Parking assistance device and parking assistance device control method

A parking assist device comprising:

• a steering angle sensing section configured to sense a steering angle of a steering wheel;
• a vehicle speed sensing section configured to sense a vehicle speed;
• an automatic steering control device configured to automatically steer the steering wheel so that the sensed steering angle becomes a target steering angle;
• an automatic vehicle speed control device configured to automatically control the vehicle speed so that the sensed vehicle speed becomes a target vehicle speed;
• and
• a parking space recognizing section configured to recognize a parking space of a host vehicle,
• a steering control command value and a vehicle speed control value being outputted to the control devices so that the host vehicle is parked within the recognized parking space,
• a running track between a position of the host vehicle and the parking space recognized by the parking space recognizing section being set,
• the automatic steering control device being controlled by correcting the steering control command value as to the steering response of the automatic steering control device, which is a response of the steering angle with respect to the target steering angle, so that the host vehicle runs along the set running track,
• wherein the steering angle command value is calculated from the target steering angle and the sensed steering angle by using a model matching compensator configured to match the steering response of the automatic steering control device with a predetermined reference model.

A control method of a parking assist device comprising:

• recognizing a parking space for parking the host vehicle;
• calculating a running track for parking the host vehicle in a parking space;
• setting a target steering angle and a target vehicle speed so that the vehicle draws the calculated running track;
• providing, to an automatic steering control device, a steering angle command corrected as to a steering response of the automatic steering control device, which is a response of the steering angle with respect to the target steering angle, so that the vehicle runs along the calculated running track by the target steering angle and the target vehicle speed;
• calculating the steering angle command from the target steering angle and the sensed steering angle by using a model matching compensator configured to match the steering response of the automatic steering control device with a predetermined reference model;
• and
• controlling the automatic steering control device and an automatic vehicle speed control device so that the target steering angle and the target vehicle speed are attained.