| 摘要 |
The present invention relates to a method for assisting with parking a vehicle from a roadway into an empty parking space using one or more parallel‑parking‑type manoeuvres, using a path starting from the roadway and consisting of a series of steering angles and speeds of travel of the vehicle, said path having a continuous curvature, characterized in that each parallel‑parking‑type manoeuvre consists of one of the following two sequences: sequence I comprising a movement along a clothoid curve of parameter A, followed by a movement in an arc of a circle at the minimum turning radius R min of the vehicle, then a movement along a clothoid curve that is the inverse of the first clothoid curve, in the same direction of travel of the vehicle; sequence II comprising a movement along a clothoid curve of parameter A new, followed by a movement along a clothoid curve that is the inverse of the first clothoid curve, in the first direction of travel of the vehicle. |
