JP2008074296A - Vehicle with parking assisting function - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent a vehicle body from striking an obstacle in the periphery and projecting out of a parking space when parking the vehicle. <P>SOLUTION: Key switches 21-24 for moving the vehicle body to front/rear sides and left/right sides are provided on a smart key 20. When the vehicle body is moved into a parking space by operation of the key switches 21-24, a periphery of the vehicle body is photographed by four photographing cameras 16-19, and it is automatically confirmed whether or not the obstacle exists within a predetermined distance and whether or not the vehicle body is projected from a white line indicating a border of the parking space. When there is the obstacle or projection from the parking space, solenoid brakes 26-29 are operated to stop the vehicle body. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle with a parking assist function that can be parked in a parking space by an external operation.

When parking a car, the driver sits in the driver's seat and directly sees the surroundings of the vehicle with his own eyes, checks with the rearview mirror and side mirror, or has a camera that captures the rear Then, a driving operation for parking is performed while checking the safety around the vehicle by looking at a display or the like that displays a captured image of the camera.
However, there is a blind spot in direct visual observation around the vehicle, visual recognition with the rearview mirror and side mirror, and the rear photographing camera uses a wide-angle lens to widen the photographing range. It is difficult to get a feeling.
In order to solve these problems, in Patent Document 1, a remote control device for slow reverse is provided in the rear part of the vehicle so that the vehicle can be moved backward from other than the driver's seat.
JP-A-5-199617

  However, in the configuration of Patent Document 1, the vehicle moves backward only while the switch of the remote control device is pressed, and when the hand is released from the switch, the vehicle is braked and immediately stops. However, even though the remote control device is operated outside the vehicle, there is still a blind spot behind the vehicle, and if the operator looks away while pushing the switch, There is also the risk of overhanging.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle with a parking assist function that does not hit a surrounding obstacle or protrude from a parking space during parking. is there.

  In the present invention, since it includes an obstacle detection means for detecting obstacles around the vehicle body and a parking space recognition means for recognizing a parking space, when parking, the vehicle body is hit against the surrounding obstacles, There is no risk of the vehicle body protruding from the parking space.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. The vehicle with a parking assist function of the present embodiment includes a vehicle main body 1 and a remote operation device 2 for moving the vehicle main body 1 by an operation from the outside.
As shown in FIG. 2, the vehicle main body 1 includes left and right front wheels 3 and 4 and left and right rear wheels 5 and 6. Usually, for traveling of the vehicle main body 1, for example, the left and right rear wheels 5 and 6 are driven by an engine (not shown), and in order to change the traveling direction of the vehicle main body 1, The direction of 4 can be changed by a steering wheel (not shown).

  Further, in the present embodiment, the four wheels 3 to 6 can be independently changed in direction and rotation direction in the parking mode. That is, as shown in FIG. 4, forks 7 as shown in FIG. 4 are supported on the left and right sides of the front and rear of the vehicle body 1 so as to be rotatable about the longitudinal axis 7a. Fixed drive shafts (rotation center axes) 3 a to 6 a are rotatably supported by the forks (direction changing means) 7. Then, the vehicle body 1 is rotated by rotating the vertical axis 7a of each fork 7 to change the direction of each wheel 3-6 (the direction of the rotation center axis of the drive shafts 3a-6a). Direction changing drive means) 8 to 11 are provided. Further, each fork 7 is provided with drive shafts 3a to 6a of wheels 3 to 6, that is, wheel drive motors 12 to 15 that can rotate forward and backward to rotate the wheels 3 to 6, respectively. Such wheels 3 to 6 constitute moving means, and the wheel driving motors 12 to 15 correspond to moving driving means.

  The drive shafts 5a and 6a of the left and right rear wheels 5 and 6 are normally connected to an axle (not shown) driven by an engine (not shown), but are disconnected from the axle in the parking mode. Further, the forks 7 of the left and right front wheels 3 and 4 are normally connected to a steering mechanism operated by a steering wheel (not shown), but the connection with the steering mechanism is released in the parking mode. FIG. 4 is shown in the parking mode.

