| CPC B60W 30/06 (2013.01) [B60W 50/14 (2013.01); B60W 2050/0083 (2013.01); B60W 2050/146 (2013.01); B60W 2540/215 (2020.02)] | 11 Claims |
|
1. A parking assistance method comprising:
storing an actual trajectory along which when a vehicle is parked by manual driving, the vehicle moves from a start point to a target parking position, as an actual travel trajectory;
calculating a first target travel trajectory, the first target travel trajectory being a trajectory calculated based on a relative position between a start point of the actual travel trajectory and the target parking position and starting from the start point and reaching the target parking position;
calculating a deviation range, the deviation range being a range including a portion of the actual travel trajectory in which the actual travel trajectory deviates a first predetermined distance or more from the first target travel trajectory;
setting a point existing in the deviation range as a target intermediate position;
when assisting the vehicle in parking at the target parking position, calculating a second target travel trajectory, the second target travel trajectory being a trajectory starting from a parking start position, the parking start position being a position of the vehicle at a time point when parking is started, passing through the target intermediate position, and reaching the target parking position; and
autonomously performing parking assistance control using autonomous driving to assist the vehicle in moving along the second target travel trajectory.
|