| 摘要 |
PROBLEM TO BE SOLVED: To enable parking without causing a deviation by a change in the rotational center, when deviating from a target line in rotation around the center set in response to front-rear spaces in the entering direction of a vehicle. SOLUTION: When own vehicle tries to deviate from a target parking space PA in a rear target line in the vehicle entering direction when rotating the own vehicle around the center O1, the rotational center O1 is changed to O2 moved in the inverse direction of the moving direction of a deviated vehicle part. That is, a steering angle of respective wheels is changed so that the intersection O2 between a lineβprovided by offsetting a lineαparallel to a vehicle side target line SL by passing through the deviated vehicle part in the direction for going away from the target line SL so that the own vehicle does not go over the target line SL in rotation and a lineγprovided by offsetting a front target line FL in the vehicle entering direction backward in the vehicle entering direction so that the own vehicle does not go over the front target line FL in the vehicle entering direction in rotation, becomes the new rotational center of the own vehicle, to be set as the final parking position while rotating the own vehicle around the intersection O2. COPYRIGHT: (C)2009,JPO&INPIT |