  As shown in FIG. 2, photographing cameras 16 to 19 as photographing means are provided at the front, rear, left side, and right side of the vehicle body 1, respectively. These photographing cameras 16 to 19 photograph the surroundings of the vehicle body 1, that is, the front, rear, left side, and right side, respectively. Further, the traveling road surface around the vehicle main body 1 including the ground contact part of the wheels 3 to 6 enters the photographing range of the photographing cameras 16 to 19. A white line indicating the space can also be photographed.

  On the other hand, the remote operation device 2 constitutes an operation means, and is configured by providing, for example, four key switches 21 to 24 in the smart key 20 of the smart key system as shown in FIG. These key switches 21 to 24 are for moving the vehicle body 1 forward, backward, leftward and rightward, respectively. The smart key system is a system capable of locking / unlocking doors and trunks and starting the engine only by carrying the smart key 20. The smart key 20 also has an immobilizer function. In FIG. 3, reference numerals 20a and 20b denote key switches for locking / unlocking the door.

  FIG. 1 shows a control device 25 as control means for executing various controls when the vehicle main body 1 is moved by the remote operation device 2. The control device 25 is mainly composed of a microcomputer and is provided in the vehicle main body 1. The control device 25 includes the direction changing motors 8 to 11 and the wheel driving motors 12 to 15, electromagnetic brakes 26 to 29, a steering lock device 30 for locking a steering wheel (not shown), a surrounding monitoring device 31, A parking space recognition device 32, a smart key collation sensor 33 paired with the smart key 20, an IG (ignition switch) on / off detection sensor 34, and the like are connected.

  The electromagnetic brakes 26 to 29 function as stop means for braking the wheels 3 to 6 in the parking mode. During normal travel, the wheels 3 to 6 are braked by a mechanical brake device (not shown) that operates when the brake pedal is depressed. Although not shown, a mechanical side brake that is activated by lever operation is also provided. The steering lock device 30 operates as the ignition switch is turned off, and locks the steering wheel.

  The peripheral monitoring device 31 and the parking space recognizing device 32 are inputted with the image data of the imaging cameras 16 to 19. The periphery monitoring device 31 functions as an obstacle detection unit, and recognizes obstacles existing on the front, rear, left, and right sides of the vehicle body 1 based on the captured image data of the respective imaging cameras 16 to 19. Obstacles are recognized by recognizing that there is a rising or standing object on the flat road surface of the parking lot. For example, if there is a part with different brightness (a rising or standing object) with respect to a part with a uniform brightness (road surface) of the image data, this is recognized as an obstacle. When recognized as an obstacle, the distance from the vehicle body 1 to the obstacle is calculated by counting the number of pixels from a fixed point on the screen of the captured image.

  The parking space recognizing device 32 functions as a parking space recognizing unit and recognizes the parking space based on the captured image data of each of the imaging cameras 16 to 19. In a parking lot, since a white line indicating a parking space is usually drawn on the road surface, the parking space is recognized by the white line drawn on the road surface. The white line is recognized, for example, if there is a straight line portion having a high lightness relative to a portion (road surface) having a uniform lightness in the image data, as a white line.

  The mart key 20 is for causing the control device 25 to recognize that the authorized owner of the vehicle body 1 is near the vehicle body 1. When the unique identification number information is transmitted from the smart key 20, the smart key collation sensor 33 receives the unique identification number information and determines whether or not it matches the previously stored identification number. The coincidence information is input to the control device 25. When the coincidence information is input from the smart key collation sensor 33, the control device 25 determines that the authorized owner is near the vehicle body 1 and accepts an operation signal transmitted from the smart key 20. In this case, the operation signal transmitted from the smart key 20 is a movement operation signal in the front, rear, left, and right directions by the key switches 21 to 24 in addition to the door locking and unlocking operation signals by the key switches 20a and 20b. .

  Further, when it is determined that the proper owner is near the vehicle body 1, the control device 25 permits an engine ECU (not shown) to start the engine. The engine ECU is configured to start the engine on condition that the ignition switch is turned on. The IG on / off detection sensor 34 is for detecting the on / off of the ignition switch.

  Next, the operation of the above configuration will be described. For example, it is assumed that the vehicle body 1 is parked on the right side of the parking space S in an attempt to perform parallel parking in the parking space S shown in FIG. 5A (the top is in front of the vehicle body 1 in FIG. 5). In order to park the vehicle main body 1 in the parking space S from this state, the driver first turns off the ignition switch and, for example, turns on the electromagnetic brakes 26 to 29 by a special operation of the ignition switch. At this time, the electromagnetic brakes 26 to 29 may be turned on by operating the smart key 20 or may be configured by another switch.

