Parking assist method and device
View Patent ↗In a parking assist method executed using a parking assist ECU configured to control a subject vehicle to move along a targeted parking route to a target parking position, the control amount of a yaw angle of the subject vehicle with respect to the targeted parking route is increased in accordance with the decrease in a remaining distance to the target parking position of the subject vehicle.
1. A parking assist method executed using a parking assist controller configured to control a vehicle to move along a target parking route to a target parking position, the parking assist method comprising
increasing a control amount of a yaw angle of the vehicle with respect to the target parking route to increase an adjustment amount of an angle of the vehicle with respect to the target parking position in accordance with a decrease in a remaining distance to the target parking position of the vehicle.
2. The parking assist method according to claim 1 , comprising
increasing a change rate of a correction amount for a deviation of the yaw angle with respect to the target parking route in accordance with the decrease in the remaining distance to the target parking position of the vehicle.
3. The parking assist method according to claim 1 , comprising
increasing an upper limit of a correction amount for a deviation of the yaw angle with respect to the target parking route in accordance with the decrease in the remaining distance to the target parking position of the vehicle.
4. The parking assist method according to claim 1 , comprising
giving higher priority to correction of increasing a deviation of the yaw angle than correction of increasing a lateral deviation of the vehicle with respect to the target parking route in accordance with the decrease in the remaining distance.
5. The parking assist method according to claim 1 , comprising
increasing the control amount of the yaw angle than a control amount of a lateral position of the vehicle with respect to the target parking route in accordance with the decrease in the remaining distance.
6. The parking assist method according to claim 5 , comprising
relatively increasing a feedback gain for a deviation of the yaw angle to a feedback gain for a lateral deviation of the vehicle with respect to the target parking route in accordance with the decrease in the remaining distance.
7. The parking assist method according to claim 5 , comprising
calculating the control amount of the lateral position of the vehicle on a basis of a corrected lateral deviation value obtained through multiplying a correction amount by a detection value of a lateral deviation of the vehicle with respect to the target parking route, the correction amount decreasing in accordance with the decrease in the remaining distance.
8. The parking assist method according to claim 1 , comprising
increasing the control amount of the yaw angle when the remaining distance is less than a threshold.
9. The parking assist method according to claim 8 , wherein the threshold of the remaining distance is set such that a distance from a parking start position to a position at which the control amount of the yaw angle is increased is longer than a distance from the position at which the control amount of the yaw angle is increased to the target parking position.
10. A parking assist apparatus comprising a parking assist controller configured to control a vehicle to move along a target parking route to a target parking position,
the parking assist controller being further configured to increase a control amount of a yaw angle of the vehicle with respect to the target parking route to increase an adjustment amount of an angle of the vehicle with respect to the target parking position in accordance with a decrease in a remaining distance to the target parking position of the vehicle.