The vehicle which should go back park inside the parking opening the vehicle which should go back

摘要

The vehicle which should back up park inside the parking opening being method in order to steer, starting from the start position outside the parking opening, until the arrival of parking position inside the parking opening approximately phase doing, five curve parts which move mutually without each crookedness are backed up travel, see with travelling direction and it is something where the last four curve parts relate to the next curve type: As for the 2nd curve part being something which relates to the clothoid part, as for the 3rd curve part being something which relates to the circular arc part, as for the 4th curve part being something which relates to the other clothoid part, the 5th curve part is something which relates to the other circular arc part, to start from the start position of the vehicle in the aforementioned method, until the arrival of parking position all locus which should back up travel to be detected, the steering apparatus corresponding to that locus at the time of retreat travelling of the vehicle with the control electronic equipment and be controlled, vis-a-vis the lengthwise of the parking opening furthermore, the vehicle in start positionIt is located slantedly, is with start position and start of the 2nd curve part and the 1st curve part which it is backed up travels, is drawn by another geometric form function from the 2nd curve part.