JP2012131460A - Target path calculation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve fuel economy by calculating a target path of a vehicle in automatic parking or the like by two circular path calculation in consideration of energy saving.SOLUTION: A start-up calculation part 6 of the vehicle 1 sets radiuses of one main circle passing though a start-up position and movement starting position and the other main circle which passes through the movement starting position and a target position and is in contact with the one main circle under a condition that a total value indicating a turning angle value of steering in both of the main circles becomes a predetermined value or less. An path along arcs of both of the main circles having the respectively set radiuses is calculated as the target path, and the target path is calculated by the two circular path calculation in which energy loss is reduced and energy saving is taken into consideration.

Description

  The present invention relates to a target trajectory calculation apparatus that calculates a target trajectory of a vehicle at the time of automatic parking or the like, and more particularly to calculation of a target trajectory in consideration of energy saving.

  Conventionally, there is an automatic parking device as one of driving support devices for vehicles. This automatic parking device calculates a target trajectory of a vehicle by calculating a two-circle trajectory with a higher degree of freedom of movement than a one-circle trajectory, for example, when performing back parking in a garage by automatic driving, Then, the vehicle is moved to a parking position as a target position by automatic steering (see, for example, Patent Document 1 (paragraphs [0034], [0042]-[0043], FIG. 1, FIG. 2, etc.)).

  FIG. 9 shows an example of the above-described automatic parking target trajectory, where p1 is an activation position at which automatic parking control is activated, and is a position before a parking position (target position in the vertical direction on the paper surface) p3 described later, The vehicle travels from right to left on the page and reaches this position p1. p2 is a retreat start position (movement start position) in the front-rear direction (forward in FIG. 9) of the activation position p1, and the vehicle is activated along the track r12 in FIG. 9 so that the front side is separated from the parking position p3 from the rear side. The vehicle advances from the position p1 to the reverse start position p2. Thereafter, the vehicle moves backward from the reverse start position p2 to the parking position p3 along the track r23 in FIG. 9 (hereinafter, this backward movement is referred to as “reverse”), and the vehicle parks at the parking position p3.

  As an automatic parking method in FIG. 9, the driver advances to move along the track r12 from the starting position p1 before the parking position p3 to the reverse start position p2, and from the reverse start position p2 to the parking position p3. Automatically moving along the track r23 by automatic steering, or automatically moving from the start position p1 to the reverse start position p2 and reverse from the reverse start position p2 to the parking position p3 using the tracks r12 and r23 as a fixed pattern. There is a method of performing by steering.

  The trajectories r12 and r23 calculated by the calculation of the two-circle trajectory are a part of the arc of one of the broken circles c1 passing through the start position p1 and the reverse start position p2 in FIG. 9, the reverse start position p2, and the parking position. This is a trajectory along a part of the arc of the other broken circle c2 passing through p3 and in contact with the circle c1.

JP 2003-31413 A

  A target trajectory calculated by a conventional device such as an automatic parking device of Patent Document 1 by calculating a two-circle trajectory does not take into account any energy loss of steering.

  In the case of the target trajectories r12 and r23 shown by solid lines in FIG. 9, in particular, the starting position p1 at which the steering wheel is turned and the driving to the reverse starting position p2 is started, and the driving to the parking position p3 by turning the steering wheel in the reverse direction. Since the turning angle value of the rudder (steering wheel) is large and the frictional force is large at the reverse start position p2 at which starting is started, there is a problem that energy loss increases and fuel consumption decreases.

  The problem of this type of energy loss also occurs when the automatic parking moves backward from the starting position to the backward forward starting position, moves forward from the forward starting position to the parking position, and parks in the garage. This also occurs in the case of parallel parking by automatic parking or when moving to a target position by automatic steering for purposes other than parking.

  An object of the present invention is to improve the fuel efficiency by calculating a target trajectory of a vehicle at the time of automatic parking or the like by a two-circle trajectory calculation considering energy saving.

