{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
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  "description": "In a parking assist method executed using a parking assist ECU configured to control a subject vehicle to move along a targeted parking route to a target parking position, the control amount of a yaw angle of the subject vehicle with respect to the targeted parking route is increased in accordance…",
  "path": "/patents/1240689",
  "publishedAt": "2019-08-08T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/06",
    "Nissan Motor Co., Ltd."
  ],
  "textContent": "In a parking assist method executed using a parking assist ECU configured to control a subject vehicle to move along a targeted parking route to a target parking position, the control amount of a yaw angle of the subject vehicle with respect to the targeted parking route is increased in accordance with the decrease in a remaining distance to the target parking position of the subject vehicle.",
  "title": "Parking Assist Method and Device"
}