Parking control method and parking control apparatus
AssigneeNissan Motor Co., Ltd.
InventorsRyota Yamanaka, Yasuhiro Suzuki, Yasuhisa Hayakawa
Life of this patent
Estimating the term…
Abstract
A parking control method includes: performing parking control of moving a vehicle to a target parking position on the basis of an operation command acquired from an operator located outside the vehicle; when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, calculating a moving direction of the vehicle on the basis of a parking direction when the vehicle is parked at a next target parking position; and moving the vehicle in the moving direction.
Claims10
A parking control method comprising:
- detecting a target parking position that is open;
- receiving an operation command from an operator located outside of the vehicle to start moving the vehicle;
- calculating a target parking route on a basis of the operation command;
- performing a parking control of the vehicle to move the vehicle to the target parking position along the target parking route on a basis of the operation command;
- detecting whether an obstacle is present in the target parking position as the vehicle enters the target parking position;
- when an obstacle is detected, suspending movement of the vehicle to the target parking position at a suspended position to set a rescue position;
- generating a next parking route to the next target parking position;
- setting the rescue position of the vehicle that is based on parking the vehicle in a next target parking position along the next parking route;
- setting a rescue route that is forward or backward from the suspended position to the rescue position;
- and
- performing a rescue control of the vehicle to move the vehicle in a forward or backward direction away from the detected obstacle in the target parking position along the rescue route to the rescue position.
A parking control apparatus comprising a control device configured to perform parking control of moving a vehicle to a target parking position on a basis of an operation command acquired from an operator located outside the vehicle, the control device operating to:
- detect the target parking position that is open;
- receive the operation command;
- calculate a target parking route on a basis of the operation command;
- perform a parking control of the vehicle to move the vehicle to the target parking position along the target parking route on a basis of the operation command;
- detect whether an obstacle is present in the target parking position as the vehicle enters the target parking position;
- when an obstacle is detected, suspend movement of the vehicle to the target parking position at a suspended position to set a rescue position;
- generate a next parking route to the next target parking position;
- set the rescue position of the vehicle that is based on parking the vehicle in a next target parking position along the next parking route;
- set a rescue route that is forward or backward from the suspended position to the rescue position;
- and
- perform a rescue control of the vehicle to move the vehicle in a forward or backward direction away from the detected obstacle in the target parking position along the rescue route to the rescue position.
Dependencies are inferred from the claim text.