JP2021004018A - Vehicle and parking assistance apparatus - Google Patents

Abstract

To provide a vehicle and a parking assistance apparatus in which, when a path to a target position for turning back a steering wheel or parking is generated during parking assistance, for example, in the parking assistance in such a mode that a driver performs the operation of an accelerator, a brake, and a shift, the vehicle can be guided to the final target position even when the vehicle travels in an opposite direction on the path due to the driver's shift operation error.SOLUTION: In a vehicle 72 including a parking assistance apparatus, when the traveling direction of a generated path 405 coincides with a shift direction, the wheel angle of a steered wheel 2 is changed on the basis of the generated path 405. When the traveling direction of the generated path 405 does not coincide with the shift direction, the wheel angle of the steered wheel 2 is set to a value within a prescribed range. As a result, even when the vehicle 72 is moved after the generation of the path 405, guidance can be continued to a final target position.SELECTED DRAWING: Figure 11

Description

The present disclosure relates to a vehicle and a parking support device that enable parking support to guide the own vehicle to a target position by automatic steering.

Conventionally, the parking support device described above has been developed. For example, the parking support method and the parking support device described in Patent Document 1 set a target route for the vehicle to move from the initial position to the target parking position, and further, the vehicle moves along the set target route. Set at least one of the target speed and the target steering angle of. After that, the amount of deviation between the current position of the vehicle and the position on the target route is calculated, and the correction amount of at least one of the target speed and the target steering angle is calculated so as to reduce the amount of deviation, and the calculated correction amount is used. Based on this, at least one of the target speed and the target steering angle is corrected.

Here, the parking support operation when the driver operates the accelerator, the brake, and the shift in the parking support and the parking support device controls the wheel angle will be described. FIG. 14 is a diagram schematically showing a state when the vehicle 10 starts parking support and generates a route 200. The vehicle 10 shown in the figure has four wheels, and each of the two front wheels is the steering wheel 11 and each of the rear two wheels is the driving wheel 12 when the shift is set to drive (D). is there.

When the vehicle 10 starts parking support, the route 200 is first generated. The starting point of the route 200 is P1s, which is located in the center between the rear wheels of the vehicle 10. The end point of the route 200 is P1f. After the route 200 is generated, the vehicle 10 operates the accelerator, brake, or shift by the driver to change the wheel angle of the steering wheel 11 based on the generated route 200 and proceed to the end point P1f. .. The progress in this case is forward (arrow Y1 direction). The vehicle 10 sequentially calculates the wheel angle for traveling on the route 200. That is, the wheel angle is calculated from the curvature on the route 200, and the wheel angle for correcting the deviation of the vehicle 10 from the route 200 is calculated. The curvature is the reciprocal of the radius of gyration.

When the vehicle 10 travels to the end point P1f of the route 200, the vehicle 10 generates the next route. FIG. 15 is a diagram schematically showing a state when the vehicle 10 generates the next route 201. Based on the generated route 201, the vehicle 10 changes the wheel angle of the steering wheel 11 and proceeds from the start point P2s of the new route 201 to the end point P2f. The progress in this case is backward (in the direction of arrow Y2).

The vehicle 10 does not generate a route for a target parking position (for example, the end point P2f) at a time, but generates one by one and proceeds along the generated route. That is, first, the first forward route 200 is generated and progresses, and when the progress of the first route 200 is completed, the second reverse route 201 is generated and proceeds. The generation of the route is not limited, and for example, the first route and the second route may be forward, and the third route and the fourth route may be reverse, respectively.

Japanese Unexamined Patent Publication No. 2018-034540

By the way, at the time of parking assistance, a route to a target position for turning or parking is generated, but in a system that requires a driver's shift operation, the vehicle is in the direction opposite to the traveling direction assumed by the route due to the driver's carelessness. May move. For example, if the vehicle moves forward on a route that is supposed to move backward, the vehicle may run in reverse on the route and steering may become unstable. In addition, even if the driver switches to the correct shift after reverse driving, it may be difficult to proceed to the end point of the route as it is, and parking support may not be completed.

The present disclosure is a case where a route to a target position for turning or parking is generated at the time of parking assistance. For example, in parking assistance in which the driver operates the accelerator, brake and shift, the route is caused by a driver's shift operation error. It is an object of the present invention to provide a vehicle and a parking support device capable of guiding the vehicle to the final target position even if the vehicle runs backward.

The vehicle of the present disclosure is an operation capable of receiving at least one steering wheel, at least one driving wheel, a power unit capable of providing driving force to the driving wheel, and at least an instruction relating to a forward or backward traveling direction. A vehicle capable of assisting in stopping at a predetermined position by generating a path having a traveling direction and changing at least the wheel angle of the steering wheel based on the path. When the traveling direction of the path and the traveling direction received by the operating unit match, at least the wheel angle of the steering wheel is changed based on the route, and the traveling direction of the route and the operating unit receive the acceptance. If the direction of travel does not match, the wheel angle of the steering wheel is set to a value within a predetermined range.

According to the present disclosure, when the traveling direction of the generated path and the traveling direction received by the operation unit match, the wheel angle of the steering wheel is changed based on the generated path, and the traveling direction of the generated path is determined. If the direction of travel does not match the direction of travel accepted by the operation unit, the wheel angle of the steering wheel is set to a value within a predetermined range, so even if the vehicle moves after the route is generated, guidance is provided to the final target position. You can continue.

In the vehicle of the present disclosure, in the above configuration, the operation unit can accept at least an operation of changing the power of the power unit.

According to the present disclosure, the power of the power unit can be changed.

In the vehicle of the present disclosure, the steering wheel and the driving wheel are the same in the above configuration.

According to the present disclosure, even if the steering wheel and the driving wheel are the same, if the traveling direction of the generated path and the traveling direction accepted by the operation unit do not match, the wheel angle of the steering wheel is within a predetermined range. Since it is set to a value, even if the vehicle moves after the route is generated, the guidance can be continued to the final target position.

In the vehicle of the present disclosure, in the above configuration, the steering wheel and / or the driving wheel is provided with a braking mechanism, and the operating unit can accept an operation of changing the braking force of the braking mechanism.

According to the present disclosure, the operation unit can perform an operation of changing the braking force. For example, when the operation unit is a brake pedal, the braking force is increased by depressing the brake pedal.

In the vehicle of the present disclosure, in the above configuration, the power unit includes an internal combustion engine and / or an electric motor.