  Thereafter, the driver gets off the vehicle body 1. At this time, the mechanical side brake cannot be used. The driver who gets off the vehicle body 1 then turns on the key switch 23 for left movement of the smart key 20. Then, the vehicle main body 1 moves in the left direction. And if the vehicle main body 1 moves down to the desired position in the parking space S and releases the hand from the left moving e-switch 23, the vehicle main body 1 stops there.

  The control content of the control device 25 when moving the vehicle body 1 to the parking space S is shown in the flowchart of FIG. That is, when the execution of the flowchart of FIG. 6 is started, the control device 25 first determines whether or not the ignition switch is off and the electromagnetic brakes 26 to 29 are on (step S1). If the ignition switch is turned on or the electromagnetic brakes 26 to 29 are turned off, the control device 25 determines “NO” in step S <b> 1, the ignition switch is turned off, and the electromagnetic brakes 26 to 29. It will be in the state to wait for to be turned on.

  When the ignition switch is turned off and the engine is stopped, and the electromagnetic brakes 26 to 29 are turned on and the side brakes are applied to the wheels 3 to 6, the control device 25 determines “YES” in step S1. Then, the parking mode is entered, and the process proceeds to the next step S2. In step S2, the control device 25 determines whether or not the smart key 20 is nearby, that is, whether or not the authorized owner is nearby. This determination is made based on whether or not the smart key matching sensor 33 that receives the identification number information from the smart key 20 outputs matching information. If the matching information is output from the smart key matching sensor 33, the control device 25 determines that the proper owner is nearby (“YES” in step S2). If it is determined that the smart key 20 is nearby, the control device 25 determines whether any key switch has been operated (step S3).

  Now, if the driver carrying the smart key 20 operates the left movement key switch 21 to move the vehicle body 1 to the left ("YES" in step S3), the control device 25 Obstacle presence / absence information is acquired from the periphery monitoring device 31. The periphery monitoring device 31 determines whether there is an obstacle within a predetermined distance from the vehicle body 1 based on the captured image data of the imaging cameras 16 to 19. If there is no obstacle within a predetermined distance from the vehicle body 1, the periphery monitoring device 31 outputs information indicating no obstacle to the control device 25 as the obstacle presence / absence information.

  If the control device 25 determines that there is no obstacle based on the obstacle presence / absence information from the surroundings monitoring device 31 ("YES" in step S4), it next determines whether or not the vehicle protrudes from the parking space (step S5). . The control device 25 acquires the space presence / absence information from the parking space recognition device 32 in order to determine the protrusion from the parking space. The parking space recognizing device 32 identifies the white line on the road surface based on the captured images of the four photographing cameras 16 to 19, and determines that there is a protrusion when the white line is within a predetermined distance from the vehicle body 1. Then, when the control device 25 determines that there is no protrusion based on the space presence / absence information from the parking space recognition device 32 (“YES” in step S5), the electromagnetic brakes 26 to 29 are turned off and the movement routine of the vehicle main body 15 is performed. Execute (Step S6, Step S7).

  When the control device (movement control means) 25 enters the movement routine of the vehicle main body 15, as shown in FIG. 7, first, the direction of the wheels 3 to 6 is determined based on the type of the operated movement key. Is set (moving direction setting means). Here, since the leftward movement key switch 23 is operated, the control device 15 drives the direction conversion motors 8 to 11 so that the rotation center axes of the wheels 3 to 6 are the front and rear of the vehicle body 1. In other words, the directions of the wheels 3 to 6 are set so that the wheels 3 to 6 are directed to the side of the vehicle body 1 (step A1).

  Next, the control device 25 sets the rotation direction of the wheels 3 to 6 (step A2: rotation direction setting means). Here, since the vehicle main body 1 is moved to the left, the control device 25 sets the rotation direction of the wheels 3 to 6 as the clockwise direction when viewed from the front of the vehicle main body 1. Then, the control device 25 drives the direction conversion motors 8 to 11 to convert the directions of the wheels 3 to 6 to the set directions (see FIG. 5B), and for driving the wheels. The motors 12 to 15 are rotated in the set direction (step A3: drive source starting means).

