Parking support apparatus
A parking support apparatus includes: a host vehicle positional information acquisition unit acquiring host vehicle positional information indicating a current position of a vehicle; an obliqueness calculation unit calculating obliqueness between a vehicle length direction and a longitudinal direction of the parking space, based on the host vehicle positional information; an obliqueness correction path calculation unit calculating an obliqueness correction path along which a position of the vehicle reaches a front end of the parking space, based on the obliqueness when the vehicle travels forward from a stop position at a steering angle; and a centering path calculation unit calculating a centering path which has a width at a central portion of the parking space in a width direction and along which the vehicle travels forward toward a central region set in the longitudinal direction, after a position of the vehicle reaches the front end of the parking space.
1. A parking support apparatus for a vehicle comprising:
a vehicle positional information acquisition unit that acquires vehicle positional information indicating a current position of the vehicle which stops within a parking space;
an obliqueness calculation unit that calculates obliqueness between a vehicle length direction of the vehicle which stops at the parking space and a longitudinal direction of the parking space, based on the vehicle positional information;
an obliqueness correction path calculation unit that calculates an obliqueness correction path along with a predetermined location on the vehicle reaches a front end of the parking space, based on the obliqueness when the vehicle travels forward from the stopped current position of the vehicle at a predetermined steering angle, wherein the predetermined location on the vehicle is a location on the vehicle located within a range distance from the front end of the vehicle, the range distance being equal to or less than a width of the parking space; a guidance unit that guides the vehicle along the obliqueness correction path;
a centering path calculation unit that calculates a centering path along which a reference position of the vehicle travels forward toward a central region set to extend from the parking space in the longitudinal direction and having a predetermined width at a central portion of the parking space in a width direction orthogonal to the longitudinal direction thereof after the predetermined location on the vehicle reaches the front end of the parking space; and
wherein the guidance unit further guides the vehicle along the centering path.
2. The parking support apparatus according to claim 1 ,
wherein after the predetermined location on the vehicle reaches the front end of the parking space, the centering path calculation unit calculates the centering path including a fixed steering angle path along which the vehicle travels forward toward the central region of the parking space while fixed at a certain steering angle.
3. The parking support apparatus according to claim 2 ,
wherein after the vehicle travels along the fixed steering angle path, and after traveling along the fixed steering angle path, the centering path calculation unit calculates a direction adjustment path along which the vehicle travels forward so as to cause the vehicle length direction of the vehicle to be parallel to the longitudinal direction of the parking space.
4. The parking support apparatus according to claim 3 ,
wherein when the vehicle traveling along the centering path is determined to come into contact with an object in front of the parking space, the centering path calculation unit calculates a reverse traveling adjustment path along which the vehicle travels reversely toward the parking space from a position before the position to be in contact so as to cause the vehicle length direction of the vehicle to be parallel to the longitudinal direction of the parking space.
5. The parking support apparatus according to claim 3 ,
wherein when the vehicle traveling along the centering path reaches a position set in advance in accordance with a width of a road in the front of the parking space, the centering path calculation unit calculates a reverse traveling adjustment path along which the vehicle travels reversely toward the parking space from a position set in advance so as to cause the vehicle length direction of the vehicle to be parallel to the longitudinal direction of the parking space.
6. The parking support apparatus according to claim 1 ,
wherein, after the vehicle travels forward, the vehicle travels reversely to the parking lot and stops, and
the predetermined location of the vehicle is a position of a front wheel of the vehicle.
7. The parking support apparatus according to claim 1 ,
wherein when the vehicle travels forward at the predetermined steering angle, the predetermined location on the vehicle is determined as a position of the vehicle passing a longitudinal axis of the innermost side of the parking space in accordance with the steering angle in the vehicle.