Parking path calculation device, parking assist device and parking path calculation method
Provided are a parking path calculation device, a parking assist device, and a parking path calculation method, which are capable of improving a degree of freedom of calculating a parking path. A parking path calculator calculates a virtual parking position establishing a predetermined positional relationship with a parking end position when an own vehicle moves backward from an own vehicle position to a parking end position at a minimum turning radius, and calculates, depending on a positional relationship between the virtual parking position and the parking end position, a parking path on which steered wheels are to be steered to cross a neutral position thereof at a time of guiding the own vehicle.
1. A parking path calculation device, which is configured to recognize a parking position at which an own vehicle is capable of being parked and calculate a parking path from an own vehicle position to the recognized parking position, the parking path calculation device comprising a parking path calculator configured to:
calculate a virtual parking position, at which the own vehicle is substantially parallel to the recognized parking position when the own vehicle is guided from the own vehicle position at a maximum steering angle; and
calculate a parking path for guiding the own vehicle by using, depending on a positional relationship between the virtual parking position and the recognized parking position:
a first curve that is based on first-directional steering with respect to a neutral position of a steering device; and
a second curve that is based on second-directional steering, which is a steering direction opposite to the first-directional steering with respect to the neutral position-,
wherein
the recognized parking position includes a parking end position, and
when:
a two-dimensional coordinate system in which coordinates of the parking end position are set as an origin, a front-and-rear direction of the own vehicle at the parking end position is set as a Y-axis, and a direction orthogonal to the Y-axis is set as an X-axis; and
a Y-axis positive direction position, a Y-axis negative direction position, an X-axis negative direction position, and an X-axis positive direction position are defined as a position on a side of the own vehicle position with respect to the X-axis, a position on a side opposite to the position on the side of the own vehicle position with respect to the X-axis, a position on a side of the own vehicle position with respect to the Y-axis, and a position on a side opposite to the position on the side of the own vehicle position with respect to the Y-axis, respectively,
the parking path calculator calculates a parking path from coordinates of the own vehicle position to the coordinates of the parking end position by using a first S-curve, which is a connection of the first curve and the second curve, and a second S-curve to be connected to the first S-curve, which is a connection of the second curve and the first curve, when coordinates of the virtual parking position are at the X-axis negative direction position and the Y-axis negative direction position.
2. A parking path calculation device according to claim 1 , wherein the parking path calculator is configured to calculate the parking path by using an S-curve obtained by connecting the second curve and the first curve when the coordinates of the virtual parking position are at the X-axis positive direction position and the Y-axis positive direction position.
3. A parking path calculation device according to claim 1 , wherein, when:
a two-dimensional coordinate system in which coordinates of the parking end position are set as an origin, a front-and-rear direction of the own vehicle at the parking end position is set as a Y-axis, and a direction orthogonal to the Y-axis is set as an X-axis is set; and
a Y-axis positive direction position, a Y-axis negative direction position, an X-axis negative direction position, and an X-axis positive direction position are defined as a position on a side of the own vehicle position with respect to the X-axis, a position on a side opposite to the position on the side of the own vehicle position with respect to the X-axis, a position on a side of the own vehicle position with respect to the Y-axis, and a position on a side opposite to the position on the side of the own vehicle position with respect to the Y-axis, respectively,
the parking path calculator calculates the parking path by using an S-curve that is obtained by connecting the second curve and the first curve, when coordinates of the virtual parking position are at the X-axis positive direction position and the Y-axis positive direction position.
4. A parking path calculation device according to claim 1 , wherein the parking path calculator includes a parking path calculation determiner configured to determine whether or not the parking path is capable of being calculated based on a positional relationship between the own vehicle position and the recognized parking position.
5. A parking path calculation device according to claim 4 , wherein, when a two-dimensional coordinate system in which coordinates of the parking end position are set as an origin, a front-and-rear direction of the own vehicle at the parking end position is set as a Y-axis, and a direction orthogonal to the Y-axis is set as an X-axis is set, the parking path calculation determiner determines whether the parking path is capable of being calculated based on:
a relationship between a required X-distance, which is a distance between coordinates of the virtual parking position and coordinates of the own vehicle position in an X-axis direction, and a relative X-distance, which is a distance between the coordinates of the own vehicle position and the coordinates of the parking end position in the X-axis direction; and
a relationship between a required Y-distance, which is a distance between the coordinates of the virtual parking position and the coordinates of the own vehicle position in a Y-axis direction, and a relative Y-distance, which is a distance between the coordinates of the own vehicle position and the coordinates of the parking end position in the Y-axis direction.
6. A parking path calculation device according to claim 1 , wherein the parking path calculator is configured to calculate the parking path by using at least one of a clothoid curve, an arc, and a connection of a clothoid curve and an arc.