  In order to achieve the above-described object, the target trajectory calculation apparatus of the present invention calculates a target trajectory of a vehicle that moves from the movement start position to the target position after moving from the start position to the front and rear movement start position. In the trajectory calculation device, the radius of one main circle passing through the start position and the movement start position and the other main circle passing through the movement start position and the target position and touching the one main circle, Radius setting means that is set under the condition that the total value indicating the turning angle value of the rudder in both main circles is a predetermined value or less, and the trajectory along the arcs of the two main circles of the respective radii set by the radius setting means Is calculated as the target trajectory (Claim 1).

  The target trajectory calculation apparatus according to the present invention further includes a detecting unit that detects an obstacle that obstructs movement of the vehicle from the start position to the target position, and the two main circles are detected when the obstacle is detected. Auxiliary circle setting means for setting so as to be in contact with each other via an auxiliary circle that bypasses the obstacle, and by means of the radius setting means, the radii of both the main circle and the auxiliary circle are changed to the both main circle and the auxiliary circle. Set under the condition that the total value indicating the turning angle value of the rudder in a circle is equal to or less than a predetermined value, and calculate the trajectory along the arcs of the two main circles and the auxiliary circle as the target trajectory by the calculating means. (Claim 2).

  According to the target trajectory calculation apparatus of the present invention described in claim 1, one main circle passing through the start position and the movement start position and the other main circle passing through the movement start position and the target position and touching one of the trajectory circles When calculating the target trajectory such as automatic parking by calculating the two-circle trajectory, the radius setting means reduces the radius of both main circles so that the total value indicating the turning angle of the rudder in the two main circles is less than a predetermined value. Therefore, if automatic parking or the like is performed along the calculated target trajectory, the turning angle value of the rudder (steering wheel) during traveling becomes small and energy loss is reduced.

  Accordingly, it is possible to improve the fuel consumption by calculating the target trajectory by the two-circle trajectory calculation considering energy saving.

  According to the target trajectory calculation apparatus of the present invention as set forth in claim 2, when the detecting means detects an obstacle (mainly a stationary object) that obstructs movement from the starting position of the vehicle to the target position, When calculating the target trajectory of the vehicle by calculating the two-circle trajectory, an auxiliary circle surrounding the obstacle is used to avoid the obstacle so as not to touch the obstacle, and the auxiliary circle setting means Both main circles are set so as to contact each other via an auxiliary circle, and the calculation means calculates the trajectory along these three circle arcs as the target trajectory, so that the vehicle automatically parks along the calculated target trajectory. The vehicle does not collide with obstacles. In addition, since the radius of the three circles is set by the radius setting means under the condition that the total value indicating the turning angle value of the rudder in the three circles is equal to or less than a predetermined value, automatic parking, etc. along the calculated target trajectory, etc. When the vehicle is turned, the turning angle value of the rudder during traveling including a state where the frictional force at a low speed at which the vehicle starts to move is large is reduced, and the energy loss is small.

  Therefore, even if an obstacle exists, the target trajectory considering energy saving can be calculated by the two-circle trajectory calculation including the auxiliary circle while avoiding the circumvention, and the fuel efficiency can be improved.

It is a block diagram of one embodiment of a target trajectory calculation device of the present invention. It is explanatory drawing of calculation of the target track | orbit when there is no obstruction of the apparatus of FIG. (A) is explanatory drawing of the relationship of the radius of two main circles in calculation of the target trajectory of the apparatus of FIG. 1, (b) is the relationship between the radius of one main circle and energy saving evaluation in the calculation of the target trajectory of the apparatus of FIG. It is explanatory drawing of. It is explanatory drawing of the example of a target track | orbit when there is no obstruction of the apparatus of FIG. (A) is explanatory drawing of calculation of the target trajectory when there is an obstacle of the apparatus of FIG. 1, (b) is explanatory drawing of calculation of the target trajectory when there is an obstacle of the comparative example. It is explanatory drawing of the collision possible area with an obstruction. It is explanatory drawing of the example of a graph of the three-dimensional data for selecting the combination of the radius where the turning angle value of a rudder becomes the minimum. It is a flowchart for operation | movement description of the apparatus of FIG. It is explanatory drawing of the example of the conventional target track | orbit.

