Patent application EP18163702A (EP), filed 2018-03-23
Publication number: EP3378738A1
Title: VEHICLE TRAVELING ASSISTANCE APPARATUS
Abstract: A vehicle traveling assistance apparatus includes: a creation unit (401) configured to create a first route, which is a route along which a vehicle moves from a first position to a second position and in which the vehicle stops to perform stationary steering in a middle of the route and then moves to the second position; and a controller (402) configured to cause the vehicle to travel along the created first route.
IPC codes: B62D  15/    02            A I
B60W  30/    06            A I
B62D   6/    00            A I
G05D   1/    02            A I
Claims: number: 1
text: A vehicle traveling assistance apparatus comprising:
number: 2
text: The apparatus according to claim 1,
wherein the creation unit (401) is configured to create a second route, which includes at least one of a clothoid curve and a straight line, and along which the vehicle moves from the first position to the second position without reversing a traveling direction thereof, and
the controller (402) is configured to cause the vehicle to travel along the second route, and when detecting an obstacle which collides with the vehicle after the vehicle starts traveling along the second route, the controller (402) is configured to cause the vehicle to travel along the first route.
number: 3
text: The apparatus according to claim 1 or 2,
wherein the controller (402) is configured to cause the vehicle to travel along the first route in a case where a change in a curvature of a route of the vehicle when causing the vehicle to travel so as to avoid a collision between the vehicle and an obstacle exceeds an upper limit of a change in a curvature of a route of the vehicle when causing the vehicle to travel along the clothoid curve.
number: 4
text: The apparatus according to any one of claims 1 to 3,
wherein stop of the vehicle when the vehicle performs stationary steering in the first route includes a state where a traveling speed of the vehicle has become an extremely low speed.
number: 5
text: The apparatus according to claim 2,
wherein the creation unit (401) is configured to re-create the first route when detecting the obstacle which collides with the vehicle after the vehicle starts traveling along the second route, and
when the second position is a parking position (P) of the vehicle, the controller (402) is configured to set a reference line (BL) at a position spaced apart from the parking position by a predetermined distance in a direction opposite to the traveling direction of the vehicle, and to permit re-creation of the first route until a center of gravity of the vehicle reaches the reference line.
number: 6
text: The apparatus according to claim 1,
wherein the creation unit (401) is configured to create a second route, which includes at least one of a clothoid curve and a straight line, and along which the vehicle moves from the first position to the second position, and
the controller (402) is configured to cause the vehicle to travel along the first route in a case where the vehicle is able to reach the second position without going back and forth when causing the vehicle to travel along the first route, and in a case where the vehicle is required to go back and forth when causing the vehicle to travel along the first route, the controller (402) is configured to cause the vehicle to travel along the second route.
Office action: search_report, dated 2018-09-26
Rejection reasons: novelty_epc_54
Prior art cited: ref_id: JP3911492B2
ref_type: patent
severity: background
ref_id: JP3818654B2
ref_type: patent
severity: background
ref_id: JP4058389B2
ref_type: patent
severity: background
ref_id: DE102005037468A1
ref_type: patent
severity: background
ref_id: DE102008058652A1
ref_type: patent
severity: background
ref_id: EP3135565A2
ref_type: patent
severity: background
ref_id: DE102005037468
ref_type: patent
severity: novelty_destroying
ref_id: DE102008058652
ref_type: patent
severity: novelty_destroying
ref_id: EP3135565
ref_type: patent
severity: background
Final disposition: pending (2018-09-26)