7. A parking assist device, which is configured to calculate a parking path for parking an own vehicle at a parking end position that is set, the parking assist device comprising:
a virtual parking position calculator configured to calculate coordinates of a virtual parking position that is a predetermined positional relationship with the parking end position when the own vehicle is guided from an own vehicle position at a minimum turning radius;
a parking path calculator configured to calculate, depending on a positional relationship between the calculated virtual parking position and the parking end position, a parking path for guiding the own vehicle by connecting a first curve, which is based on first-directional steering being steering in one direction with respect to a neutral position of steered wheels, and a second curve, which is based on second-directional steering being steering in a direction opposite to the one direction with respect to the neutral position; and
a vehicle controller configured to move the own vehicle along the calculated parking path, wherein, when:
a two-dimensional coordinate system in which coordinates of the parking end position are set as an origin, a front-and-rear direction of the own vehicle at the parking end position is set as a Y-axis, and a direction orthogonal to the Y-axis is set as an X-axis; and
a Y-axis positive direction position, a Y-axis negative direction position, an X-axis negative direction position, and an X-axis positive direction position are defined as a position on a side of the own vehicle position with respect to the X-axis, a position on a side opposite to the position on the side of the own vehicle position with respect to the X-axis, a position on a side of the own vehicle position with respect to the Y-axis, and a position on a side opposite to the position on the side of the own vehicle position with respect to the Y-axis, respectively,
the parking path calculator calculates a parking path from coordinates of the own vehicle position to the coordinates of the parking end position by using a first S-curve, which is a connection of the first curve and the second curve, and a second S-curve to be connected to the first S-curve, which is a connection of the second curve and the first curve, when coordinates of the virtual parking position are at the X-axis negative direction position and the Y-axis negative direction position.
8. A parking assist device according to claim 7 , wherein, when:
a two-dimensional coordinate system in which coordinates of the parking end position are set as an origin, a front-and-rear direction of the own vehicle at the parking end position is set as a Y-axis, and a direction orthogonal to the Y-axis is set as an X-axis is set; and
a Y-axis positive direction position, a Y-axis negative direction position, an X-axis negative direction position, and an X-axis positive direction position are defined as a position on a side of the own vehicle position with respect to the X-axis, a position on a side opposite to the position on the side of the own vehicle position with respect to the X-axis, a position on a side of the own vehicle position with respect to the Y-axis, and a position on a side opposite to the position on the side of the own vehicle position with respect to the Y-axis, respectively,
the parking path calculator calculates the parking path by using an S-curve, which is a connection of the second curve and the first curve, when coordinates of the virtual parking position are at the X-axis positive direction position and the Y-axis positive direction position.
9. A parking path calculation method, comprising:
calculating a virtual parking position that is a predetermined positional relationship with a parking end position when an own vehicle is guided from an own vehicle position at a minimum turning radius;
calculating, depending on a positional relationship between the calculated virtual parking position and the parking end position, a parking path on which steered wheels are to be steered to cross a neutral position thereof at a time of guiding the own vehicle, wherein the calculating of the parking path includes calculating, when:
a two-dimensional coordinate system in which coordinates of the parking end position are set as an origin, a front-and-rear direction of the own vehicle at the parking end position is set as a Y-axis, and a direction orthogonal to the Y-axis is set as an X-axis; and
a Y-axis positive direction position, a Y-axis negative direction position, an X-axis negative direction position, and an X-axis positive direction position are defined as a position on a side of the own vehicle position with respect to the X-axis, a position on a side opposite to the position on the side of the own vehicle position with respect to the X-axis, a position on a side of the own vehicle position with respect to the Y-axis, and a position on a side opposite to the position on the side of the own vehicle position with respect to the Y-axis, respectively,
a parking path from coordinates of the own vehicle position to the coordinates of the parking end position by using a first S-curve, which is a connection of the first curve and the second curve, and a second S-curve to be connected to the first S-curve, which is a connection of the second curve and the first curve, when coordinates of the virtual parking position are at the X-axis negative direction position and the Y-axis negative direction position.
10. A parking assist device according to claim 9 , wherein the calculating of the parking path includes calculating, when:
a two-dimensional coordinate system in which coordinates of the parking end position are set as an origin, a front-and-rear direction of the own vehicle at the parking end position is set as a Y-axis, and a direction orthogonal to the Y-axis is set as an X-axis is set; and
a Y-axis positive direction position, a Y-axis negative direction position, an X-axis negative direction position, and an X-axis positive direction position are defined as a position on a side of the own vehicle position with respect to the X-axis, a position on a side opposite to the position on the side of the own vehicle position with respect to the X-axis, a position on a side of the own vehicle position with respect to the Y-axis, and a position on a side opposite to the position on the side of the own vehicle position with respect to the Y-axis, respectively,
the parking path by using an S-curve, which is a connection of the second curve and the first curve, when coordinates of the virtual parking position are at the X-axis positive direction position and the Y-axis positive direction position.