FIELD: motion control system; navigation.
SUBSTANCE: invention relates to a method of parking assistance and parking assistance equipment. Method of parking assistance, carried out using a parking assistance controller, configured to control a vehicle, comprises a step, at which increasing the yaw angle control value relative to the target parking path to increase the vehicle angle adjustment relative to the parking target position, in accordance with reduction of remaining distance to target position for vehicle parking. Parking assistance equipment comprising a parking assistance controller, wherein the parking assistance controller is further configured to increase the control value of the yaw angle of the vehicle relative to the target parking path, to increase vehicle angle adjustment value relative to target parking position, in accordance with reduction of remaining distance to target position for vehicle parking.
EFFECT: enabling safe vehicle parking.
10 cl, 7 dwg
