Patent ID: 11878733
Assignee: HITACHI ASTEMO, LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 4:
5. A steering control method, comprising:
obtaining a parking position where a vehicle is to be parked based on the information obtained by an external world recognition sensor;
generating a predicted moving path which is a moving path from the current position to the parking position of the vehicle based on the parking position, operation information of the vehicle, operation states of the vehicle, and specifications of the vehicle,
obtaining a predicted parking posture when the vehicle is parked in the parking position based on the predicted moving path,
obtaining a first distance from the one end in the parking width direction of the parking position to a center of a rear end portion of the vehicle in the predicted parking posture,
comparing the first distance with a second distance from one end in the parking width direction of the parking position to a center of a parking position,
when the absolute value of the deviation between the first distance and the second distance is equal to or greater than a predetermined value, generating a corrected moving path that achieves the absolute value of the deviation between the first distance and the second distance shorter than the predetermined value by steering the rear wheel of the vehicle, and
controlling a steering actuator that steers the rear wheels based on the predicted moving path and the corrected moving path so that the vehicle is parked in the parking position along the corrected moving path.