PARKING ASSISTANCE METHOD AND PARKING ASSISTANCE DEVICE

WIPO Patent Application WO/2023/166738

A1

In a parking assistance method according to the present invention, when a vehicle is to be parked through manual driving, an actual trajectory along which the vehicle moves from a starting point to a target parking position is stored as an actual travel trajectory (S2), a first target travel trajectory, which is a trajectory from the starting point to arrival at the target parking position, is calculated on the basis of the relative position between the starting point of the actual travel trajectory and the target parking position (S4), a deviation range, which is a range that includes a portion of the actual travel trajectory that deviates from the first target travel trajectory by a first prescribed distance or greater, is calculated (S5), a location within the deviation range is set as a target intermediate position (S6), and if assistance is to be provided for parking the vehicle in the target parking position, a second target travel trajectory is calculated, the second target travel trajectory being a trajectory from a parking start position, which is the position of the vehicle at the point in time that parking is initiated, to the target parking position through the target intermediate position (S14), and parking assistance control is executed to assist in the movement of the vehicle along the second target travel trajectory (S15).

SUZUKI YASUHIRO (JP)
MUSHA YUSUKE (JP)
YAMANAKA RYOTA (JP)

PCT/JP2022/009555

September 07, 2023

March 04, 2022

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NISSAN MOTOR (JP)

B60W30/06; B62D6/00

JP2021124898A	2021-08-30
JP2021191658A	2021-12-16
JP2012084021A	2012-04-26
JPH10287260A	1998-10-27
JP2016060223A	2016-04-25

TANAKA Hidetetsu et al. (JP)

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