To make a travelling route of a vehicle at the time of parking the vehicle simpler than before.SOLUTION: The on-vehicle device comprises: an input part that receives a relative posture at an initial position of a vehicle to a target parking position and the initial position; a determining part that determines a target tire angle of the vehicle on the basis of the posture and the initial position received by the input part; and an output part that outputs a command value for controlling the vehicle so that the vehicle has the target tire angle determined by the determining part. The target tire angle is a tire angle at which when the vehicle travels along a circular-arc route with a turning radius determined by the target tire angle, the vehicle reaches a target intermediate position, which is a point contacting the route on a straight line passing through the target parking position and contacting the route, in a posture in which the vehicle can travel along the straight line.SELECTED DRAWING: Figure 8
【課題】従来に比して駐車時における車両の走行経路を単純にする。【解決手段】車載装置は、目標駐車位置に対する車両の初期位置における相対的な姿勢及び前記初期位置を受け付ける入力部と、前記入力部によって受け付けられた前記姿勢及び前記初期位置に基づいて、前記車両の目標タイヤ角を決定する決定部と、前記車両を前記決定部によって決定された前記目標タイヤ角に制御するための指令値を出力する出力部と、を備え、前記目標タイヤ角は、前記目標タイヤ角によって定まる回転半径の円弧状の経路に沿って前記車両が走行した場合、前記目標駐車位置を通り且つ前記経路に接する直線上における前記経路との接点である目標中間位置に、前記車両が前記直線に沿って進行可能な姿勢で到達するためのタイヤ角である。【選択図】図8
ON-VEHICLE DEVICE, PARKING CONTROL METHOD AND COMPUTER PROGRAM
車載装置、駐車制御方法、及びコンピュータプログラム
20.02.2020
Patent
Elektronische Ressource
Japanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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