Parking assisting apparatus
First Claim
1. A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:
- traveling path calculation means for calculating a traveling path for guiding the vehicle to a target position; and
assist means for assisting traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation means,wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a traveling path in which the front wheels and the rear wheels are steered in reverse directions, and said traveling path includes a section in which a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory of a clothoid curve, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle.
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Accused Products
Abstract
The present invention relates to a parking assist apparatus 10 used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising: traveling path calculation means for calculating a traveling path for guiding the vehicle to a target position; and assist means for assisting traveling of the vehicle to the target position, based on the traveling path calculated by the traveling path calculation means. In the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a traveling path in which the front wheels and the rear wheels are steered in reverse directions, and said traveling path includes a section in which a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, creates a trajectory of a clothoid curve.
18 Citations
12 Claims
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1. A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:
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traveling path calculation means for calculating a traveling path for guiding the vehicle to a target position; and assist means for assisting traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation means, wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a traveling path in which the front wheels and the rear wheels are steered in reverse directions, and said traveling path includes a section in which a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory of a clothoid curve, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle. - View Dependent Claims (2, 3, 7)
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4. A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:
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traveling path calculation means for calculating a traveling path for guiding the vehicle to a target position; and assist means for assisting traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation means, wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a clothoid section defined by a clothoid curve, and in the four-wheel steering mode, the assist means steers the front wheels and the rear wheels in reverse directions in such a manner that a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory along the clothoid curve in the clothoid section, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle. - View Dependent Claims (8)
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5. A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:
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a traveling path calculation part configured to calculate a traveling path for guiding the vehicle to a target position; and an assist part configured to assist traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation part, wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation part includes a traveling path in which the front wheels and the rear wheels are steered in reverse directions, and said traveling path includes a section in which a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory of a clothoid curve, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle. - View Dependent Claims (9, 11, 12)
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6. A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:
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a traveling path calculation part configured to calculate a traveling path for guiding the vehicle to a target position; and an assist part configured to assist traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation part, wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a clothoid section defined by a clothoid curve, and in the four-wheel steering mode, the assist part steers the front wheels and the rear wheels in reverse directions in such a manner that a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory along the clothoid curve in the clothoid section, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle. - View Dependent Claims (10)
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Specification