# US 9,517,766 B2 · Parking assistance device and parking assistance device control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,517,766 B2 - Document ID: US9517766B2 - Status: Granted - Kind: B2 - Application number: 14/412,496 - Filed: 2013-05-22 - Published: 2016-01-07 - Granted: 2016-12-13 - Earliest claimed: 2012-07-03 - Assignees: Hitachi Automotive Systems, Ltd. - Applicants: Hitachi Automotive Systems, Ltd. - Inventors: Yuki Nakada; Takuya Murakami; Toshiya Oosawa - Web page: https://patentgrep.com/patent/US9517766B2 ## CPC - B60W 30/06: Automatic manoeuvring for parking - B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras - B60W 10/04: including control of propulsion units - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60W 10/184: with wheel brakes - B60W 10/20: including control of steering systems - B62D 15/0285: {Parking performed automatically} - B60R 2300/607: from a bird's eye viewpoint - B60R 2300/806: for aiding parking - B60W 2520/00: Input parameters relating to overall vehicle dynamics - B60W 2710/207: Steering angle of wheels - B60W 2720/10: Longitudinal speed - B60W 2720/14: Yaw - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A parking assist device includes a target steering angle setting section configured to set a target value of the steering angle; a target vehicle speed setting section configured to set a target value of the vehicle speed; an automatic steering control device configured to automatically steer the steering wheel so that the sensed steering angle becomes the target steering angle; an automatic vehicle speed control device configured to automatically control the vehicle speed so that the sensed vehicle speed becomes the target vehicle speed; and a parking space recognizing section configured to recognize a parking space of the host vehicle, the host vehicle being parked within the recognized parking space by the automatic steering control device and the automatic vehicle speed device. ## Claims ### Claim 1 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; a target steering angle setting section configured to set a target value of the steering angle; a target vehicle speed setting section configured to set a target value of the vehicle speed; an automatic steering control device configured to automatically steer the steering wheel by a steering angle command value so that the sensed steering angle becomes the target steering angle; an automatic vehicle speed control device configured to automatically control the vehicle speed so that the sensed vehicle speed becomes the target vehicle speed; and a parking space recognizing section configured to recognize a parking space of the host vehicle, the host vehicle being parked within the recognized parking space by the automatic steering control device and the automatic vehicle speed device, 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 angle command value as to a steering response of the automatic steering control device, which is a response of the steering angle with respect to the target value of the steering angle, so that the host vehicle runs along the set running track, wherein the steering angle command value is calculated from the target value of the 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. ### Claim 2 (depends on 1) The parking assist device as claimed in claim 1, wherein the parking assist device further comprises a controller; and the controller is configured to set a running track between a position of the host vehicle and the parking space recognized by the parking space recognizing section, and to control the control devices so that the vehicle runs along the set running track. ### Claim 3 (depends on 1) The parking assist device as claimed in claim 1, wherein the parking assist device further comprises a controller; and the controller is configured to set a running track having a clothoid curve between a position of the host vehicle and the parking space recognized by the parking space recognizing section, and to control the control devices so that the vehicle runs along the set running track. ### Claim 4 (depends on 1) The parking assist device as claimed in claim 1, wherein the parking assist device further comprises a controller; and the controller is configured to set a running track between a position of the host vehicle and the parking space recognized by the parking space recognizing section, and to control the automatic vehicle speed control device so that the vehicle speed become small when a variation rate of the steering angle to the movement distance by which the host vehicle is moved along the set running track is large, relative to a case in which the variation rate is small. ### Claim 5 (depends on 1) The parking assist device as claimed in claim 1, wherein the parking assist device further comprises a controller; and the controller is configured to set a running track between a position of the host vehicle and the parking space when the parking space recognizing section recognizes the parking space, and to set the target value of the steering angle and the target value of the vehicle speed so that the vehicle draws the set running track. ### Claim 6 (depends on 1) The parking assist device as claimed in claim 1, wherein the parking assist device further comprises a controller; and the controller is configured to stop the host vehicle when the driver operates the brake pedal during the control by the automatic steering control device and the automatic vehicle speed control device. ### Claim 7 (depends on 6) The parking assist device as claimed in claim 6, wherein the controller is configured to restart the control by the automatic steering control device and the automatic vehicle speed control device when the operation of the brake pedal is released during the stop. ### Claim 8 (depends on 1) The parking assist device as claimed in claim 1, wherein the parking assist device further comprises a controller; and the controller is configured to cancel the control by the automatic steering control device and the automatic vehicle speed control device when the driver varies a shift position of the forward movement and the backward movement, or when the steering torque by the driver becomes equal to or greater than a predetermined value, during the control by the automatic steering control device and the automatic vehicle speed control device. ### Claim 9 (depends on 1) The parking assist device as claimed in claim 1, wherein the automatic vehicle speed control device includes wheels, and an electric motor arranged to drive the wheels. ### Claim 10 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. ### Claim 11 (depends on 10) The parking assist device as claimed in claim 10, wherein the parking assist device further comprises a controller; and the controller is configured to stop the host vehicle when the driver operates the brake pedal during the control by the automatic steering control device and the automatic vehicle speed control device. ### Claim 12 (depends on 11) The parking assist device as claimed in claim 11, wherein the controller is configured to restart the control by the automatic steering control device and the automatic vehicle speed control device when the operation of the brake pedal is released during the stop. ### Claim 13 (depends on 12) The parking assist device as claimed in claim 12, wherein the controller is configured to cancel the control by the automatic steering control device and the automatic vehicle speed control device when the driver varies a shift position of the forward movement and the backward movement, or when the steering torque by the driver becomes equal to or greater than a predetermined value, during the control by the automatic steering control device and the automatic vehicle speed control device. ### Claim 14 (depends on 10) The parking assist device as claimed in claim 10, wherein the running track includes a clothoid curve. ### Claim 15 (depends on 14) The parking assist device as claimed in claim 14, wherein the controller is configured to set the running track between the position of the host vehicle and the parking space recognized by the parking space recognizing section, and to control the automatic vehicle speed control device so that the vehicle speed becomes small when a variation rate of the steering angle to the movement distance by which the host vehicle is moved along the set running track is large, relative to a case where the variation rate is small. ### Claim 16 (depends on 15) The parking assist device as claimed in claim 15, wherein the controller is configured to set the running track between the position of the host vehicle and the parking space when the parking space recognizing section recognizes the parking space, and to set the target value of the steering angle and the target value of the vehicle speed so that the vehicle draws the set running track. ### Claim 17 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.