Parking assistance device

A parking assistance device comprising:

• a target acceleration calculator that calculates a target acceleration for moving a vehicle subjected to assistance to a target parking position of the vehicle subjected to assistance;
• an acceleration feedback controller that calculates a required braking and driving force based on a deviation between the target acceleration of the vehicle subjected to assistance and an actual acceleration by feedback control including an integration term, determines whether the vehicle subjected to assistance has gone over a step, and resets an integrated value of the deviation between the target acceleration and the actual acceleration to 0 when it is determined that the vehicle subjected to assistance has gone over the step;
• and
• a vehicle controller that controls the braking and driving force of the vehicle subjected to assistance based on the required braking and driving force,
• wherein the acceleration feedback controller determines that the vehicle subjected to assistance has gone over the step in a case where the integrated value is equal to or larger than a predetermined threshold when the value of the target acceleration changes from positive to negative, and resets the integrated value of the deviation between the target acceleration and the actual acceleration to 0.

A parking assistance device comprising:

• a target acceleration calculator that calculates a target acceleration for moving a vehicle subjected to assistance to a target parking position of the vehicle subjected to assistance;
• an acceleration feedback controller that calculates a required braking and driving force based on a deviation between the target acceleration of the vehicle subjected to assistance and an actual acceleration by feedback control including an integration term, determines whether the vehicle subjected to assistance has gone over a step, and resets an integrated value of the deviation between the target acceleration and the actual acceleration to 0 when it is determined that the vehicle subjected to assistance has gone over the step;
• and
• a vehicle controller that controls the braking and driving force of the vehicle subjected to assistance based on the required braking and driving force,
• wherein the acceleration feedback controller determines that the vehicle subjected to assistance has gone over the step when
• a duration of a state in which the vehicle subjected to assistance that has been traveling is stopped and a value of the target acceleration is positive exceeds a predetermined step determination ON time, and then the duration of the state in which the vehicle subjected to assistance is traveling exceeds a predetermined step determination OFF time, and resets the integrated value of the deviation between the target acceleration and the actual acceleration to 0.