{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
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  "description": "A method for simultaneously controlling vehicle heading and tire alignment includes parking a vehicle at a target parking position within a target parking zone, based on vehicle state information and parking environment information, by generating at least one parking path for parking the vehicle…",
  "path": "/patents/1423126",
  "publishedAt": "2026-06-18T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/06",
    "HYUNDAI MOTOR COMPANY"
  ],
  "textContent": "A method for simultaneously controlling vehicle heading and tire alignment includes parking a vehicle at a target parking position within a target parking zone, based on vehicle state information and parking environment information, by generating at least one parking path for parking the vehicle. The method further includes determining whether to perform on-center control on the vehicle. The method further includes obtaining an on-center alignment time of a steering wheel. The method further includes calculating a target heading that represents a difference between an exit direction from the target parking zone and a longitudinal direction of the vehicle. The method further includes calculating a heading change amount of the vehicle until an on-center alignment time of the steering wheel, based on a current yaw rate of the vehicle. The method further includes performing the on-center control.",
  "title": "METHOD AND APPARATUS FOR CONTROLLING VEHICLE HEADING AND TIRE ALIGNMENT DURING PARKING"
}