According to the present disclosure, the vehicle can be advanced (forward / backward) by an internal combustion engine, an electric motor, or both.

The vehicle of the present disclosure includes an electric steering mechanism that changes the wheel angle of the steering wheel in the above configuration.

According to the present disclosure, the wheel angle of the steering wheel can be changed electrically.

In the vehicle of the present disclosure, in the above configuration, the at least one steering wheel is composed of two wheels, and the at least one driving wheel is composed of two wheels.

According to the present disclosure, the vehicle can travel on at least four wheels.

The vehicle of the present disclosure comprises a processor in the above configuration, the processor generating the path, and the value of the wheel angle within the predetermined range is said while the processor is generating the path. It is a value based on the wheel angle of the steering wheel.

According to the present disclosure, the wheel angle can be set to an appropriate value.

In the above configuration, the vehicle of the present disclosure further includes a camera capable of photographing the outside and a display circuit capable of displaying a second image corresponding to the first image captured by the camera. A predetermined position is superimposed on the second image and displayed.

According to the present disclosure, for example, a predetermined position can be superimposed and displayed on a second image corresponding to a first image captured by an omnidirectional camera.

The vehicle of the present disclosure includes an input circuit in the above configuration, and the input circuit can receive an input at the predetermined position.

According to the present disclosure, a predetermined position can be input as an input circuit by, for example, a touch panel.

The parking assist device of the present disclosure can accept at least one steering wheel, at least one driving wheel, a power unit capable of providing driving force to the driving wheel, and at least an instruction relating to a forward or backward traveling direction. A parking support device that can be mounted on a vehicle including an operation unit, and by generating a path having a traveling direction and changing at least the wheel angle of the steering wheel based on the path, a predetermined position When the traveling direction of the route and the traveling direction received by the operation unit match, at least the wheel angle of the steering wheel is changed based on the route to change the traveling direction of the route. When the traveling direction and the traveling direction received by the operating unit do not match, the wheel angle of the steering wheel is set to a value within a predetermined range.

According to the present disclosure, when the traveling direction of the generated path and the traveling direction received by the operation unit match, the wheel angle of the steering wheel is changed based on the generated path, and the traveling direction of the generated path is determined. If the direction of travel does not match the direction of travel accepted by the operation unit, the wheel angle of the steering wheel is set to a value within a predetermined range, so even if the vehicle moves after the route is generated, guidance is provided to the final target position. You can continue.

In the parking support device of the present disclosure, in the above configuration, the operation unit can accept at least an operation of changing the power of the power unit.

According to the present disclosure, the power of the power unit can be changed.

In the parking support device of the present disclosure, the steering wheel and the driving wheel of the vehicle are the same in the above configuration.

According to the present disclosure, even if the steering wheel and the driving wheel are the same, if the traveling direction of the generated path and the traveling direction accepted by the operation unit do not match, the wheel angle of the steering wheel is within a predetermined range. Since it is set to a value, even if the vehicle moves after the route is generated, the guidance can be continued to the final target position.

In the above-described configuration, the parking support device of the present disclosure includes a braking mechanism for the steering wheel and / or the driving wheel of the vehicle, and the operating unit can accept an operation of changing the braking force of the braking mechanism. is there.

According to the present disclosure, the operation unit can perform an operation of changing the braking force. For example, when the operation unit is a brake pedal, the braking force is increased by depressing the brake pedal.

In the parking support device of the present disclosure, in the above configuration, the power unit of the vehicle includes an internal combustion engine and / or an electric motor.

According to the present disclosure, the vehicle can be advanced (forward / backward) by an internal combustion engine, an electric motor, or both.

In the above configuration, the parking support device of the present disclosure includes an electric steering mechanism in which the vehicle changes the wheel angle of the steering wheel.

According to the present disclosure, the wheel angle of the steering wheel can be changed electrically.

In the parking support device of the present disclosure, in the above configuration, the at least one steering wheel of the vehicle is composed of two wheels, and the at least one driving wheel of the vehicle is composed of two wheels.

According to the present disclosure, the vehicle can travel on at least four wheels.

The parking assist device of the present disclosure comprises a processor in the above configuration, the processor generating the path, and the value of the wheel angle within the predetermined range is while the processor is generating the path. It is a value based on the wheel angle of the steering wheel.

According to the present disclosure, the wheel angle can be set to an appropriate value.

In the above configuration, the parking support device of the present disclosure further includes a camera capable of photographing the outside and a display circuit capable of displaying a second image corresponding to the first image captured by the camera. The display circuit superimposes the predetermined position on the second image and displays it.

According to the present disclosure, for example, a predetermined position can be superimposed and displayed on a second image corresponding to a first image captured by an omnidirectional camera.

In the parking support device of the present disclosure, in the above configuration, the vehicle includes an input circuit, and the input circuit can receive an input at the predetermined position.

According to the present disclosure, a predetermined position can be input as an input circuit by, for example, a touch panel.

According to the present disclosure, in the case of generating a route to a target position for turning or parking at the time of parking assistance, for example, in parking assistance in which the driver operates the accelerator, brake and shift, a driver's shift operation error Therefore, the vehicle can be guided to the final target position even if the vehicle runs backward on the route.

The figure which shows the appearance of the vehicle of 1st Embodiment, the power part, the braking mechanism, the operation part and the parking support device mounted on the vehicle. The figure for demonstrating the wheel angle of the steering wheel of the vehicle of 1st Embodiment A block diagram showing a schematic configuration of a parking support device mounted on the vehicle of the first embodiment. The figure which showed typically the state when the parking support device mounted on the vehicle of 1st Embodiment generated the 1st route. The figure which showed typically the state when the parking support device mounted on the vehicle of 1st Embodiment generated the 2nd route. A flowchart for explaining the operation of the processor constituting the parking assist device mounted on the vehicle of the first embodiment. The figure which showed typically the state when the parking support device mounted on the vehicle of 2nd Embodiment generated the 1st route. The figure which showed typically the state when the parking support device mounted on the vehicle of 2nd Embodiment generated the 2nd route. A flowchart for explaining the operation of the processor constituting the parking assist device mounted on the vehicle of the second embodiment. The figure which showed typically the state when the parking support device mounted on the vehicle of 3rd Embodiment generates a route. The figure which showed typically the state when the parking support device mounted on the vehicle of 4th Embodiment generates a route. The figure which showed typically the state when the parking support device mounted on the vehicle of 5th Embodiment generates a route. A flowchart for explaining the operation of the processor constituting the parking assist device mounted on the vehicle of the fifth embodiment. A diagram schematically showing the state when the conventional parking support device generates the first route. A diagram schematically showing a state when a conventional parking support device generates a second route.

