停车辅助装置

• Format: Patent
• Language: Chinese
• Published: 30.08.2022
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; TRAFFIC CONTROL SYSTEMS; TRAILERS; TRANSPORTING; VEHICLES IN GENERAL; VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISEPROVIDED FOR

本发明的课题在于获得一种在停车路径的途中存在障碍物的情况下重设停车路径的停车辅助装置。本发明的停车辅助装置(1)具备：出库路径运算部(11)，其根据停车空间的信息和自身车辆行为的制约条件来运算使自身车辆(V)从停车空间(20)出库的出库路径；连接候选位置设定部(12)，其在出库路径上设定多个连接候选位置；可到达路径运算部(13)，其运算能够从自身车辆的初始位置到达所述多个连接候选位置中的至少一个的可到达路径；停车路径设定部(14)，其将出库路径与可到达路径相连来设定自身车辆的初始位置起到所述停车空间为止的停车路径；以及路径重设部(15)，其在停车路径的途中存在障碍物的情况下，运算自身车辆的停止位置(J0)起到停车空间(20)为止的停车路径而重设为新的停车路径。 An object of the present invention is to provide a parking assistance device for resetting a parking path when there is an obstacle on the parking path. A parking assistance device (1) of the present invention includes a pull-out path computing unit (11) that computes a pull-out path for pulling the vehicle (V) out of the parking space (20) based on information on the parking space and constraint conditions regarding vehicle behavior, a candidate connection position setting unit (12) that sets a plurality of candidate connection positions on the pull-out path, a reachable path computing unit (13) that computes a reachable path for allowing the vehicle to reach at least one of the