To highly accurately generate a parking route of a connection vehicle at low calculation cost.SOLUTION: A parking route generating device 16 includes: a pattern storing part 21 for storing a plurality of retreat route patterns based on a rear shaft of a trailer 4 for each wheel base length of the trailer 4; a position setting part 22 for setting a parking start position A1 of the connection vehicle 2 and a parking target position A2 of the connection vehicle 2; a locus generating part 23 for generating a plurality of retreat locus profiles on the basis of information indicating a wheel base length of the trailer 4 in the connection vehicle 2 and information stored in the pattern storage part 21; a locus selecting part 24 for selecting the retreat locus profile in which the connection wheel 2 does not collide with an obstacle 50; a route determining part 25 for determining a parking route so that the connection vehicle 2 starting parking from the parking start position A1 retreats after advancement and thereby is parked at the parking target position A2; and a route outputting part 26 for outputting the parking route.SELECTED DRAWING: Figure 1
【課題】連結車の駐車経路を、高精度に且つ低演算コストで生成すること。【解決手段】駐車経路生成装置16は、トレーラ4のホイールベース長毎に、トレーラ4の後軸を基準とした複数の後退経路パターンを記憶するパターン記憶部21と、連結車2の駐車開始位置A1及び連結車2の駐車目標位置A2を設定する位置設定部22と、連結車2におけるトレーラ4のホイールベース長を示す情報と、パターン記憶部21に記憶されている情報と、に基づき、複数の後退軌跡プロファイルを生成する軌跡生成部23と、連結車2が障害物50に衝突しない後退軌跡プロファイルを選択する軌跡選択部24と、駐車開始位置A1から駐車を開始した連結車2が、前進後に後退することによって駐車目標位置A2に駐車されるように、駐車経路を決定する経路決定部25と、駐車経路を出力する経路出力部26と、を備える。【選択図】図1
PARKING ROUTE GENERATING DEVICE
駐車経路生成装置
2023-03-30
Patent
Electronic Resource
Japanese
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