Parking assist method and parking assist device

A parking assist device comprising:

• a sensor or positioning device configured to detect a self-position that is a current position of a host vehicle;
• and
• a controller configured to:
• calculate a target travel path from the self-position to a target parking position;
• determine a distance between the self-position and the target parking position;
• determine a distance between the self-position and the target parking position;
• determine whether a shift operation for switching direction has been detected;
• determine whether a parking assist permission condition is satisfied, the parking assist permission condition being either a condition in which a predetermined time or longer has elapsed since the host vehicle departed from the target parking position, or a condition in which the distance between the self-position and the target parking position since the host vehicle departed from the target parking position exceeds a second predetermined distance that is equal to or less than a first predetermined distance;
• determine that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance, determine that the parking assist permission condition is satisfied, and determine that the shift operation for switching direction has been detected, performing the parking assist control of the host vehicle based on the target travel path upon determining that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance, upon determining that the parking assist permission condition is satisfied, and upon determining that the shift operation for switching direction has been detected;
• and
• determine that the parking assist permission condition is not satisfied, determine that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance, and determine that the shift operation for switching direction is detected, suppressing the parking assist control upon determining that the parking assist permission condition is not satisfied even upon determining that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance and upon determining that the shift operation for switching direction is detected.