| 摘要 |
PROBLEM TO BE SOLVED: To promptly correct a departure from a target parking route by detecting deviation amount from the parking route of the present location of a vehicle by detecting the present location and performing a corrected steering according to deviation amount. SOLUTION: In steering spots (Xk-1, Yk-1), suppose a steering of a target steering angleθf is performed by a main control system and a vehicle starts along a parking target route shown by a solid line. But, suppose the vehicle deviates from the target parking route, travels on the actual traveling route shown by a broken line and arrives at a spot (Xc, Yc). Then, a target steering auxiliary angelθr is calculated from errorsΔx,Δy with the target parking route at the spot (Xc, Yc). A front wheel steering angle by the main control system from the spot (Xc, Yc) remains the target steering angleθf as it is, and the rear wheel auxiliary steering of the target auxiliary steering angleθr is performed by a corrected auxiliary control system. Thus, the actual traveling route gradually approaches the original target parking route and the actual traveling route is recovered to the target parking route in the vicinity of the spot (Xk+1, Yk+1). |
