{
  "$type": "site.standard.document",
  "description": "A parking assistance device includes: a target acceleration calculation unit that calculates a target acceleration for moving a vehicle subjected to assistance to a target parking position of the vehicle subjected to assistance; an acceleration feedback control unit that calculates a required…",
  "path": "/patents/1369790",
  "publishedAt": "2024-10-03T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/06",
    "AISIN CORPORATION"
  ],
  "textContent": "A parking assistance device includes: a target acceleration calculation unit that calculates a target acceleration for moving a vehicle subjected to assistance to a target parking position of the vehicle subjected to assistance; an acceleration feedback control unit that calculates a required braking and driving force based on a deviation between the target acceleration of the vehicle subjected to assistance and an actual acceleration by feedback control including an integration term, determines whether the vehicle subjected to assistance has gone over a step, and resets an integrated value of the deviation between the target acceleration and the actual acceleration to 0 when it is determined that the vehicle subjected to assistance has gone over the step; and a vehicle control unit that controls the braking and driving force of the vehicle subjected to assistance based on the required braking and driving force.",
  "title": "PARKING ASSISTANCE DEVICE"
}