To provide a reverse parking assist device of a combination vehicle, which can calculate a route for allowing a combination vehicle to back and park to a target position while reducing a possibility of a contact with an object and can calculate the route to the target position while reducing the amount of calculation.SOLUTION: The present invention includes a potential field preparation unit 32 configured to prepare a potential field indicating a possibility of a contact of a combination vehicle with an object, a parking target route candidate preparation unit 33 configured to prepare a parking target route candidate from one's own vehicle to a parking target position by using the potential field, a route correction unit 35 configured to slightly change the curvature of a bent portion of the parking target route candidate, and a follow-up control unit 36 configured to set a steering angle of the combination vehicle by using the potential field so that the combination vehicle moves along the parking target route candidate. The route correction unit 35 is configured to set an imaginary triangle having a bent point, first and second points as vertices and change the route of the bent portion so as to make the bent portion come close to an inclination side of the triangle.SELECTED DRAWING: Figure 4

    【課題】対象物との接触の可能性を抑えて目標位置まで連結車を後退駐車させる経路を演算することができると共に、演算量の増大を抑制して目標位置までの経路を算出することが可能な連結車の後退駐車支援装置を提供する。【解決手段】対象物と連結車とが接触する可能性を示すポテンシャルフィールドを作成するポテンシャルフィールド作成部32と、ポテンシャルフィールドを用いて自車位置から駐車目標位置までの駐車目標経路候補を作成する駐車目標経路候補作成部33と、駐車目標経路候補の屈曲部分について、曲率を緩く変更する経路補正部35と、連結車が駐車目標経路候補に沿って移動するように、ポテンシャルフィールドを用いて、連結車の操舵角を設定する追従制御部36と、を備える構成とする。経路補正部35は、屈曲点、第1点及び第2点を頂点とする仮想の三角形を設定し、三角形の斜辺側に近づけるように屈曲部分の経路を変更する。【選択図】図4


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    Titel :

    REVERSE PARKING ASSIST DEVICE OF COMBINATION VEHICLE


    Weitere Titelangaben:

    連結車の後退駐車支援装置


    Beteiligte:

    Erscheinungsdatum :

    20.12.2018


    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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