{
  "$type": "site.standard.document",
  "description": "A parking assistance method includes: calculating a first target travel trajectory starting from a start point of an actual travel trajectory when a vehicle is parked by manual driving and reaching a target parking position; calculating a deviation range including a portion of the actual travel…",
  "path": "/patents/1374782",
  "publishedAt": "2025-04-03T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/06",
    "Nissan Motor Co., Ltd."
  ],
  "textContent": "A parking assistance method includes: calculating a first target travel trajectory starting from a start point of an actual travel trajectory when a vehicle is parked by manual driving and reaching a target parking position; calculating a deviation range including a portion of the actual travel trajectory in which the actual travel trajectory deviates a first predetermined distance or more from the first target travel trajectory; setting a target intermediate position existing in the deviation range; when assisting the vehicle in parking at the target parking position, calculating a second target travel trajectory, that is a trajectory starting from a parking start position, the parking start position being a position of the vehicle at a time point when parking is started, passing through the target intermediate position, and reaching the target parking position; and performing parking assistance control to assist the vehicle in moving along the second target travel trajectory.",
  "title": "Parking Assistance Method and Parking Assistance Device"
}