According to the invention, a parking path which is beneficial to improving riding feeling and comfort can be determined. A parking assistance device (100) uses the vehicle information (122) and the recognition result of the periphery recognition unit (111) to calculate a parking path of a plurality of modes in which the curvature radii of arcs included in the parking path are different as the parking path in which the vehicle (1) is parked in the parking area by a parking path calculation unit (115). The parking assistance device 100 chooses a parking route with the largest curvature radius of a circular arc from advance of the vehicles 1 among the parking routes of various patterns by the parking route selecting part 116 that there is least number of times of a driving operation which changes the moving direction to the advance from sternway or sternway.
本发明能够确定有利于改善乘坐感受、舒适性的驻车路径。驻车支援装置(100)通过驻车路径计算部(115)利用车辆信息(122)和周边识别部(111)的识别结果,作为使车辆(1)停在驻车区域的驻车路径,计算使其驻车路径中包含的圆弧的曲率半径不同的多种模式的驻车路径。另外,驻车支援装置(100)通过驻车路径选择部(116)从多种模式的驻车路径中选择车辆(1)的从前进到后退、或从后退到前进的改变行进方向的驾驶操作的次数最少、且圆弧的曲率半径最大的驻车路径。
PARKING assistance DEVICE AND METHOD FOR CONTROLLING PARKING assistance DEVICE
驻车支援装置及驻车支援装置的控制方法
2021-12-03
Patent
Electronic Resource
Chinese
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 |
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