  As described above, the vehicle body 1 starts moving slowly toward the left in the drawing toward the parking space S. Then, if the left movement key switch 23 is kept pressed while visually checking the periphery of the vehicle body 1, particularly the left side which is the moving direction, and both front and rear sides, the vehicle body 1 moves to the left as it is and is parked. S enters (see FIG. 5C). During the movement of the vehicle body 1, the control device 25 repeatedly executes the flowchart of FIG. 6 at predetermined time intervals. That is, the control device 25 rotates the wheel drive motors 13 to 26 in the set direction, and then returns to step S2 in FIG. 6 so that the flowchart in FIG. 6 is repeatedly executed.

  For this reason, when the obstacle, for example, a person approaches the vehicle main body 1 in the middle of the movement of the vehicle main body 1, or when the vehicle main body 1 protrudes from the white line indicating the boundary of the parking space S, When the driver who finds it releases his hand from the left movement key switch 23, the control device 25 determines “NO” in step S3 and stops the wheel drive motors 12 to 15 (step S8: Drive source stop means), the electromagnetic brakes 26 to 29 are turned on to stop the vehicle main body 1 (step S9: stop control means). Then, after the obstacle has disappeared, or when any of the movement key switches 21 to 24 is operated again to return the vehicle body 1 protruding from the parking space into the parking space S, the operation is performed in the same manner as described above. The vehicle main body 1 moves in the direction corresponding to the key switch.

  Further, when the vehicle main body 1 is moving, when the operator who operates the key switch has looked away, the person has come close to the vehicle main body 1 or the vehicle has protruded from the parking space S. In such a case, the periphery monitoring device 31 detects an obstacle (“NO” in step S4), or the parking space recognition device 32 detects an overhang from the parking space (“NO” in step S5). After stopping the wheel drive motors 12 to 15 (step S8), the control device 25 turns on the electromagnetic brakes 26 to 29 to stop the vehicle body 1 (step S9).

  And if the person who was near the vehicle main body 1 leaves | separates from the vehicle main body 1, the control apparatus 25 will turn off the electromagnetic brakes 26-29 again and will start the motor 12-15 for a wheel drive, and the vehicle main body 1 will be started. Move. When the driver operates a desired movement key switch in order to return the vehicle body 1 protruding from the parking space S into the parking space S, the control device 25 changes the direction according to the operated movement key switch. The direction changing motors 8 to 11 and the wheel driving motors 12 to 15 are controlled so as to move the vehicle body 1 to the vehicle.

  Thus, according to the present embodiment, when the vehicle main body 1 is parked in the parking space S, the movement of the vehicle main body 1 for the parking can be performed by an external operation. It can be moved while checking the periphery of 1 and is safe. Moreover, it is assumed that there is an obstacle in a blind spot hidden behind the vehicle body 1, a person approaches the vehicle body 1 in a gap in the eyes, or the vehicle body 1 starts to protrude from the parking space S. However, since the surroundings monitoring device 31 and the parking space recognition device 32 detect the presence of the obstacle and the protrusion from the parking space S and automatically stop the vehicle body 1, the vehicle body 1 can be parked more safely. Can be moved to.

(Second Embodiment)
8 to 10 show a second embodiment of the present invention. This embodiment is different from the first embodiment in that the wheel direction conversion motors 8 to 11 are not provided, and when moving the vehicle body 1 by the remote control device 2, the front and rear wheels 3 to 6 are used. It is that the direction of the can not be changed. Therefore, in the present embodiment, the forks 7 that support the rear wheels 5 and 6 on both the left and right sides are not rotatable with respect to the vehicle body 1 and are not shown with the forks 7 that support the front wheels 3 and 4 on the left and right sides. A mechanism for interrupting connection with the steering device is not provided.

  Further, in this embodiment, as shown in FIG. 10, the remote control device 2 includes a front movement key switch 21, a rear movement key switch 22, and left and right front and rear wheels 3, 5 provided on the smart key 20. Together, the forward and reverse key switches 35 and 36 that rotate in the forward direction (the direction in which the vehicle body 1 is moved forward) and the reverse direction (the direction in which the vehicle body 1 is moved backward), and the right and left front and rear wheels 4, 6 And forward and reverse key switches 37 and 38 for rotating in the forward and reverse directions.

