Parking Trajectory Calculation Apparatus and Parking Trajectory Calculation Method

Patent metadata

Field	Value
Publication number	US-2017129486-A1
Application number	US-201515319954-A
Country	US
Kind code	A1
Filing date	Jun 9, 2015
Priority date	Jun 30, 2014
Publication date	May 11, 2017
Grant date	—

Abstract

The present invention provides a parking trajectory calculation apparatus and a parking trajectory calculation method capable of calculating a parking trajectory from an arbitrary parking start position. An aspect of the present invention recognizes a parking space for parking a subject vehicle in a preset limited area Area 1, calculates a first parking trajectory from P 1 to P 0 for guiding the subject vehicle from the arbitrary parking start position to the parking space by causing the subject vehicle to first move backward, calculates a second parking trajectory from P 2 to P 0 by causing the subject vehicle to move backward after moving forward if the first parking trajectory from P 1 to P 0 cannot be calculated, and ends the calculation of the parking trajectory if the second parking trajectory from P 2 to P 0 cannot be calculated.

First claim

1 . A parking trajectory calculation apparatus comprising:
a recognition unit configured to recognize a parking space for parking a subject vehicle in a limited area preset based on a result of recognition of an obstacle; and a parking trajectory calculation unit configured to calculate a parking trajectory for guiding the subject vehicle from an arbitrary parking start position to a parking end position in the recognized parking space while avoiding the obstacle, wherein the parking trajectory calculation unit calculates the parking trajectory in which the vehicle moves backward after moving forward if being unable to calculate the parking trajectory for guiding the vehicle to the parking space through a backward movement.

2 . The parking trajectory calculation apparatus according to claim 1 , wherein the recognition unit recognizes, based on the result of the recognition of the obstacle, a preset limited area where the subject vehicle is movable and the parking space serving as a parking end position for perpendicular parking of the subject, vehicle in the limited area,
wherein the parking trajectory calculation unit calculates the parking trajectory in such a manner that, the vehicle is steered rightward when moving forward and is steered leftward when moving backward if the parking space is located on a left side of the subject vehicle in a traveling direction, and calculates the parking trajectory in such a manner that the vehicle is steered leftward when moving forward and is steered rightward when moving backward if the parking space is located on a right side of the subject vehicle in the traveling direction, wherein, if being able to acquire a backward trajectory for guiding the subject vehicle from the parking start position to the recognized parking space through the backward movement without use of the forward movement, the parking trajectory calculation unit sets the backward trajectory as the parking trajectory, and, if being unable to acquire the backward trajectory, the parking trajectory calculation unit calculates a forward and backward trajectory from the parking start position as the parking trajectory, and wherein the parking trajectory calculation unit calculates the parking trajectory in such a manner that the vehicle first moves forward, if a position of the vehicle after the backward movement calculated first is located away from the parking end position by a predetermined distance or longer in a Y axis direction, assuming that the Y axis direction is a lateral direction of the vehicle at the parking end position.

3 . The parking trajectory calculation apparatus according to claim 1 , further comprising a limited area setting unit configured to set, as the limited area, a limited area defined by surrounding the parking space for parking the subject vehicle, an area in front of the parking space, and areas on left and right sides of the area in front of the parking space with a virtual line,
wherein the parking trajectory calculation unit calculates the parking trajectory for perpendicular parking of the subject vehicle at the parking end position in the limited area based on the virtual line.

4 . The parking trajectory calculation apparatus according to claim 3 , wherein the parking trajectory calculation unit includes
a first parking trajectory calculation unit configured to calculate a trajectory while setting a running direction switching point to a point where the subject vehicle is in contact with the virtual line when the subject vehicle moves based on the calculated trajectory, and a second parking trajectory calculation unit configured to calculate, as the running direction switching point, a point before the subject vehicle is in contact with the virtual line when the subject vehicle moves based on the calculated trajectory, when a relationship between the subject vehicle and the virtual line satisfies a predetermined condition, and wherein the parking trajectory calculation unit calculates a point on an X axis as the running direction switching point with use of the second parking trajectory calculation unit, if a position of the vehicle is offset from the parking end position in a direction of a Y axis when the vehicle moves backward until being positioned in parallel with the parking end position, assuming that the X axis and the Y axis are virtual axes extending in a longitudinal direction and a lateral direction of the vehicle when the vehicle is parked at the parking end position, respectively.

5 . The parking trajectory calculation apparatus according to claim 4 , wherein the parking trajectory calculation unit includes a third parking trajectory calculation unit configured to calculate the parking trajectory with use of a maximum steering angle of a steering apparatus mounted on the vehicle a circular arc is used as the trajectory, and calculate the parking trajectory with use of the maximum steering angle and a maximum steering angular velocity of the steering apparatus if a clothoid curve is used as the trajectory.

6 . The parking trajectory calculation apparatus according to claim 5 , wherein the parking trajectory calculation unit calculates the parking trajectory with use of a result of the calculation of the third parking trajectory calculation unit if being able to select only one of the parking trajectories of the first parking trajectory calculation unit and the third parking trajectory calculation unit.

7 . The parking trajectory calculation apparatus according to claim 5 , wherein the parking trajectory calculation unit calculates the parking trajectory with a steering angle or a steering angular velocity smaller or lower than the preset maximum steering angle or the preset maximum steering angular velocity of the steering apparatus, when calculating the parking trajectory that allows the vehicle to be parked at the parking end position with a predetermined or smaller steering amount.

8 . The parking trajectory calculation apparatus according to claim 5 , wherein the parking trajectory calculation unit calculates the parking trajectory with a steering angle or a steering angular velocity smaller or lower than the preset maximum steering angle or the preset maximum steering angular velocity of the steering apparatus, when calculating the trajectory in such a manner that an inner wheel passes through inside an end in front of the parking space when the vehicle moves backward.

9 . The parking trajectory calculation apparatus according to claim 5 , wherein the parking trajectory calculation unit calculates the parking trajectory in such a manner that the vehicle is steered rightward when moving forward and is steered leftward when moving backward if the parking space is located on a left side of the subject vehicle in a traveling direction, and calculates the parking trajectory in such a manner that the vehicle is steered leftward when moving forward and is steered rightward when moving backward if the parking space is located on a right side of the subject vehicle in the traveling direction, and
wherein the parking trajectory calculation unit calculates the parking trajectory with a steering angle or a steering angular velocity smaller or lower than the preset maximum steering angle or the preset maximum steer-ng angular velocity of the steering apparatus, if the parking space is located on the left side of the subject vehicle in the traveling direction and the vehicle moves beyond a right-side boundary of the limited area when moving forward, or if the calculated parking space is located on the right side of the subject vehicle in the traveling direction and the vehicle moves beyond a left-side boundary of the limited area when moving forward.

10 . A parking trajectory

Assignees

• Hitachi Automotive Systems Ltd

Inventors

• Nakada Yuki

Classifications

• B62D15/027 Primary

  Parking aids, e.g. instruction means · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60R2011/004

  outside the vehicle · CPC title

• B60W30/06 Primary

  Automatic manoeuvring for parking · CPC title

• B60R1/002

  specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like (integrated in the windows B60R1/001; combined with rear-view mirrors B60R1/08) · CPC title