Hereinafter, embodiments in which the vehicle and parking support device according to the present disclosure are specifically disclosed will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanations of already well-known matters and duplicate explanations for substantially the same configuration may be omitted. This is to avoid unnecessary redundancy of the following description and to facilitate the understanding of those skilled in the art. It should be noted that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

Hereinafter, preferred embodiments for carrying out the present disclosure will be described in detail with reference to the drawings.

(First Embodiment)
Hereinafter, the vehicle of the first embodiment will be described with reference to FIGS. 1 to 6. FIG. 1 is a diagram showing the appearance of the vehicle 1 of the first embodiment, the power unit 4, the braking mechanism 5, the operation unit 6, and the parking support device 7 mounted on the vehicle 1. In the figure, the vehicle 1 of the first embodiment has four wheels, and each of the two front wheels when traveling with the shift as drive (D) is the steering wheel 2, and the rear two wheels. Each is a drive wheel 3. In this case, since FIG. 1 is a view of the side surface of the vehicle 1, only the two front and rear wheels 2 and 3 can be seen, but in reality, the steering wheel 2 is in front of the opposite side and the drive wheel 3 is in the rear. .. In the vehicle 1 of the first embodiment, the two front wheels are the steering wheels 2 and the two rear wheels are the driving wheels 3, but the steering wheels 2 may also serve as the driving wheels (so-called FF). (Drive system called Front-engine Front-drive).

The power unit 4 includes an internal combustion engine (for example, a gasoline engine) or an electric motor, or both an internal combustion engine and an electric motor, and provides driving force to two drive wheels 3. The braking mechanism 5 provides braking force to each of the steering wheel 2 and the driving wheel 3. Although the braking mechanism 5 is provided on each of the steering wheel 2 and the driving wheel 3, it may be provided only on the front steering wheel 2 or only on the rear driving wheel 3. The operation unit 6 accepts an operation (so-called accelerator operation) for changing the power of the power unit 4. The operation unit 6 also accepts an operation (so-called brake operation) for changing the braking force of the braking mechanism 5. The operation unit 6 includes an accelerator operation-related part (not shown) including an accelerator pedal and a brake operation-related part (not shown) including a brake pedal.

The parking support device 7 controls the power unit 4 at the time of parking support to support the parking of the vehicle 1. FIG. 3 is a block diagram showing a schematic configuration of a parking support device 7 mounted on the vehicle 1 of the first embodiment. In the figure, the parking support device 7 includes an automatic steering device 20, a parking support ECU (Electronic Control Unit) 30, a parking support start button 40, a shift 50, a wheel speed sensor 51, and a wheel rotation sensor 52. It includes a monitor 60, a speaker 61, a rear camera 62, a touch panel (input circuit) 63, an omnidirectional camera 64, and a sonar 65.

The automatic steering device 20 includes a steering shaft 21, a steering wheel 22, a steering angle sensor 23, and a steering actuator 24, and is controlled by a parking support ECU 30. The steering shaft 21 transmits the movement of the steering wheel 22 to the steering wheel 25. The steering angle sensor 23 detects the steering amount of the steering shaft 21. The steering actuator 24 applies a steering force to the steering shaft 21. The steering angle sensor 23 and the steering actuator 24 are connected to the steering shaft 21. The steering actuator 24 applies a steering force during automatic steering to change the wheel angle of the steering wheel 2, and also applies an assist steering force during steering by the driver to change the wheel angle of the steering wheel 2 (electric steering mechanism). EPS: Electric Power Steering). The wheel angle refers to the angle of the wheel based on the direction of the wheel when the vehicle 1 travels straight, and is also generally called a tire angle. FIG. 2 shows the angle of the steering wheel 2.

A shift 50, a wheel speed sensor 51, a wheel rotation sensor 52, a monitor (display circuit) 60, a speaker 61, a rear camera 62, a touch panel 63, an omnidirectional camera 64, and a sonar 65 are connected to the parking support ECU 30. The shift 50 functions as one operation unit, and accepts a switching operation of drive (D), neutral (N), rear (R), and parking (P). The wheel speed sensor 51 is arranged on each wheel of the steering wheel 2 and the drive wheel 3 to detect the wheel speed. The wheel rotation sensor 52 detects the rotation of at least one of the four wheels of the steering wheel 2 and the drive wheel 3. The monitor 60 displays images taken by the rear camera 62 and the omnidirectional camera 64. A liquid crystal display, an organic EL (Electro Luminescence) display, or the like is used for the monitor 60.

The speaker 61 converts the audio signal output from the parking support ECU 30 into sound. The voice signal output from the parking support ECU 30 indicates the operating state of the parking support ECU 30. The rear camera 62 is mounted on the rear of the vehicle 1 and captures an image of the rear of the vehicle 1. The touch panel 63 is formed to have substantially the same size as the screen of the monitor 60, and is arranged so as to overlap the screen of the monitor 60. The touch panel 63 receives various inputs during the parking support operation. For example, it accepts input about a predetermined position of the route to be generated.

The omnidirectional camera 64 is a so-called fisheye camera, and photographs the entire circumference of the vehicle 1. The sonar 65 searches for obstacles all around the vehicle 1 by transmitting sound waves and receiving sound waves that are reflected from the obstacles and returned. The sonar 65 is arranged at both corners of the front part and the rear part of the vehicle 1.

As shown in FIG. 3, the parking support ECU 30 includes an image processing unit 31 and a steering control unit 32. The image processing unit 31 takes in the image taken by the omnidirectional camera 64 and the image taken by the rear camera 62 at the time of parking support, and performs image processing for parking support. In the image processing for parking support, the image processing unit 31 performs image processing on the image (first image) taken by the omnidirectional camera 64 and converts it into an around view (second image). Then, this around view is displayed on the monitor 60. In addition, the image processing unit 31 superimposes and displays the predetermined position when the route to the predetermined position is generated on the around view. The monitor 60 displays the around view and superimposes the predetermined position of the route on the around view. Here, the parking support ECU 30 generates a route to the "predetermined position", and the predetermined position is the "target position". In particular, when two routes are generated to the parking position, the target position of the second route becomes the final target position.