  An embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 shows a target trajectory calculation apparatus according to the present embodiment provided in a vehicle 1, and this target trajectory calculation apparatus automatically parks a vehicle 1 at a predetermined target position (parking position), for example, when moving backward (backward traveling). Calculate the target trajectory.

  Therefore, the target trajectory calculation device of the vehicle 1 captures the front and rear of the vehicle 1 from moment to moment (every frame) by the camera unit 2 constituted by a monocular camera such as a CCD image sensor or a CMOS image sensor, for example. For example, the radar unit 3 such as a millimeter wave radar searches the front of the vehicle 1 every moment.

  The captured images (including the parking position) of the camera unit 2 and the distance measurement data of the search result of the radar unit 3 are sent to the target position search unit 4 and the obstacle detection unit 5 from time to time.

  The target position search unit 4 searches and recognizes the parking position by specifying a driver on the monitor screen (for example, formed by the display screen of the car navigation device) of the captured image of the camera unit 2, and the radar unit 3. The obstacle detection unit 5 that forms the detection means of the present invention also detects an obstacle (stationary object) that obstructs the forward movement of the vehicle 1 from a starting position to a parking position, which will be described later, based on the search result of the radar unit 3. Detect and detect.

  Information on the parking position of the target position search unit 4 and information on the position of the obstacle in the obstacle detection unit 5 are input to the trajectory planning unit 6 having a microcomputer configuration. The trajectory planning unit 6 executes a preset automatic parking trajectory planning program to form a radius setting means, a calculation means, an auxiliary circle setting means, and the like of the present invention, and plans a target trajectory for automatic parking.

<Calculation of target trajectory when no obstacle exists>
FIG. 2 shows an example of calculating the target trajectory when no obstacle is present. Pa in the figure is the same starting position as the starting position p1 in FIG. 9, and when the vehicle 1 reaches this position Pa by the driving operation of the driver, the driver steps on the brake pedal to temporarily stop the vehicle 1 at that position, Start the trajectory planning program. Pb in the figure is the reverse start position (movement start position of the present invention) corresponding to the reverse start position p2 of FIG. 9, and Pc is the same parking position (target position of the present invention) as the parking position p3 of FIG.

  When the trajectory planning program is started, the vehicle travels forward from the starting position Pa to the backward start position Pb in the front-rear direction (in the case of the present embodiment where the vehicle moves backward and parks in the garage), and temporarily stops at that position. Thereafter, a target trajectory for switching back the traveling direction and moving from the reverse start position Pb to the parking position Pc by reverse travel is calculated by a two-circle trajectory calculation.

  When there is no obstacle, the two circles are a forward circle Cf as one main circle of the broken line in FIG. 2 passing through the starting position Pa and the reverse start position Pb, and a forward circle Cf passing through the reverse start position Pb and the parking position Pc. The broken circle receding circle Cb of the same figure as the other main circle in contact with. The backward circle Cb contacts the forward circle Cf at the backward start position Pb.

  Here, it is assumed that the vehicle 1 moves forward from the starting position Pa to the reverse start position Pb and moves backward from the reverse start position Pb to the parking position Pc along the arcs of the two circles Cf and Cb. Consider a combination in which the turning angle values of the rudder radiuses Rf and Rb are reduced.

  First, when the radius Rf of the forward circle Cf is determined, the radius Rp of the backward circle Cb is also uniquely determined.

  FIG. 3A shows an example of a change characteristic of the radius Rp of the backward circle Cb with respect to the radius Rf of the forward circle Ca. The radius Rf of the forward circle Ca and the radius Rp of the backward circle Cb have a one-to-one correspondence. As Rf increases, the radius Rb of the receding circle Cb decreases.

  Next, the turning angle value of the rudder will be described. The turning angle values of the rudder for the forward circle Cf and the backward circle Cb are travel distances per unit angle of the forward circle Cf and the backward circle Cb. In the present embodiment, the total value of the present invention indicating the turning angle value of the rudder in the forward circle Cf and the backward circle Cb is an evaluation function of the sum of the cutting angle values of the forward circle Cf and the backward circle Cb. Assuming that this evaluation function is E, the evaluation function E is expressed by the following equation (1).

