Automatic parking control device
An automatic parking control device is capable of causing a vehicle to correctly reach the next frame without relying on normal parking route regeneration when a determination is made that the vehicle cannot reach the next frame under automatic parking vehicle control along a section route constituting a part of a parking route. When a determination is made whether the next frame is located on an extension of the current section route and the determination result shows that the next frame is located on the extension, the host vehicle travels further. When the determination is made whether the next frame is located on a remaining section of the current section route and the determination result shows that the next frame is located on the remaining section, the host vehicle decelerates earlier, thereby allowing the host vehicle to reach and come to a stop at the next frame.
1. An automatic parking control device that causes a vehicle to travel from a parking start position to a target parking position comprising:
a determination unit configured to determine, while the vehicle is traveling on a first section route, whether the vehicle can reach a turning position which the vehicle is scheduled to reach next when the vehicle travels on a remaining portion of the first section route, and,
when determining that the vehicle cannot reach the turning position, determine whether the vehicle can reach the turning position on an extension of the remaining portion;
a calculation unit configured to calculate an adjustment distance from the current position on the first section route when the determination unit determines that the vehicle cannot reach the turning position; and
an adjustment unit configured to generate, based on the adjustment distance calculated by the calculation unit, an adjustment route on which the vehicle is caused to travel.
2. An automatic parking control device that causes a vehicle to travel from a parking start position to a target parking position comprising:
a determination unit configured to determine whether the vehicle can reach a turning position which the vehicle is scheduled to reach next when the vehicle travels on a remaining portion of a current section route, and, when determining that the vehicle cannot reach the turning position, determine whether the vehicle can reach the turning position on an extension of the remaining portion by causing the vehicle to travel further from a travel end position of the remaining section without changing a steering angle and travel direction of the current section;
a calculation unit configured to calculate an adjustment distance from the current position on the section route when the determination unit determines that the vehicle cannot reach the turning position; and
an adjustment unit configured to generate, based on a calculation result from the calculation unit, an adjustment route on which the vehicle is caused to travel by adding an adjustment distance to the current section route without changing the steering angle and travel direction.
3. The automatic parking control device according to claim 2 ,
wherein with the vehicle caused to travel from a travel end position of the current section route to a next frame, when a speed of the vehicle reaches a predetermined threshold during deceleration before completion of travel to the end of the current section route, the vehicle is caused to travel with the vehicle speed kept equal to the predetermined threshold.
4. An automatic parking control device that causes a vehicle to travel from a parking start position to a target parking position comprising:
a determination unit configured to determine whether the vehicle can reach a turning position which the vehicle is scheduled to reach next when the vehicle travels on a remaining portion of a first section route from a current position on the first section route, and, when determining that the vehicle cannot reach the turning position determine whether the vehicle can reach the turning position within a next frame;
a calculation unit configured to calculate an adjustment distance from the current position on the first section route to the next frame when the determination unit determines that the vehicle can reach the turning position within the next frame; and
an adjustment unit configured to generate, based on a calculation result from the calculation unit, an adjustment route on which the vehicle is caused to travel on the remaining portion of the first section route such that the vehicle can to come to a stop within the next frame.
5. The automatic parking control device according to claim 4 , wherein the vehicle is caused to come to a stop within the next frame by increasing deceleration of the vehicle higher or making a start of deceleration of the vehicle earlier to cause the vehicle to decelerate earlier.
6. The automatic parking control device according to claim 1 , wherein the first section route is formed of a chain of at least one curved segment represented by a first mathematical expression or one straight segment represented by a second mathematical expression, and
the determination by the determination unit and the calculation by the calculation unit are made when the vehicle is located on the curved segment or straight segment, said curved segment or said straight segment being located immediately before the next frame.
7. The automatic parking control device according to claim 6 , wherein the curved segment located immediately before the next frame is an arc.
8. The automatic parking control device according to claim 1 , wherein the determination by the determination unit and the calculation by the calculation unit are made when a position of a next frame is changed.
9. The automatic parking control device according to claim 1 , wherein, when the determination unit determines that the vehicle cannot reach the turning point within a next frame a route to the target parking position is regenerated.
10. The automatic parking control device according to claim 1 , wherein, when the determination unit determines that the vehicle can reach the turning point within a next frame,
and when the determination by the determination unit and the calculation by the calculation unit have been made more than once while causing the vehicle to travel on the adjustment route generated in accordance with the adjustment distance obtained from the calculation unit,
when the determination that the vehicle can reach the turning spot within the next frame is repeated a predetermined number of times, the adjustment unit does not readjust the adjustment route further.