  In this embodiment, the vehicle body 1 is basically moved forward or backward to enter the parking space S. That is, when the vehicle body 1 is parked in the parking space S shown in FIG. 8, as shown in FIG. 8, the vehicle body 1 is stopped in front of the parking space S, and the driver operates the steering wheel here. The left and right front wheels 3 and 4 are made straight. Then, the driver gets out of the vehicle main body 1 and operates the front movement key switch 21 or the rear movement key switch 22 to move the vehicle main body 1 forward or backward (in FIG. 8, the top is in front of the vehicle main body 1). Therefore, the vehicle is retreated) and placed in the parking space S.

When the vehicle body 1 placed in the parking space S is tilted with respect to the parking space S as shown in FIG. 9A, the following operation is performed to straighten this. That is, if the vehicle body 1 is moved backward and entered into the parking space S, in this case, the left front / rear wheel forward rotation key switch 35 and the right front / rear wheel reverse rotation key switch 38 are operated, and the left front / rear wheels 3 , 5 are rotated together in the forward direction, and the right and left front and rear wheels 4, 6 are rotated together in the reverse direction. Then, the vehicle main body 1 rotates in the clockwise direction around the substantially center of the center of gravity. When the vehicle main body 1 is straight with respect to the parking space S, the vehicle main body 1 stops there if the left and right front wheel forward rotation key switch 35 and the right front and rear wheel reverse key switch 38 are released. As shown by a solid line in 9 (b), the parking space S is straight.
If the left front / rear wheel reverse key switch 36 and the right front / rear wheel forward switch 38 are operated, the vehicle main body 1 rotates counterclockwise in FIG.
Thus, according to this embodiment, the inclination with respect to the parking space of the vehicle main body 1 can be corrected.

(Third embodiment)
FIG. 11 shows a third embodiment of the present invention. This embodiment is basically the same as the second embodiment, but the wheels 3 to 6 are different in that they can be rotated forward and backward individually.

  As in the first embodiment, the smart key 20 is provided with a front movement key switch 21, a rear movement key switch 22, a left movement key switch 23, and a right movement key switch 24.

  For example, as shown in FIG. 11, in order to perform parallel parking in the parking space S, the vehicle body 1 is stopped to the right of the parking space S in the drawing, and the front wheels 3 and 4 are kept straight. Then, the left movement key switch 23 is operated to move the vehicle body 1 to the left. Then, while the front right wheel 4 is stopped, the left and right front and rear wheels 3 and 5 are normally rotated, and the right rear wheel 6 is reversely rotated. As a result, the vehicle body 1 rotates in the clockwise direction as indicated by the broken line around the right front wheel 4 that is stopped from the state indicated by the solid line in FIG.

  When each of the wheels 3, 5 and 6 is rotated by a predetermined number of rotations, the wheels 3, 5 and 6 are stopped, and the left rear wheel 5 is stopped as shown by a broken line in FIG. The left front wheel 3 rotates backward, and the right and left front and rear wheels 4 and 6 rotate forward. Then, the vehicle body 1 rotates counterclockwise as shown by a two-dot chain line around the left rear wheel 5 that is stopped from the state shown by the broken line in FIG. Thus, the vehicle body 1 moves leftward and turns into the parking space S by alternately rotating clockwise and counterclockwise around the wheel where the vehicle body 1 is stopped. . Then, when the vehicle body 1 moves to the position shown in FIG. 12 in the parking space S, the operation of the key switch is stopped and the vehicle body 1 is stopped.

(Fourth embodiment)
FIG. 12 shows a fourth embodiment of the present invention. This embodiment corresponds to an improvement of the smart key 20 of the first embodiment. That is, in the smart key 20 of the first embodiment, when operating the door unlocking / locking key switches 20a, 20b originally provided on the smart key 20, the key switch 21 of the remote operation device 2 is operated. ~ 24 gets in the way.

  In this embodiment, the smart key 20 is provided with a lid 39 that covers the key switches 21 to 24 of the remote control device 2, and the door 39 is provided with key switches 20 a and 20 b for unlocking / locking the door. In this way, when the lid 39 is opened, the key switches 21 to 24 of the remote control device 2 can be operated, and when the lid 39 is closed, the frequently used unlocking / locking key switches 20a and 20b are replaced with the key switch 21. It can be operated without being disturbed by ~ 24.

