AUTOMATIC PARKING DEVICE AND AUTOMATIC PARKING CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide an automatic parking device and an automatic parking control method capable of surely parking a vehicle at a target parking position irrespective of a road surface condition or a vehicle condition.SOLUTION: The steering angle of a vehicle is set for each sampling interval so as to satisfy a first condition (S1>S2) defined for angles S1 and S2 which two virtual lines 301 and 302 set along the traveling direction of the vehicle before/after the movement of the vehicle form with a straight line 201 drawn on a road surface and a second condition (A≤B) defined for a length A between two contacts a and b at which the two virtual lines 301 and 302 and the straight line 201 contact with each other and a straight line direction component B of the moving vector ef of the vehicle. Thus, a condition necessary for converging the vehicle to a parking position is determined for each sampling interval, and the steering angle of the vehicle is controlled for each sampling interval so as to approach the target parking position.