The present invention relates to a parking assist device comprising an acquisition unit that acquires the peripheral information indicating a peripheral situation of a vehicle; and a route acquisition unit for parking the vehicle in a backward position to a parking target position of the vehicle determined on the basis of the peripheral information, acquiring a forward guidance path for performing forward guidance from a current position of the vehicle and a backward guidance path for guiding the vehicle backward to a parking target position from a forward stop position on the forward guidance path; a correction position setting unit that sets a correction stop position on a forward guide path that is a predetermined distance away from an object when peripheral information indicating an object that is likely to come into contact with the vehicle is acquired before the forward stop position is reached during forward guide; and a control unit that executes brake drive control that starts deceleration from a predetermined position so as to stop the vehicle to the corrected stop position at the standard stop deceleration in the normal guide control.

    本发明涉及一种停车辅助装置,包括:获取部,获取表示车辆的周边状况的周边信息;路径获取部,为了使车辆以后退姿势停车到基于周边信息决定的车辆的停车目标位置,获取用于从车辆的当前位置起进行前进引导的前进引导路径以及用于从该前进引导路径上的前进停止位置起将车辆后退引导至停车目标位置的后退引导路径;修正位置设定部,在前进引导中在到达前进停止位置之前获取到表示可能与车辆接触的物体的周边信息的情况下,在比物体靠跟前规定距离的前进引导路径上设定修正停止位置;以及控制部,执行从规定的位置起开始减速以使车辆以通常引导控制中的标准停止减速度停止到修正停止位置的制动驱动控制。


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    Title :

    Parking assistance device, parking assistance method, and recording medium


    Additional title:

    停车辅助装置、停车辅助方法以及记录介质



    Publication date :

    2021-04-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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