(Other embodiments)
The present invention is not limited to the first to third embodiments described above and shown in the drawings, but can be expanded or changed as follows.
The vehicle body 1 may have a configuration in which normal traveling is performed by the drive motors 12 to 15 instead of the engine.
Instead of providing a driving motor for each wheel, the rotation of one or two driving motors may be selectively transmitted to each wheel via a transmission means.
In the first embodiment, key switches 35 to 28 for forward / reverse rotation of the wheels of the second embodiment are provided, and after entering the parking space S by lateral movement, an operation for straightening the direction can be performed. You may comprise.
When the vehicle body 1 is provided with a tilt sensor and it is detected that the vehicle body 1 is tilted, that is, when parking on a hill or the like, the rotational torque is made smaller than usual when rotating the wheels 3 to 6. And you may make it prevent the slip of the wheels 3-6.

As the remote operation device 2, a mobile telephone may be used, and a movement instruction may be given to the control device 25 of the vehicle main body by a mobile telephone system.
When the surrounding monitoring device 31 determines that there is an obstacle within a predetermined distance in the movement direction, it may be configured to move in the direction opposite to the previous movement direction after stopping there.
Normal traveling wheels (tires) and wheels for moving the vehicle main body 1 at a low speed in the parking mode may be separate wheels.
In the first embodiment, the direction of the wheels 3 to 6 can be freely adjusted from a state in which the vehicle body 1 is directed in the front-rear direction to a state in which the vehicle body 1 is directed to the side, so In addition to the left and right, it may be configured to move in parallel in an oblique direction or rotate.
When the protrusion of the vehicle main body 1 from the parking space is detected, the vehicle main body 1 may be automatically moved in the direction opposite to the moving direction so far.
A key switch for movement for remotely controlling the movement of the vehicle main body 1 may be provided outside the vehicle main body 1.

The block diagram which shows the electric constitution for the parking assistance in the 1st Embodiment of this invention Top view showing the shooting range of the camera Smart key perspective view Sectional view showing the configuration for wheel direction change and rotation drive Plan view for explaining the operation when parking Flow chart showing control during parking Flow chart for moving the vehicle body The top view before parking to the parking space which shows the 2nd Embodiment of this invention Plan view for explaining the operation of correcting the tilt of the vehicle body in the parking space Smart key perspective view The top view which shows the 3rd Embodiment of this invention and shows the operation | movement for parking The perspective view of the smart key which shows the 4th Embodiment of this invention

Explanation of symbols

  In the figure, 1 is a vehicle body, 2 is a remote control device (operation means), 3 to 6 are wheels (movement means), 8 to 11 are wheel direction changing motors, 12 to 15 are wheel drive motors, 16 -19 for photographing camera, 20 for smart key, 21-24 for moving key switch, 25 for control device (movement control means, stop control means), 26-29 for electromagnetic brake (stop means), 31 for surrounding monitoring A device (obstacle detection means), 32 is a parking space recognition device (parking space recognition means), and 35 to 38 are key switches for movement.

Claims (3)

A vehicle body provided with a moving means;
Operating means operable outside the vehicle body;
A movement control means for controlling movement of the vehicle body by controlling the movement means based on an operation of the operation means;
Stop means for stopping the vehicle body;
Obstacle detection means for detecting obstacles around the vehicle body;
A parking space recognition means for recognizing the parking space when the vehicle body is parked in a parking space;
Stop control means for operating the stop means to stop the vehicle body when an obstacle is detected by the obstacle detection means and / or the parking space recognition means detects a protrusion from the parking space. A vehicle with parking support function. The vehicle body includes a plurality of wheels, and the plurality of wheels are configured to be capable of changing directions independently of each other,
2. The parking according to claim 1, wherein the moving means is configured to determine a moving direction of the vehicle body by converting directions of the plurality of wheels based on control of the movement control means. Vehicle with support function. The vehicle body includes a plurality of wheels, and the plurality of wheels are configured to be rotatable independently of each other, and configured to be capable of forward / reverse conversion of the rotation direction,
The parking support according to claim 1, wherein the moving means is configured to determine a moving direction of the vehicle body by determining a rotation direction of the plurality of wheels based on control of the movement control means. Vehicle with function.

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