To provide a parking support apparatus that acquires a guidance route that suppresses occurrence of a turn for parking even when a parking target position shifts during route guidance, to easily realize smooth route guidance.SOLUTION: A parking support apparatus comprises an acquisition unit that acquires peripheral information representing a situation surrounding a vehicle to be acquired by a detector loaded in a vehicle, a guidance via position setting unit that sets such a guidance via position that the vehicle can be guided to a parking target position to be determined on the basis of the peripheral information by being turned at a non-maximum steering angle smaller than a maximum steering angle at which steering can be performed in the vehicle, a route acquisition unit that acquires at least a guidance route from the guidance via position to the parking target position, and a control unit that guides the vehicle according to the guidance route.SELECTED DRAWING: Figure 5
【課題】経路誘導中に駐車目標位置のずれが生じた場合でも、切返しの発生を抑制した誘導経路を取得し、スムーズな経路誘導が実現しやすい駐車支援装置を提供する。【解決手段】駐車支援装置は、車両に搭載された検出器で取得される車両の周辺状況を示す周辺情報を取得する取得部と、車両において転舵し得る最大舵角より小さな非最大舵角で車両を旋回させて、周辺情報に基づいて定められる駐車目標位置に誘導できるような誘導経由位置を設定する誘導経由位置設定部と、少なくとも誘導経由位置から駐車目標位置までの誘導経路を取得する経路取得部と、誘導経路にしたがって車両を誘導する制御部と、を備える。【選択図】図5
PARKING SUPPORT APPARATUS, PARKING SUPPORT METHOD, AND PARKING SUPPORT PROGRAM
駐車支援装置、駐車支援方法、および駐車支援プログラム
2021-04-22
Patent
Elektronische Ressource
Japanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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