  For example, in the forward circle Cf, the length of the entire circumference is “2 × π × Rf”, and the angle of the entire circumference is “2 × π”, so the angle per unit length (circumference angle per 1 m) (Rad)) is “2 × π / 2 × π × Rf = 1 / Rf”, and it can be said that the greater the angle “1 / Rf”, the greater the cut angle value in the forward circle Cf. Accordingly, it can be said that the greater the sum of the angle “1 / Rf” of the forward circle Cf and the angle “1 / Rb” of the backward circle Cb, the larger the total cut angle value of the forward circle Cf and the backward circle Cb.

  Then, when the radii Rf and Rb are set under the condition that the evaluation function E is less than or equal to a predetermined value, the combination of the radii Rf and Rb is the radius of the two circles Cf and Cb in which the turning angle value of the rudder is less than the predetermined value The combination of the radii Rf and Rb at which the evaluation function E is the minimum value is obtained as the combination of the radii Rf and Rb of the two circles Cf and Cb at which the turning angle value of the rudder is the minimum value.

  FIG. 3B shows an example of change characteristics of the evaluation function E with respect to the radius Rf of the forward circle Cf, and it can be seen that when the radius Rf of the forward circle Cf exceeds a predetermined value, the value of the evaluation function E becomes a substantially minimum value. .

  Therefore, the greater the radius Rf of the forward circle Cf, that is, the closer the trajectory from the starting position Pa to the reverse start position Pb approaches a straight line, the radius Rf of the two circles Cf and Cb, the turning angle value of the rudder of the Rb When the radius Rf is infinite and the trajectory from the starting position Pa to the reverse starting position Pb is a straight line, the turning angle values of the radii Rf and Rb of the two circles Cf and Cb are minimized. .

  Then, the vehicle 1 moves from the start position Pa to the reverse start position Pb and from the reverse start position Pb to the parking position Pc along the arcs of the two circles Cf and Cb of the radii Rf and Rb at which the turning angle value of the rudder decreases to a predetermined value or less. If the moving trajectory is the target trajectory, the target trajectory of the vehicle 1 can be calculated by the two-circle trajectory calculation in consideration of energy saving, and the fuel efficiency can be improved. Furthermore, if the trajectory from the starting position Pa to the reverse start position Pb is a straight target trajectory, the target trajectory with the highest energy saving effect can be calculated to improve fuel efficiency.

  FIG. 4 shows an example of a target trajectory when the radius Rf is infinite. In this case, the trajectory that moves from the starting position Pa to the reverse starting position Pb along the arc of the forward circle Cf is a linear trajectory.

  As described above, when there is no obstacle around the track for automatic parking, the radius setting means of the track planning unit 6 determines the forward circle Cf, the reverse start position Pb, and the parking position Pc that pass through the starting position Pa and the reverse start position Pb. The radii Rf and Rb of the backward circle Cb that is in contact with the forward circle Cf are set under the condition that the evaluation function E as the total value indicating the turning angle value of the rudder in the forward circle Cf and the backward circle Cb is equal to or less than a predetermined value. . At this time, the radius Rf becomes sufficiently large, and the trajectory from the activation position Pa along the arc of the forward circle Cf to the reverse start position Pb becomes a substantially linear trajectory. Focusing on this point, the radius Rf of the forward circle Cf is set to infinity, the trajectory from the starting position Pa to the backward start position Pb along the arc of the forward circle Cf is a straight trajectory, and the radius of the backward circle Cb is set backward. The circle Cb may be set to a radius Rb that is in contact with the straight track, and may be set to a combination of radii Rf and Rb that is the target track having the highest energy saving effect.

  Next, the trajectory along the arc of the forward circle Cf and the backward circle Cb of each of the radii Rf and Rb set by the radius setting means by the calculation means of the trajectory planning unit 6, that is, the vehicle 1 follows the forward circle Cf. A trajectory that moves forward from the start position Pa to the reverse start position Pb and moves along the forward circle Cb from the reverse start position Pb to the parking position Pc is calculated as a target trajectory.