In addition to using a fisheye camera as the omnidirectional camera 64, it is also possible to mount a plurality of wide-angle and high-resolution cameras on the vehicle 1 and combine the images from these cameras to convert them into an around view. It is possible. The steering control unit 32 takes in the output signal of the steering angle sensor 23, the output signal of the wheel speed sensor 51, and the output signal of the wheel rotation sensor 52 at the time of parking assistance, and based on these output signals, the steering actuator 24 Control the drive.

The parking support ECU 30 realizes a function as an image processing unit 31 and a function as a steering control unit 32 with one processor 33 (see FIG. 1). Two processors 33 may be provided, one of which realizes the function of the image processing unit 31, and the other of which realizes the function of the steering control unit 32. Further, instead of performing image processing and steering control by software in the processor 33, it may be performed in hardware in the parking support ECU 30. Further, since the main control in the parking support device 7 is performed by the processor 33 constituting the parking support ECU 30, the subject in the following operation description is the processor 33.

By detecting the pressing of the parking support start button 40, the processor 33 detects the switching operation state of the shift 50, the output signal of the wheel speed sensor 51, the output signal of the wheel rotation sensor 52, and the rear image captured by the rear camera 62. , The parking support process is performed using the omnidirectional image taken by the omnidirectional camera 64 and the output signal of the sonar 65. That is, the processor 33 generates a route to the target position and changes the wheel angle of the steering wheel 2 based on the generated route to support the vehicle to stop at the target position. The processor 33 calculates the steering amount for changing the wheel angle of the steering wheel 2 from the curvature information of the path and the deviation amount from the path.

The processor 33 generates the route after the vehicle 1 stops mainly near the end point of the route. That is, the processor 33 generates the first route, and after the vehicle 1 stops near the end point of the route, generates the next route.

Further, the processor 33 changes the wheel angle of the steering wheel 2 based on the route before the end point of the route, and when the vehicle 1 advances beyond the target position of the route, the processor 33 advances in the tangential direction at the target position of the route. The wheel angle of the steering wheel 2 is changed. That is, when the steering amount is calculated from the curvature information of the route and the deviation amount from the route, the steering amount cannot be obtained when the target position is exceeded, and the vehicle 1 may be guided to a place where the next route cannot be generated. There is. Therefore, when the vehicle 1 travels beyond the target position of the route, the processor 33 calculates the amount of steering traveling on the tangent line of the target position of the route. As a result, the next route only goes straight (forward / backward) at the beginning, and succeeds in route generation via the end point of the original route.

This control, that is, the control when the target position is exceeded, is as follows. FIG. 4 is a diagram schematically showing a state when the vehicle 1 starts parking support and generates the first route 300. In the figure, when the vehicle 1 starts parking toward the empty space 500 between the vehicle 100 and the vehicle 101, the processor 33 first generates the route 300. In this case, the start point of the route 300 is P1s and the end point is P1f. The "end point P1f" is the "target position" of the route 300. When the driver performs an accelerator, brake, or shift operation after the generation of the route 300, the processor 33 changes the wheel angle of the steering wheel 2 based on the generated route 300, and the vehicle reaches the end point P1f of the route 300. Induce 1. The guidance direction in this case is the forward direction (the direction indicated by the arrow Y1 is the forward direction). The processor 33 sequentially calculates the wheel angle for traveling on the route 300. That is, the processor 33 calculates the wheel angle from the curvature on the route 300, and also calculates the wheel angle for correcting the deviation of the vehicle 1 from the route 300. The curvature is the reciprocal of the radius of gyration.

When the processor 33 guides the vehicle 1 to the end point P1f of the route 300, the next route is generated. However, when the vehicle 1 travels beyond the end point P1f of the route 300, the processor 33 travels on the tangent 301 of the end point P1f of the route 300. Calculate the amount of steering to be performed. As a result, the next route succeeds in generating the route via the end point P1f of the original route 300 only by moving backward at the beginning.

FIG. 5 is a diagram schematically showing a state when the processor 33 generates the second path (tangent line 301 and path 302). Based on the tangent line 301, the processor 33 changes the wheel angle of the steering wheel 2 to guide the vehicle 1 from the start point P2s of the tangent line 301 to the end point P2f (approximately the same position as the end point P1f). The guidance direction in this case is the reverse direction (the direction indicated by the arrow Y2 is the reverse direction). That is, the processor 33 generates the next route by generating the route 302 via the tangent line 301. In this case, the start point P3s of the path 302 is substantially the same as the end point P2f of the tangent line 301. The processor 33 generates the second route (tangent line 301 and route 302) at a time, and then guides the vehicle 1 to the end point P3f in the empty space 500. The guidance direction in this case is the reverse direction. The "end point P3f" is the "target position" of the second route, and is the final target position when viewed from the entire route.

In this way, when the vehicle 1 travels beyond the end point P1f of the route 300, the processor 33 calculates the steering amount to travel on the tangent 301 of the end point P1f of the route 300. As a result, the second route (tangent line 301 and route 302) is successfully generated via the end point P1f of the original route 300 only by going straight (forward / backward) on the tangent line 301.

The processor 33 outputs an image of the moving state of the vehicle 1 to the monitor 60 while providing parking assistance.

Next, the parking support process by the processor 33 of the vehicle 1 of the first embodiment will be described. FIG. 6 is a flowchart for explaining the operation of the processor 33. In the figure, when the processor 33 starts parking assistance, it first starts route generation (step S10). Next, the processor 33 determines whether or not the route generation is completed (step S11), and when it is determined that the route is being generated (when it is determined as "NO" in step S11), the wheel angle of the steering wheel 2 is fixed. Then (step S12), the process returns to the determination in step S11. That is, the wheel angle of the steering wheel 2 is fixed during the path generation.

When the processor 33 determines that the route generation is completed (determines "YES" in step S11), the processor 33 determines whether the shift direction and the route traveling direction are the same (step S13), and the shift direction is the route traveling. When it is determined that the direction is different (when it is determined as "NO" in step S13), a shift change instruction is issued to the driver (step S14), and the wheel angle of the steering wheel 2 is fixed (step S15). , Return to the determination in step S13. That is, while the shift direction is different from the path traveling direction, a shift change instruction is issued to fix the wheel angle of the steering wheel 2. The processor 33 displays a shift change instruction on the monitor 60, or outputs a voice from the speaker 61.

