Parking assisting apparatus
The present invention relates to a parking assist apparatus 10 used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising: traveling path calculation means for calculating a traveling path for guiding the vehicle to a target position; and assist means for assisting traveling of the vehicle to the target position, based on the traveling path calculated by the traveling path calculation means. In the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a traveling path in which the front wheels and the rear wheels are steered in reverse directions, and said traveling path includes a section in which a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, creates a trajectory of a clothoid curve.
1. A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:
traveling path calculation means for calculating a traveling path for guiding the vehicle to a target position; and
assist means for assisting traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation means,
wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a traveling path in which the front wheels and the rear wheels are steered in reverse directions, and said traveling path includes a section in which a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory of a clothoid curve, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle.
2. The parking assist apparatus as claimed in claim 1 , wherein in the four-wheel steering mode, the assist means calculates target values related to steering angles of the front wheels and the rear wheels to be implemented at an arbitrary position in the traveling path, based on the traveling path calculated by the traveling path calculation means, and assists traveling of the vehicle for parking to the target position, based on the target values, and
in the four-wheel steering mode, a relationship between the target values related to steering angles of the front wheels and the target values related to steering angles of the rear wheels in the section of the clothoid curve is a constant relationship determined by a position of the constant point on the center line and a wheel base length.
3. The parking assist apparatus as claimed in claim 2 , wherein in the four-wheel steering mode, the relationship between the target values related to steering angles of the front wheels and the target values related to steering angles of the rear wheels in the section of the clothoid curve is given by a constant relationship
θ
R
=
tan
-
1
(
T
·
tan
θ
F
1
-
T
)
,
when the target values related to steering angles of the front wheels are expressed by a magnitude θ F of a steered angle of tires of the front wheels and the target values related to steering angles of the rear wheels are expressed by a magnitude θ R of a steered angle of tires of the rear wheels, where T is a constant which is expressed by T=α/WB, using a distance α from a rear axle center on the center line to the constant point, and a wheel base length WB.
4. A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:
traveling path calculation means for calculating a traveling path for guiding the vehicle to a target position; and
assist means for assisting traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation means,
wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a clothoid section defined by a clothoid curve, and
in the four-wheel steering mode, the assist means steers the front wheels and the rear wheels in reverse directions in such a manner that a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory along the clothoid curve in the clothoid section, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle.
5. A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:
a traveling path calculation part configured to calculate a traveling path for guiding the vehicle to a target position; and
an assist part configured to assist traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation part,
wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation part includes a traveling path in which the front wheels and the rear wheels are steered in reverse directions, and said traveling path includes a section in which a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory of a clothoid curve, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle.
6. A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:
a traveling path calculation part configured to calculate a traveling path for guiding the vehicle to a target position; and
an assist part configured to assist traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation part,
wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a clothoid section defined by a clothoid curve, and
in the four-wheel steering mode, the assist part steers the front wheels and the rear wheels in reverse directions in such a manner that a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory along the clothoid curve in the clothoid section, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle.
7. The parking assist apparatus as claimed in claim 1 , wherein the assist means assists the constant point along the trajectory of the clothoid curve with the turning center being movable only in a lateral direction of the vehicle.
8. The parking assist apparatus as claimed in claim 4 , wherein the assist means assists the constant point along the trajectory of the clothoid curve with the turning center being movable only in a lateral direction of the vehicle.
9. The parking assist apparatus as claimed in claim 5 , wherein the assist part assists the constant point along the trajectory of the clothoid curve with the turning center being movable only in a lateral direction of the vehicle.
10. The parking assist apparatus as claimed in claim 6 , wherein the assist part assists the constant point along the trajectory of the clothoid curve with the turning center being movable only in a lateral direction of the vehicle.
11. The parking assist apparatus as claimed in claim 5 , wherein in the four-wheel steering mode, the assist part calculates target values related to steering angles of the front wheels and the rear wheels to be implemented at an arbitrary position in the traveling path, based on the traveling path calculated by the traveling path calculation part, and assists traveling of the vehicle for parking to the target position, based on the target values, and
in the four-wheel steering mode, a relationship between the target values related to steering angles of the front wheels and the target values related to steering angles of the rear wheels in the section of the clothoid curve is a constant relationship determined by a position of the constant point on the center line and a wheel base length.
12. The parking assist apparatus as claimed in claim 11 , wherein in the four-wheel steering mode, the relationship between the target values related to steering angles of the front wheels and the target values related to steering angles of the rear wheels in the section of the clothoid curve is given by a constant relationship
θ
R
=
tan
-
1
(
T
·
tan
θ
F
1
-
T
)
,
when the target values related to steering angles of the front wheels are expressed by a magnitude θ F of a steered angle of tires of the front wheels and the target values related to steering angles of the rear wheels are expressed by a magnitude θ R of a steered angle of tires of the rear wheels, where T is a constant which is expressed by T=α/WB, using a distance α from a rear axle center on the center line to the constant point, and a wheel base length WB.