To provide a parking support apparatus capable of calculating an efficient parking route to be followed by a vehicle to a target position to be reached by the vehicle for parking.SOLUTION: A parking support apparatus comprises an acquisition unit that acquires a target position to be reached by a vehicle for parking and a support unit that calculates a parking route to be followed by the vehicle until the vehicle reaches the target position to support movement of the vehicle and parking of the vehicle at the target position. When the vehicle approaches the target position while turning along the parking route, the acquisition unit acquires the target position a plurality of times, and the support unit updates the parking route depending on whether or not a variation level of the target position toward the inside of the turning exceeds a first level or whether or not a variation level of the target position toward the outside of the turning exceeds a second level higher than the first level. Thus, the parking route can be prevented from being updated such that the vehicle cannot reach the target position even if the vehicle turns at a maximum steering angle due to too much variation of the target position toward the outside of the turning of the vehicle. Therefore, the parking support apparatus can calculate an efficient parking route.SELECTED DRAWING: Figure 6
【課題】駐車のために車両が到達すべき目標位置まで車両が辿るべき効率的な駐車経路を算出できる駐車支援装置を提供する。【解決手段】駐車のために車両が到達すべき目標位置を取得する取得部と、目標位置に到達するまで車両が辿るべき駐車経路を算出して車両の移動および目標位置での車両の駐車を支援する支援部とを備える。駐車経路に沿って車両が旋回しながら目標位置に近づく場合、取得部は目標位置を複数回取得し、支援部は、目標位置の旋回の内側への変動レベルが第1レベルを超えるか、目標位置の旋回の外側への変動レベルが第1レベルよりも大きい第2レベルを超えることに応じて、駐車経路を更新する。これにより、車両の旋回外側に目標位置が変動しすぎることに起因して、最大舵角で旋回したとしても車両が目標位置に到達できないように駐車経路が更新されることを抑制できるから、効率的な駐車経路を算出できる駐車支援装置を提供することができる。【選択図】図6
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
Electronic Resource
Japanese
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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