When the processor 33 determines that the shift direction and the route traveling direction are the same (determined as "YES" in step S13), the processor 33 determines whether or not the vehicle 1 has reached the vicinity of the target position of the route (step S16). .. When the processor 33 determines that the vehicle 1 has not come near the target position on the route (determines "NO" in step S16), the processor 33 calculates the wheel angle (step S17). After calculating the wheel angle, the process returns to step S13. The processor 33 sequentially performs this wheel angle calculation until the vehicle 1 reaches the vicinity of the target position on the route. When the processor 33 determines that the vehicle 1 has come near the target position on the route (determines "YES" in step S16), the processor 33 determines whether the vehicle 1 is in the stopped state (step S18). When the processor 33 determines that the vehicle 1 is not in the stopped state (determines "NO" in step S18), the processor 33 determines whether the vehicle 1 is in front of the target position on the route (step S19).

When the processor 33 determines that the vehicle 1 is not in front of the target position of the route (determines "NO" in step S19), that is, when it determines that the vehicle 1 has exceeded the target position of the route, the processor 33 of the route The wheel angle traveling on the tangent line of the target position is calculated (step S20). After calculating the wheel angle traveling on the tangent line of the target position of the route, the process returns to step S13. When the processor 33 determines that the vehicle 1 is in front of the target position on the route (determines "YES" in step S19), that is, when it determines that the vehicle 1 has not reached the target position on the route, the wheels Calculate the angle (step S21). After calculating the wheel angle, the process returns to step S13. The processor 33 sequentially performs this wheel angle calculation until the vehicle 1 reaches the target position on the route.

When the processor 33 determines in step S18 that the vehicle 1 has stopped (determines "YES" in step S18), the processor 33 determines whether the current route is the final route (step S22). When the processor 33 determines that the current route is the final route (determines "YES" in step S22), the processor 33 ends this process. When the processor 33 determines that the current route is not the final route (determines "NO" in step S22), the processor 33 returns to step S13.

As described above, the vehicle 1 of the first embodiment can support stopping at the target position by generating a route to the target position and changing the wheel angle of the steering wheel 2 based on the generated route. When traveling beyond the target position of the route, the wheel angle of the steering wheel 2 is changed so as to advance in the tangential direction at the target position of the route, so that the vehicle 1 advances (forwards / backwards) in the tangential direction. Only, it succeeds in generating a new route via the target position of the original route.

The parking support process in the vehicle 1 of the first embodiment is applied not only when the driver performs the accelerator, brake, and shift operations, but also when the system performs the accelerator, brake, and shift operations. it can. Further, it can be applied not only when the route is generated for each route but also when the route is generated at once up to the final target position.

(Second Embodiment)
In the vehicle 1 of the first embodiment described above, when the vehicle 1 advances beyond the target position of the route, the wheel angle of the steering wheel 2 is changed so as to advance in the tangential direction at the target position of the route. In the vehicle 70 of the second embodiment, the wheel angle of the steering wheel 2 is set to a wheel angle within a predetermined range with reference to the wheel angle of the target position. The wheel angle is practically fixed, but since there is play, it is set within a predetermined range. For example, plus or minus 1 degree or less, 2 degrees or less, 3 degrees or less, 4 degrees or less, or 5 degrees or less. The processing other than the processing when the vehicle 70 has advanced beyond the target position of the route is the same as the processing in the vehicle 1 of the first embodiment. Further, since the configuration of the vehicle 70 of the second embodiment is the same as the configuration of the vehicle 1 of the first embodiment, FIGS. 1 and 3 will be referred to when necessary for explanation.

In the vehicle 70 of the second embodiment, the control when the target position of the route is exceeded is as follows. FIG. 7 is a diagram schematically showing a state when the vehicle 70 starts parking support and generates the first route 300. In the figure, when the vehicle 70 starts parking toward the empty space 500 between the vehicle 100 and the vehicle 101, the processor 33 first generates a route 300. In this case, the start point of the route 300 is P1s and the end point is P1f. As described above, the "end point" is the "target position". When the driver operates the accelerator, brake, or shift after generating the path 300, the processor 33 changes the wheel angle of the steering wheel 2 based on the generated path 300, thereby changing the wheel angle of the steering wheel 2 to reach the end point P1f of the path 300. Guide the vehicle 70 to. The guidance direction in this case is the forward direction (the direction indicated by the arrow Y1 is the forward direction). The processor 33 sequentially calculates the wheel angle for traveling on the route 300. That is, the processor 33 calculates the wheel angle from the curvature on the route 300, and also calculates the wheel angle for correcting the deviation of the vehicle 70 from the route 300. The curvature is the reciprocal of the radius of gyration.

When the processor 33 guides the vehicle 70 to the end point P1f of the route 300, the next route is generated. When the vehicle 70 reaches the end point P1f of the route 300, the wheel angle of the steering wheel 2 is fixed at that time. That is, the wheel angle of the steering wheel 2 is fixed by the wheel angle calculated from the curvature at the end point P1f, which is the target position. As a result, when the vehicle 70 exceeds the end point P1f of the route 300, the vehicle travels with the fixed wheel angle. By fixing the wheel angle of the steering wheel 2, the curvature becomes constant. When generating the next route, if the arc 301a is retracted, the generation of the next route succeeds via the end point P1f of the original route 300. The wheel angle at the end point P1f may be 0 degrees. In this case, if the straight line 301a goes straight and backwards, the next route can be generated via the end point P1f of the original route 300.

FIG. 8 is a diagram schematically showing a state when the processor 33 generates a second path (arc 301a and path 302). The processor 33 guides the vehicle 70 from the start point P2s of the arc 301a to the end point P2f (substantially the same position as the end point P1f) by retracting the steering wheel 2 while keeping the wheel angle fixed based on the arc 301a. The guidance direction in this case is the reverse direction (the direction indicated by the arrow Y2 is the reverse direction). That is, the processor 33 generates the next route by generating the route 302 via the arc 301a. In this case, the start point P3s of the path 302 is substantially the same as the end point P2f of the arc 301a. After generating the second route (arc 301a and route 302) at once, the processor 33 guides the vehicle 70 to the end point P3f in the empty space 500. The guidance direction in this case is the reverse direction.

In this way, when the vehicle 70 travels beyond the end point P1f of the route 300, the processor 33 fixes the wheel angle of the steering wheel 2 when the vehicle 70 reaches the end point P1f of the route 300. As a result, the second path (arc 301a and path 302) is successfully generated via the end point P1f of the original path 300 only by retreating the arc 301a.

