| 摘要 |
The invention relates to a method and a device for supporting parking of a vehicle using a parking assistant. Signals concerning driving status supplied by sensors (2) are used to calculate a theoretical trajectory in a function block. Said trajectory consists of clothoid curves and/or a circular curves. Signals supplied by the sensors (2), in particular yaw angle signals and trajectory signals are used to calculate an actual trajectory in a function block (4). Theoretical and actual trajectories are then compared. The result of said comparison enables real-time calculation of the steering angle during the different phases of the parking maneuver for which a parameter is determined in a function block (5). Feed-back signals supplied by the sensors (2) enable exact regulation of the steering angle adopted during the parking maneuver. Steering wheel movements caused by the driver are tolerated but do not have any influence on the steering angle. The driver only has to press the accelerator and brake pedal to influence the speed of the vehicle.
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