PROBLEM TO BE SOLVED: To provide a parking support device which can improve yaw angle calculation accuracy, enhance self-position estimation accuracy, and which has high robust property even on a bad road surface.SOLUTION: A self-position estimation part 2 for calculating a position of an own-vehicle and a posture angle, in which a position of the own vehicle when parking support is started, is a reference position, comprises: a first yaw angle calculation part 12 for calculating a first yaw angle of the own vehicle; a second yaw angle calculation part 13 for calculating a second yaw angle of the own vehicle based on a lateral wheel movement distance of a front or a rear wheel; and a third yaw angle calculation part 14 for calculating a third yaw angle of the own vehicle, based on a steering angle and a vehicle speed. A combined yaw angle calculation part 15 calculates a combined yaw angle by adjusting a combination ratio of the first yaw angle, the second yaw angle, and the third yaw angle, based on the vehicle state, and an own-vehicle position posture angle calculation part 16 calculates the position of the own vehicle and the posture angle, based on the calculated combined yaw angle and the vehicle speed.SELECTED DRAWING: Figure 2

    【課題】ヨー角算出精度を向上させ、自己位置推定精度が高く、悪路面でもロバスト性の高い駐車支援装置を得る。【解決手段】駐車支援が開始された時の自車の位置を基準位置として、自車の位置及び姿勢角を算出する自己位置推定部2が、ヨーレートに基づき、自車の第一のヨー角を算出する第一ヨー角算出部12と、前輪または後輪の左右車輪移動距離に基づき、自車の第二のヨー角を算出する第二ヨー角算出部13と、操舵角及び車速に基づき、自車の第三のヨー角を算出する第三ヨー角算出部14とを有し、合成ヨー角算出部15により、車両状況に基づき、第一のヨー角、第二のヨー角及び第三のヨー角の合成比率を調整して合成ヨー角を算出し、自車位置姿勢角算出部16が、この算出した合成ヨー角及び車速に基づき、自車の位置及び姿勢角を算出するようにした。【選択図】図2


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    Titel :

    PARKING SUPPORT DEVICE


    Weitere Titelangaben:

    駐車支援装置


    Beteiligte:
    YOSHINO REI (Autor:in) / MORI KOHEI (Autor:in) / HIGASHI MICHITOSHI (Autor:in) / TAKEUCHI YU (Autor:in)

    Erscheinungsdatum :

    2017-11-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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