Parking assisting apparatus

A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:

• traveling path calculation means for calculating a traveling path for guiding the vehicle to a target position;
• and
• assist means for assisting traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation means,
• wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a clothoid section defined by a clothoid curve, and
• in the four-wheel steering mode, the assist means steers the front wheels and the rear wheels in reverse directions in such a manner that a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory along the clothoid curve in the clothoid section, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle.

A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:

• a traveling path calculation part configured to calculate a traveling path for guiding the vehicle to a target position;
• and
• an assist part configured to assist traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation part,
• wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation part includes a traveling path in which the front wheels and the rear wheels are steered in reverse directions, and said traveling path includes a section in which a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory of a clothoid curve, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle.

A parking assist apparatus used for a vehicle which has a four-wheel steering mode in which front wheels and rear wheels can be steered independently, comprising:

• a traveling path calculation part configured to calculate a traveling path for guiding the vehicle to a target position;
• and
• an assist part configured to assist traveling of the vehicle for parking to the target position, based on the traveling path calculated by the traveling path calculation part,
• wherein in the four-wheel steering mode, the traveling path calculated by the traveling path calculation means includes a clothoid section defined by a clothoid curve, and
• in the four-wheel steering mode, the assist part steers the front wheels and the rear wheels in reverse directions in such a manner that a constant point, which is an intersection of a center line of the vehicle in a back-and-forth direction and a line perpendicular to the center line from a turning center, traces a trajectory along the clothoid curve in the clothoid section, the clothoid curve including a curve in which a gradient of a change in curvature with respect to a traveling distance of the vehicle is constant, and the constant point does not move along the center line of the vehicle during a turning of the vehicle.