  When the trajectory planning unit 6 calculates the target trajectory in this way, the wheel speed of the wheel speed sensor of the vehicle sensor unit 7 shown in FIG. 1, the rudder angle of the rudder angle sensor, the yaw rate of the yaw rate sensor, the accelerator pedal, and the brake pedal The amount of movement of the vehicle 1 from the starting position Pa by the movement amount management unit 8 based on the amount of depression of the vehicle and the feedback control for monitoring the direction of movement cause the vehicle 1 to move from the starting position Pa along the calculated target trajectory. The operation control unit 9 accelerates the vehicle 1 via, for example, a vehicle stability control unit (VSC (Vehicle Stability Control) ECU or the like) 10 so as to move from the reverse start position Pb and the reverse start position Pb to the parking position Pc. • Control braking. In addition, the steering of the vehicle 1 is controlled via an electric power steering control unit (an ECU of EPS, etc.) 11. The movement amount management unit 8 and the operation control unit 9 are also formed by a microcomputer or the like, and operate according to a set program. In addition, a captured image in front of the camera unit 2 is displayed on the monitor screen during forward travel from the starting position Pa to the reverse start position Pb, and behind the camera unit 2 during reverse travel from the reverse start position Pb to the parking position Pc. It is preferable to display the captured image on the monitor screen.

  And based on said control, the vehicle 1 can be automatically parked in the parking position Pc along the target track | truck which considered energy saving, and the fuel consumption of the vehicle 1 improves.

<Calculation of target trajectory when obstacles exist>
5A and 5B show, for example, the vicinity of the trajectory of the broken line la from the starting position Pa to the parking position Pc (not shown) (the target trajectory of the broken line la calculated from the forward circle Cf and the backward circle Cb described above). The trajectory of this embodiment and the target trajectory of the comparative example when the obstacle α is present (including above) are shown. If there is a possibility of collision with the obstacle α, it is necessary to correct the target trajectory so as to avoid the obstacle.

  Therefore, when the radar unit 3 detects an obstacle that hinders movement of the vehicle 1 from the starting position Pa to the parking position (target position) Pc at the starting position Pa, the trajectory planning unit 6 will be described next. It is determined whether or not there is a possibility of collision between the vehicle 1 and the obstacle from the collision possible area for judging the possibility of the obstacle and the collision area.

  FIG. 6 shows a collision possible area β for judging the possibility of an obstacle α. This area β is a circle with a minimum turning radius (forward circle) indicated by broken lines lb and lc on the left and right at the starting position Pa, for example. Cmin is set so that both circles Cmin move forward and are substantially in the locus range of both circles Cmin when moving from the starting position Pa to a position on the line segment of the parking position Pc.

  Further, as shown in FIGS. 5A, 5B, and 6, a circle Cα having a predetermined radius is rotated along the periphery of the obstacle α to define a collision area γ surrounded by the peripheral contour thereof.

  Then, the trajectory planning unit 6 determines that there is a possibility of collision between the vehicle 1 and the obstacle α if the collision area γ is included in the colliding area β and overlaps.

  When it is determined that there is a possibility of collision between the vehicle 1 and the obstacle α at the time of detecting the obstacle α, in the case of this embodiment, the auxiliary circle setting means of the present invention in the trajectory planning unit 6 shows the result in FIG. As shown, the forward circle Cf * passing through the starting position Pa and the backward circle Cb * passing through the parking position (target position) Pc are in contact with each other via an auxiliary circle Cc that bypasses the obstacle α, Instead of the backward circle Cb, three circles Cf *, Cb *, and Cc are set.

  At this time, the auxiliary circle Cc has a center point on the opposite side of the parking position Pc from the line segment extending the activation position Pa in the front-rear direction.

