position and a direction of the vehicle at a present direction of the vehicle; a first setting portion that sets a first basic path along which the deflection angle is changed from the initial deflection angle to a predetermined deflection angle by steering under a predetermined condition in accordance with a running distance, wherein the running distance changes with respect to one of a steering angle and a turning curvature; a second setting portion that sets a second basic path along which the deflection angle is changed from the predetermined deflection angle to a state of the deflection angle of 0 by steering under a predetermined condition in accordance with the running distance, as a change in the running distance with respect to one of the steering angle and the turning curvature; and a computing portion that computes a target path that extends from the initial position to the target position by using the first basic path and the second basic path as a basis and adding a straight-line path to at least one of a site forward of the first basic path, a site between the first basic path and the second basic path, and a site rearward of the second basic path under a predetermined condition, wherein the computing portion computes a target path by similarity-enlarging at least one of the first basic path and the second basic path. - View Dependent Claims (6, 7, 8)
-
-
9. A driving assist is performed for a vehicle comprising the steps of:
-
detecting an initial deflection angle at an initial position of the vehicle, the deflection angle being an angle formed between a direction of the vehicle at a target position and a direction of the vehicle at a present direction of the vehicle; setting a basic path along which the deflection angle is changed from the initial deflection angle to a state of the deflection angle of 0 by steering under a predetermined condition in accordance with a running distance, wherein the running distance changes with respect to one of a steering angle and a turning curvature; and computing a target path that extends from the initial position to the target position by using the basic path as a basis and adding a straight-line path to at least one of a site forward of the basic path and a site rearward of the basic path under a predetermined condition, wherein the target path is computed by similarity-enlarging the basic path. - View Dependent Claims (10, 11, 12)
-
-
13. A driving assist method for a vehicle comprising the steps of:
-
detecting an initial deflection angle at an initial position of the vehicle, the deflection angle being an angle formed between a direction of the vehicle at a target position and a direction of the vehicle at a present direction of the vehicle; setting a first basic path along which the deflection angle is changed from the initial deflection angle to a predetermined deflection angle by steering under a predetermined condition in accordance with a running distance, wherein the running distance changes with respect to one of a steering angle and a turning curvature; setting a second basic path along which the deflection angle is changed from the predetermined deflection angle to a state of the deflection angle of 0 by steering under a predetermined condition in accordance with the running distance, as a change in the running distance with respect to one of the steering angle and the turning curvature; and computing a target path that extends from the initial position to the target position by using the first basic path and the second basic path as a basis and adding a straight-line path to at least one of a site forward of the first basic path, a site between the first basic path and the second basic path, and a site rearward of the second basic path under a predetermined condition, wherein the target path is computed by similarity-enlarging at least on of the first basic path and the second basic path. - View Dependent Claims (14, 15, 16)
-
-
17. A driving assist apparatus for a vehicle comprising:
-
detecting means for detecting an initial deflection angle at an initial position of the vehicle, the deflection angle being an angle formed between a direction of the vehicle at a target position and a direction of the vehicle at a present direction of the vehicle; setting means for setting a basic path along which the deflection angle is changed from the initial deflection angle to a state of the deflection angle of 0 by steering under a predetermined condition in accordance with a running distance, wherein the running distance changes with respect to one of a steering angle and a turning curvature; and computing means for computing a target path that extends from the initial position to the target position by using the basic path as a basis and adding a straight-line path to at least one of a site forward of the basic path and a site rearward of the basic path under a predetermined condition, the computing means computing the target path by similarity-enlarging the basic path.
-
-
18. A driving assist apparatus for a vehicle comprising:
-
detecting means for detecting an initial deflection angle at an initial position of the vehicle, the deflection angle being an angle formed between a direction of the vehicle at a target position and a direction of the vehicle at a present direction of the vehicle; first setting means for setting a first basic path along which the deflection angle is changed from the initial deflection angle to a predetermined deflection angle by steering under a predetermined condition in accordance with a running distance, wherein the running distance changes with respect to one of a steering angle and a turning curvature; second setting means for setting a second basic path along which the deflection angle is changed from the predetermined deflection angle to a state of the deflection angle of 0 by steering under a predetermined condition in accordance with the running distance, as a change in the running distance with respect to one of the steering angle and the turning curvature; and computing means for computing a target path that extends from the initial position to the target position by using the first basic path and the second basic path as a basis and adding a straight-line path to at least one of a site forward of the first basic path, a site between the first basic path and the second basic path, and a site rearward of the second basic path under a predetermined condition, the computing means computing the target path by similarity-enlarging at least one of the first basic path and the second basic path.
-
Specification