JP6949096B2 - 駐車支援システム - Google Patents
駐車支援システム Download PDFInfo
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- JP6949096B2 JP6949096B2 JP2019225936A JP2019225936A JP6949096B2 JP 6949096 B2 JP6949096 B2 JP 6949096B2 JP 2019225936 A JP2019225936 A JP 2019225936A JP 2019225936 A JP2019225936 A JP 2019225936A JP 6949096 B2 JP6949096 B2 JP 6949096B2
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
次に、図4、図5を参照しつつ、上記の自動入庫処理における駆動処理(ステップST4)について説明する。以下、車両Vの切り返しを含む並列駐車を例に説明を行うが、車両Vの切り返しを含まない並列駐車、縦列駐車、斜め駐車等についても同様の駆動処理を適用可能である。以下、単に手前側又は奥側と記載する場合には、移動開始位置P1から切り返し位置P2を経由して目標駐車位置P3に向かう車両Vの移動方向(図4の点線矢印参照)における手前側又は奥側を示す。
次に、図4、図6を参照しつつ、上記の駆動処理における駆動力設定処理(ステップST18)について説明する。
行動計画部43は、前述の自動入庫処理が完了した後、必要に応じて駐車位置の補正処理を実行する。例えば、行動計画部43は、自動入庫処理によって駐車された車両Vと隣接車両との間隔が所定の基準間隔未満である場合や、自動入庫処理によって駐車された車両Vの中心が目標駐車位置P3の中心に対して所定の基準幅以上ずれている場合に、駐車位置の補正処理を実行すると良い。
次に、外界認識部41による基準高さH以下の物体(以下、「低物体」と称する)の認識方法について説明する。
7 :外界センサ(距離取得部の一例)
41 :外界認識部(距離取得部の一例)
43 :行動計画部(制御部の一例)
P3 :目標駐車位置
R :特定領域
S :段差
V :車両
W :車輪
Z :車止め
Claims (8)
- 車両を目標駐車位置へ自律的に移動させる駐車支援システムであって、
前記車両と前記目標駐車位置に設けられた車止めとの距離を取得する距離取得部と、
前記距離取得部が取得した前記車両と前記車止めとの距離に基づいて前記目標駐車位置への前記車両の移動を制御する制御部と、を有し、
前記車両の車輪が前記車止めを乗り越え可能なトルクを乗り越えトルクとした場合に、
前記制御部は、前記車両が前記目標駐車位置へ移動する時に、前記車輪の駆動トルクが前記乗り越えトルクよりも小さくなるように前記車両の駆動力を制御し、
前記制御部は、前記車両の前記目標駐車位置への移動中に、前記目標駐車位置への前記車両の移動方向において前記車止めよりも手前側に位置する段差に前記車輪が接触したか否かを判定し、前記段差に前記車輪が接触したと判定した場合に、前記車輪の駆動トルクが前記乗り越えトルクよりも小さくなる範囲で前記段差と前記車輪の接触状態に基づいて前記車両の駆動力を設定することを特徴とする駐車支援システム。 - 前記制御部は、前記車両が前記目標駐車位置へ移動する時に、前記車両の車速及び/又は車速のn回微分値(n=整数)を所定範囲内に制限することを特徴とする請求項1に記載の駐車支援システム。
- 前記制御部は、前記段差に接触した前記車輪の数に基づいて前記車両の駆動力を設定することを特徴とする請求項1又は2に記載の駐車支援システム。
- 前記制御部は、前記段差に接触した前記車輪が駆動輪であるか従動輪であるかに基づいて、前記車両の駆動力を設定することを特徴とする請求項1〜3のいずれか1項に記載の駐車支援システム。
- 前記制御部は、前記車両が前記目標駐車位置へ移動した後に前記車両の駐車位置を補正する場合に、前記車両の駐車位置の補正時における前記車両の最大車速を前記車両の前記目標駐車位置への移動時における前記車両の最大車速よりも低く設定することを特徴とする請求項1〜4のいずれか1項に記載の駐車支援システム。
- 前記制御部は、前記距離取得部が取得した前記車両と前記車止めとの距離を前記車両が移動した時点で、前記車両を停止させることを特徴とする請求項1〜5のいずれか1項に記載の駐車支援システム。
- 前記距離取得部は、前記目標駐車位置に前記車止めが存在しない場合に、前記目標駐車位置に仮想の車止めを設定すると共に前記車両と前記仮想の車止めとの距離を取得し、
前記制御部は、前記目標駐車位置に前記車止めが存在しない場合に、前記車両と前記仮想の車止めとの距離に基づいて前記目標駐車位置への前記車両の移動を制御することを特徴とする請求項1〜6のいずれか1項に記載の駐車支援システム。 - 前記距離取得部は、並列駐車の実行時において、前記目標駐車位置の特定領域に所定の基準高さ以下の物体が検出された場合には前記物体を前記車止めと認識し、前記特定領域以外の領域に前記基準高さ以下の前記物体が検出された場合には前記物体を前記車止め及び障害物とは認識しないことを特徴とする請求項1〜7のいずれか1項に記載の駐車支援システム。
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