  On the other hand, in the comparative example of FIG. 5B, the target trajectory is not calculated by the two-circle trajectory calculation considering energy saving, but the arc of the auxiliary circle Cc, the original forward circle Cf (not shown), the reverse The target trajectory of the solid line Lb is calculated by connecting the trajectory of the broken line la based on the circle Cb (not shown). At this time, the radius of the auxiliary circle Cc is unconditionally set to the minimum turning radius of the vehicle 1 in order to minimize the bypass area for avoidance. In this case, when the vehicle 1 moves forward from the starting position Pa to the reverse start position along the calculated solid line Lb and moves backward from the reverse start position to the parking position Pc and automatically parks, the turning angle of the steering is The target trajectory becomes a trajectory with large energy consumption.

  Therefore, in the case of the present embodiment, the auxiliary circle setting means of the present invention provided in the trajectory planning unit 6 causes the forward circle Cf * and the backward circle Cb as shown in the target trajectory indicated by the solid line La in FIG. The target circle is calculated by setting the auxiliary circle Cc so that * and the auxiliary circle Cc come into contact with each other, and the obstacle α is bypassed.

  At that time, assuming that the radius of the forward circle Cf * is Rf *, the radius of the backward circle Cb * is Rb *, and the radius of the auxiliary circle Cc is Rc, the radius Rf *, Rb *, Rc is the case where there is no obstacle α. Similarly, under the condition that the radius Rf *, the radius Rb *, and the radius Rc are set by the radius setting means so that the total value indicating the turning angle value of the rudder in the forward circle Cf *, the backward circle Cb *, and the auxiliary circle Cc is equal to or less than a predetermined value. Set. When the auxiliary circle Cc is used (when there is an obstacle α), the total value is an evaluation function E * of the sum of the cut angle values of the forward circle Cf *, the backward circle Cb *, and the auxiliary circle Cc. The evaluation function E * is expressed by the following equation (2).

  Also in this case, as the sum of the angles “1 / Rf *”, “1 / Rb *”, and “1 / Rc” is larger, the total cut angle value of the forward circle Cf *, the backward circle Cb *, and the auxiliary circle Cc is larger. It can be said that it is big.

  Then, when the radii Rf *, Rb *, and Rc are set under the condition that the evaluation function E * is less than or equal to the predetermined value, the combination of the radii Rf *, Rb *, and Rc is such that the turning angle value of the rudder is less than the predetermined value. It is obtained as a combination of the radii Rf *, Rb *, Rc of the decreasing two circles Cf *, Cb * and the auxiliary circle Cc. In this case as well, the evaluation is performed by increasing the radius Rf of the forward circle Cf * to a predetermined value or more as much as possible. The function E * becomes smaller, and the turning angle value of the rudder based on the radii Rf *, Rb * and Rc of the two circles Cf * and Cb * and the auxiliary circle Cc is minimized.

  FIG. 7 shows a graph of three-dimensional data for selecting a combination of radii Rf *, Rb *, and Rc in which the evaluation function E * is reduced and the turning angle value of the rudder is minimized, and this graph shows the radius Rf. On the three axes *, Rb *, and Rc, radii Rf *, Rb *, and Rc that are values of a plurality of evaluation functions E * are plotted based on experiments and the like. The radius setting means of the trajectory planning unit 6 holds this graph as three-dimensional map data, and the radius Rf that minimizes the evaluation function E * under the condition that the two circles Cf * and Cb * are in contact with each other via the auxiliary circle Cc. A combination of *, Rb *, and Rc is selected and determined from the evaluation function plane e of the data map.

  Based on this determination, the calculation means of the trajectory planning unit 6 causes the vehicle 1 to bypass the obstacle α along the arcs of the two circles Cf * and Cb * and the auxiliary circle Cc in which the turning angle value of the rudder decreases below a predetermined value. In this embodiment, by calculating the trajectory moving from the starting position Pa to the reverse start position (not shown in FIG. 5A) Pb and moving from the reverse start position Pb to the parking position Pc as the target trajectory while avoiding Even when there is an obstacle α, the target trajectory of the vehicle 1 is calculated by a two-circle trajectory calculation that avoids the obstacle α while considering energy saving, and the vehicle 1 is parked along the target trajectory considering energy saving. The vehicle 1 can be automatically parked, and the fuel efficiency of the vehicle 1 is improved.

