連結車の後退駐車支援装置

Japanese Patent JP6764171

B2

To provide a reverse parking assist device of a combination vehicle, which can calculate a route for allowing a combination vehicle to back and park to a target position while reducing a possibility of a contact with an object and can calculate the route to the target position while reducing the amount of calculation.SOLUTION: The present invention includes a potential field preparation unit 32 configured to prepare a potential field indicating a possibility of a contact of a combination vehicle with an object, a parking target route candidate preparation unit 33 configured to prepare a parking target route candidate from one's own vehicle to a parking target position by using the potential field, a route correction unit 35 configured to slightly change the curvature of a bent portion of the parking target route candidate, and a follow-up control unit 36 configured to set a steering angle of the combination vehicle by using the potential field so that the combination vehicle moves along the parking target route candidate. The route correction unit 35 is configured to set an imaginary triangle having a bent point, first and second points as vertices and change the route of the bent portion so as to make the bent portion come close to an inclination side of the triangle.SELECTED DRAWING: Figure 4

Kunitake Masahiro
Akiyama Kohei
Eiji Nagano
Lax Shincharan Pak Sathorn

JP2017105887A

September 30, 2020

May 29, 2017

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Hino Motors Ltd.
National University Corporation Tokyo University of Agriculture and Technology

B62D6/00; B60R99/00; B62D13/06

JP2016193703A
JP2001347909A
JP2014069645A

Yoshiki Hasegawa
Yoshiki Kuroki

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