Next, the parking support process by the processor 33 of the vehicle 70 of the second embodiment will be described. FIG. 9 is a flowchart for explaining the operation of the processor 33 of the vehicle 70. In the figure, the processes of steps S10 to S19 and steps S21 and S22 are the same as the operations in the vehicle 1 described with reference to FIG. 6, and thus the description of these processes will be omitted.

The processor 33 determines in step S18 that the vehicle 70 has not stopped (determines "NO" in step S18), and further determines in step S19 that it is not before the target position of the route, that is, has reached the target position. If this is the case (determined as "NO" in step S19), the wheel angle of the steering wheel 2 is fixed by the wheel angle calculated from the curvature of the target position (step S30). After fixing the wheel angle of the steering wheel 2, the process returns to step S13.

As described above, the vehicle 70 of the second embodiment can support stopping at the target position by generating a route to the target position and changing the wheel angle of the steering wheel 2 based on the generated route. When traveling beyond the target position of the route, the wheel angle of the steering wheel 2 is fixed to the wheel angle within a predetermined range with reference to the wheel angle of the target position, so that the vehicle 70 retreats in an arc or goes straight back. By simply doing so, a new route is successfully generated via the target position of the original route.

The parking support process in the vehicle 70 of the second embodiment is applied not only when the driver performs the accelerator, brake, and shift operations, but also when the system performs the accelerator, brake, and shift operations. it can. Further, it can be applied not only when the route is generated for each route but also when the route is generated at once up to the final target position.

(Third Embodiment)
The vehicle 71 of the third embodiment enables the driver to return to the first position even if the driver reverses the vehicle 71 while the processor 33 is generating the route at the first position. The processing other than the processing when the vehicle 71 runs in reverse during the route generation is the same as the processing in the vehicle 1 of the first embodiment or the vehicle 70 of the second embodiment. Further, since the configuration of the vehicle 71 of the third embodiment is the same as the configuration of the vehicle 1 of the first embodiment, FIGS. 1 and 3 will be referred to when necessary for explanation.

The control when the driver reverses the vehicle 71 while the processor 33 is generating the route at the first position is as follows. FIG. 10 is a diagram schematically showing a state in which the vehicle 71 is trying to generate a route from the first position to the second position (target position). In the figure, the processor 33 starts generating a route 400 to the second position P4f at the first position P4s in order to park toward the empty space 500 between the vehicle 100 and the vehicle 101. .. The route 400 is a route for the vehicle 71 to move backward, but if the driver advances the vehicle 71, the correct route 400 up to the second position P4f cannot be generated.

Therefore, when the processor 33 is generating the path 400 at the first position P4s, the wheel angle of the steering wheel 2 is set to a wheel angle within a predetermined range with reference to the wheel angle at the first position P4s. Proceed. This wheel angle is substantially fixed, but there is play, so there is a predetermined range. For example, plus or minus 1 degree or less, 2 degrees or less, 3 degrees or less, 4 degrees or less, or 5 degrees or less. When the wheel angle of the steering wheel 2 is fixed in this way, even if the vehicle 71 moves forward, after the vehicle is in the correct traveling direction (backward direction), the first position (starting point of the route 400 (first position)). It is possible to return to P4s)) and succeed in generating the route 400. When the vehicle 71 stops at a predetermined position between the first position P4s and the second position P4f on the route 400, the processor 33 is within a predetermined range with reference to the wheel angle at the predetermined position. Make the wheel angle and proceed. In this case as well, the wheel angle is substantially fixed, but there is play, so there is a predetermined range. For example, plus or minus 1 degree or less, 2 degrees or less, 3 degrees or less, 4 degrees or less, or 5 degrees or less. Further, it goes without saying that the processing in this case is performed while the processor 33 is generating the route.

The process of fixing the wheel angle of the steering wheel 2 during the route generation is steps S11 and S12 of FIG. 6 or FIG. That is, as described above, the processor 33 starts the route generation (step S10), and fixes the wheel angle of the steering wheel 2 during the route generation (“NO” in step S11) (step S12).

As described above, the vehicle 71 of the third embodiment generates a path 400 to the second position P4f at the first position P4s, and changes the wheel angle of the steering wheel 2 based on the generated path 400. Therefore, it is possible to support the vehicle to stop at the second position P4f, and when the path 400 is being generated at the first position P4s, the wheel angle of the steering wheel 2 is set to the first position P4s (or the first position P4s). Since the vehicle travels fixedly at a wheel angle within a predetermined range with reference to the wheel angle (a predetermined position between the position P4s and the second position P4f), after the vehicle 71 is in the correct traveling direction, the vehicle travels. It is possible to return to the first position P4s and succeed in generating the path 400.

The parking support process in the vehicle 71 of the third embodiment is applied not only when the driver performs the accelerator, brake, and shift operations, but also when the system performs the accelerator, brake, and shift operations. it can. Further, it can be applied not only when the route is generated for each route but also when the route is generated at once up to the final target position.

(Fourth Embodiment)
The vehicle 71 of the third embodiment described above sets the wheel angle of the steering wheel 2 while generating the path 400 at the first position P4s (or a predetermined position between the first position P4s and the second position P4f). Although the vehicle 72 is fixed, the wheel angle of the steering wheel 2 is fixed after the route is generated.

The reason why the wheel angle of the steering wheel 2 is fixed after the path is generated is as follows. At the time of parking assistance, a route to the target position of parking is generated, but in a system that requires a driver's shift operation, the vehicle may move in the direction opposite to the traveling direction assumed by the route due to carelessness of the driver. Conceivable. For example, if the vehicle moves forward on a route that is supposed to reverse, the vehicle will run in reverse on the route, and steering will be unstable. In such a case, even if the driver switches to the correct shift direction after reverse driving, it may be difficult to proceed to the end point of the route as it is, and parking assistance may not be completed.

Therefore, when the traveling direction and the shifting direction of the route do not match, the wheel angle of the steering wheel 2 is fixed to the wheel angle at the start of traveling until they match. By doing so, the vehicle will run in reverse while maintaining an arbitrary wheel angle, and when the traveling direction and shift direction of the route match, if the vehicle travels in the traveling direction of the route at an arbitrary wheel angle, it will reverse. It is possible to return to the starting position and guide to the end point of the route, that is, the target position.

The processing other than the processing when the vehicle 72 runs in the reverse direction after the route is generated is the same as the processing in the vehicle 1 of the first embodiment or the vehicle 70 of the second embodiment. Further, since the configuration of the vehicle 72 of the fourth embodiment is the same as the configuration of the vehicle 1 of the first embodiment, FIGS. 1 and 3 will be referred to when necessary for explanation.