  FIG. 8 shows an example of the processing procedure of the trajectory planning unit 6 of this embodiment. First, information on the parking position (target position) is acquired from the camera image (step S1), and the surrounding obstacle α is detected from the radar information. Information is acquired (step S2).

  If there is no obstacle α (NO in step S3), a combination in which the forward circle Cf and the backward circle Cb are in contact is calculated (step S4). Further, a combination of the radii Rf and Rb that minimizes the evaluation function E is obtained (step S5), and a target trajectory having the contact points of the forward circle Cf and the backward circle Cb with the obtained radii Rf and Rb as the backward start position Pb is obtained. Calculate (step S6).

  If there is an obstacle α (YES in step S3), the possibility of a collision is determined (step S7). If there is no possibility of a collision (NO in step S7), the process proceeds to step S4. The target trajectory is calculated from the forward circle Cf and the backward circle Cb in the same manner as when it does not exist. On the other hand, if there is a possibility of collision (YES in step S7), a radius Rc of the auxiliary circle Cc in contact with the forward circle Cf * and the backward circle Cb * is obtained (step S8), and the radius Rf that minimizes the evaluation function E * is obtained. A combination of *, Rb *, and Rc is obtained (step S9), and the target trajectory is calculated by connecting to the contact points of the calculated forward radius Cf, backward circle Cb, and auxiliary circle Cc of the radii Rf *, Rb *, and Rc (step S9). S10).

  As described above, in the case of the present embodiment, the vehicle 1 at the starting position Pa can be automatically parked at the parking position Pc along the target track in consideration of energy saving, regardless of the presence or absence of the obstacle α. 1 fuel efficiency is improved.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention. For example, it is not necessary to consider the obstacle α. If there is, the parking position may be calculated only by the configuration of steps S1, S2, and S4 to S6 in FIG. 7, and in this case, the process is simplified.

  Further, when the target position is not the reverse parking garage parking position Pc, for example, it may be a forward garage parking position, a parallel parking parking position, or a stop position or arrival position of the vehicle 1 other than the parking position. Of course.

  Next, when the starting position Pa, the target position Pc, etc. are fixed positions, it is not necessary to detect (confirm) those positions from the captured image of the camera, and the camera can be omitted. Moreover, the structure provided by communication from the apparatus outside a vehicle may be sufficient instead of a driver | operator specifying those positions.

  The present invention can be applied to the calculation of target trajectories for various vehicles.

1 Vehicle 6 Trajectory Planning Section Cb, Cb * Backward Circle Cf, Cf * Forward Circle Pa Start Position Pb Backward Start Position Pc Parking Position Rb, Rb *, Rc, Rf, Rf * Radius

Claims (2)

A target trajectory calculation device that calculates a target trajectory of a vehicle that moves from a movement start position to a target position after moving from a start position to a movement start position in the front-rear direction,
The radius of one main circle passing through the start position and the movement start position and the other main circle passing through the movement start position and the target position and touching the one main circle is determined by turning the rudder on both main circles. Radius setting means for setting under a condition that the total value indicating the angle value is a predetermined value or less;
A target trajectory calculation apparatus comprising: a calculation means for calculating a trajectory along the arcs of the two main circles having respective radii set by the radius setting means as the target trajectory. In the target trajectory calculation apparatus according to claim 1,
Detecting means for detecting an obstacle that obstructs movement of the vehicle from the starting position to the target position;
An auxiliary circle setting means for setting the two main circles so as to contact each other via an auxiliary circle that circumvents the obstacle when the obstacle is detected;
The radius setting means sets the radii of the two main circles and the auxiliary circle under the condition that the total value indicating the turning angle value of the rudder in the two main circles and the auxiliary circle is a predetermined value or less,
A target trajectory calculation apparatus, wherein the calculation means calculates a trajectory along the arcs of the two main circles and the auxiliary circle as the target trajectory.

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