The control when the driver reverses the vehicle 72 after the processor 33 generates the route at the first position will be described with reference to FIG. FIG. 11 is a diagram schematically showing a state in which the vehicle 72 is trying to generate a route from the first position P5s to the second position P5f. In the figure, the processor 33 generates a route 405 to the second position P5f at the first position P5s in order to park toward the empty space 500 between the vehicle 100 and the vehicle 101. The generated route 405 becomes a route for the vehicle 72 to move forward, but when the driver moves the vehicle 72 backward (that is, reverses the vehicle 72 in the direction of arrow Y2), the vehicle 72 deviates from the route 405. And the steering becomes unstable. Moreover, even if the shift is switched to the correct shift when the vehicle deviates from the route 405, it becomes difficult to proceed to the end point of the route as it is, and the parking support cannot be completed.

Therefore, after the path 405 is generated at the first position P5s, the processor 33 sets the wheel angle of the steering wheel 2 to a value within a predetermined range when the traveling direction and the shifting direction of the path 405 do not match. That is, it is fixed at the wheel angle when it starts to run in reverse. In this case, the wheel angle of the steering wheel 2 is substantially fixed, but there is play, so there is a predetermined range. For example, plus or minus 1 degree or less, 2 degrees or less, 3 degrees or less, 4 degrees or less, or 5 degrees or less. As a result, the vehicle 72 runs backward on the route 406 obtained at the wheel angle set to a value within a predetermined range. When the wheel angle of the steering wheel 2 is fixed, it is possible to return to the original path 405 by switching the shift to forward. In this way, it is possible to continue the guidance to the final target position even if the driver runs in the opposite direction due to an operation error. Needless to say, when the traveling direction and the shifting direction of the path 405 match, the wheel angle of the steering wheel 2 is changed based on the path 405.

The process of fixing the wheel angle of the steering wheel 2 after the path is generated is steps S13 to S15 of FIG. 6 or FIG. That is, as described above, after the route is generated, the processor 33 issues a shift change instruction (step S14) when the shift direction does not match the route traveling direction (when it is determined as "NO" in step S13), and the steering wheel. The wheel angle of 2 is fixed (step S15).

As described above, after the route is generated, the vehicle 72 of the fourth embodiment changes the wheel angle of the steering wheel 2 based on the generated route when the traveling direction and the shift direction of the generated route match. If the traveling direction and the shifting direction of the route do not match, the wheel angle of the steering wheel 2 is set to a value within a predetermined range, so that even if the driver makes a mistake in the shift operation and runs backward on the route, the final It is possible to guide to the target position.

The parking support process in the vehicle 72 of the fourth embodiment can be applied not only when the route generation is generated for each route but also when the route generation is generated at once up to the final target position.

(Fifth Embodiment)
The vehicle 73 of the fifth embodiment is designed so that the load on the electric steering mechanism can be reduced by stationary steering.

FIG. 12 is a diagram schematically showing a state when the vehicle 73 starts parking support, generates two routes 420 and 421, and proceeds to the final target position. In the figure, when the vehicle 73 performs parallel parking (or parallel parking) in the empty space 500 between the vehicle 100 and the vehicle 101, the processor 33 first generates a forward route (forward route) 420. In this case, the start point of the forward path 420 is P6s, and the end point (stop position) is P6f. The "end point P6f" is also the "target position" of the forward path 420 and the start point P7s of the next reverse path (reverse path) 421. The end point (stop position) of the reverse path 421 is P7f.

In the forward path 420, the processor 33 sets the wheel angle in the straight direction (the direction of the wheels when the vehicle 73 goes straight, that is, the wheel angle is 0 degrees) at a point where the position of the vehicle 73 is larger than the first distance with respect to the stop position P6f. The wheel angle is set to a value larger than the first angle, which is a positive value with reference to (direction of), and the wheel angle is set to a point smaller than the first distance with respect to the stop position P6f with respect to the straight direction. At the stop position P6f, the wheel angle is changed from the first angle to the second angle, which is a negative value, with reference to the straight-ahead direction (that is, stationary steering is performed).

Further, the processor 33 sets the wheel angle to a second angle based on the straight-ahead direction at a point where the position of the vehicle 73 is smaller than the second distance with respect to the stop position P6f on the reverse path 421, and the position of the vehicle 73 stops. At a point larger than the second distance with respect to the position P6f, the wheel angle is set to a value smaller than the second angle with respect to the straight-ahead direction. The second angle is expressed as small because it is a negative value, but the absolute value is large. The wheel angle at the stop position P6f at which stationary steering is performed becomes small, and the load on the electric steering mechanism can be reduced. By appropriately determining the first and second angles, it is possible to balance the reduction of the load on the electric steering mechanism due to the stationary steering and the reduction of the increase in the number of stationary steering when the end point of the route arrives. is there.

The first distance and the second distance are substantially the same. Here, the first distance / second distance is, for example, 0.99 or more and 1.01 or less, 0.98 or more and 1.02 or less, 0.95 or more and 1.05 or less, 0.9 or more and 1.1 or less. , 0.8 or more and 1.2 or less, or 0.5 or more and 1.5 or less.

Further, the absolute value of the first angle and the absolute value of the second angle are substantially the same. Here, the absolute value of the first angle / the absolute value of the second angle is, for example, 0.99 or more and 1.01 or less, 0.98 or more and 1.02 or less, 0.95 or more and 1.05 or less, 0. 9 or more and 1.1 or less, 0.8 or more and 1.2 or less, or 0.5 or more and 1.5 or less. The first angle is, for example, plus 20 degrees, and the second angle is, for example, minus 20 degrees.

Further, when the wheel angle of the vehicle 73 is a positive value with respect to the straight direction, the vehicle turns to the left, and when the wheel angle is a negative value, the vehicle turns to the right, or the wheel angle of the vehicle 73 is based on the straight direction. If it is a positive value, it turns to the right, and if it is a negative value, it turns to the left. In this way, the positive and negative criteria may be either.

FIG. 13 is a flowchart for explaining the operation of the processor 33 of the vehicle 73 of the fifth embodiment. In the figure, when parking assistance is started, the processor 33 sets the wheel angle of the steering wheel 2 to a value larger than the first angle at a point larger than the first distance with respect to the stop position P6f with reference to the traveling direction. (Step S40). Next, the processor 33 sets the wheel angle of the steering wheel 2 to the first angle with respect to the traveling direction at a point smaller than the first distance with respect to the stop position P6f (step S41). Next, the processor 33 changes the wheel angle of the steering wheel 2 from the first angle to the second angle (step S42). Next, the processor 33 sets the wheel angle of the steering wheel 2 to the second angle with respect to the traveling direction at a point smaller than the second distance with respect to the stop position P6f (step S43). Next, the processor 33 sets the wheel angle of the steering wheel 2 to a value smaller than the second angle with respect to the traveling direction at a point larger than the second distance with respect to the stop position P6f (step S44).

As described above, since the vehicle 73 of the fifth embodiment limits the wheel angle from the position in front of the route end point P6f, it is possible to keep the wheel angle that can be stationary when the route end point P6f arrives small. The load on the electric steering mechanism can be reduced. That is, the current in the electric steering mechanism can be reduced to suppress heat generation.

The parking support process in the vehicle 73 of the fifth embodiment can also be applied to an automatic parking system that automatically controls the vehicle speed.

Further, although the control for parallel parking (or parallel parking) has been described in the vehicles 1, 70 to 73 of the first to fifth embodiments, the same control can be performed for parallel parking.

Further, the vehicles 1, 70 to 73 of the first to fifth embodiments are four-wheeled vehicles having two front and rear two wheels in total, but the number of wheels is limited as long as they are two-wheeled vehicles or more. There is no.

Further, in the first to fifth embodiments, the description has been made on the premise of two routes of forward movement and backward movement, but control can be performed by three or more routes.

The vehicle and parking support device of the present disclosure are useful for vehicles such as automobiles.

1,70,71,72,73 Vehicle 2 Steering wheel 3 Drive wheel 4 Power unit 5 Braking mechanism 6 Operation unit 7 Parking support device 20 Automatic steering device 21 Steering shaft 22 Steering wheel 23 Steering angle sensor 24 Steering actuator 25 Steering wheel 30 Parking support ECU
31 Image processing unit 32 Steering control unit 33 Processor 40 Parking support start button 50 Shift 51 Wheel speed sensor 52 Wheel rotation sensor 60 Monitor 61 Speaker 62 Rear camera 63 Touch panel 64 All-around camera 65 Sonar

Claims (20)

With at least one steering wheel
With at least one drive wheel
A power unit capable of providing driving force to the driving wheels,
It is provided with an operation unit capable of receiving at least an instruction regarding the direction of forward or backward movement.
A vehicle capable of assisting in stopping at a predetermined position by generating a path having a traveling direction and changing at least the wheel angle of the steering wheel based on the path.
When the traveling direction of the path and the traveling direction received by the operation unit match, at least the wheel angle of the steering wheel is changed based on the path.
When the traveling direction of the path and the traveling direction received by the operation unit do not match, the wheel angle of the steering wheel is set to a value within a predetermined range.
vehicle. The vehicle according to claim 1.
The operation unit can accept at least an operation for changing the power of the power unit.
vehicle. The vehicle according to claim 1 or 2.
The steering wheel and the driving wheel are the same,
vehicle. The vehicle according to any one of claims 1 to 3.
The steering wheel and / or the driving wheel includes a braking mechanism.
The operation unit can accept an operation of changing the braking force of the braking mechanism.
vehicle. The vehicle according to any one of claims 1 to 4.
The power unit includes an internal combustion engine and / or an electric motor.
vehicle. The vehicle according to any one of claims 1 to 5.
An electric steering mechanism for changing the wheel angle of the steering wheel is provided.
vehicle. The vehicle according to any one of claims 1 to 6.
The at least one steering wheel comprises two wheels.
The at least one drive wheel comprises two wheels.
vehicle. The vehicle according to any one of claims 1 to 7.
Equipped with a processor
The processor generates the route and
The value of the wheel angle within the predetermined range is a value based on the wheel angle of the steering wheel while the processor is generating the path.
vehicle. The vehicle according to any one of claims 1 to 8.
With a camera that can shoot outside
A display circuit capable of displaying a second image corresponding to the first image taken by the camera is further provided.
The display circuit superimposes the predetermined position on the second image and displays it.
vehicle. The vehicle according to any one of claims 1 to 9.
Equipped with an input circuit
The input circuit is capable of receiving input at the predetermined position.
vehicle. With at least one steering wheel
With at least one drive wheel
A power unit capable of providing driving force to the driving wheels,
A parking support device that can be mounted on a vehicle including an operation unit capable of receiving at least an instruction relating to a forward or backward traveling direction.
By generating a path having a traveling direction and changing at least the wheel angle of the steering wheel based on the path, it is possible to support stopping at a predetermined position.
When the traveling direction of the path and the traveling direction received by the operation unit match, at least the wheel angle of the steering wheel is changed based on the path.
When the traveling direction of the path and the traveling direction received by the operation unit do not match, the wheel angle of the steering wheel is set to a value within a predetermined range.
Parking support device. The parking support device according to claim 11.
The operation unit can accept at least an operation for changing the power of the power unit.
Parking support device. The parking support device according to claim 11 or 12.
The steering wheel and the driving wheel of the vehicle are the same.
Parking support device. The parking support device according to any one of claims 11 to 13.
The steering wheel and / or the driving wheel of the vehicle includes a braking mechanism.
The operation unit can accept an operation of changing the braking force of the braking mechanism.
Parking support device. The parking support device according to any one of claims 11 to 14.
The power unit of the vehicle comprises an internal combustion engine and / or an electric motor.
Parking support device. The parking support device according to any one of claims 11 to 15.
The vehicle comprises an electric steering mechanism that changes the wheel angle of the steering wheel.
Parking support device. The parking support device according to any one of claims 11 to 16.
The at least one steering wheel of the vehicle comprises two wheels.
The at least one drive wheel of the vehicle comprises two wheels.
Parking support device. The parking support device according to any one of claims 11 to 17.
Equipped with a processor
The processor generates the route and
The value of the wheel angle within the predetermined range is a value based on the wheel angle of the steering wheel while the processor is generating the path.
Parking support device. The parking support device according to any one of claims 11 to 18.
The vehicle has a camera that can shoot the outside and
A display circuit capable of displaying a second image corresponding to the first image taken by the camera is further provided.
The display circuit superimposes the predetermined position on the second image and displays it.
Parking support device. The parking support device according to any one of claims 11 to 19.
The vehicle is equipped with an input circuit.
The input circuit is capable of receiving input at the predetermined position.
Parking support device.

Images