To provide a vehicle control apparatus and a parking assistance apparatus which eliminate possibility of collision with an obstacle in a dead angle which cannot be detected by a sensor.SOLUTION: A vehicle control apparatus includes: an object recognition part which recognizes presence/absence of an object around an own vehicle on the basis of a peripheral state obtained by a detection sensor for detecting a peripheral state of the own vehicle, recognizes a region where presence/absence of the object is not recognized as an unspecified region, and outputs these as recognition result; a traveling route calculation part for calculating a traveling route on the basis of the an own vehicle position detected by a vehicle position detection part and the recognition result; and a control part for performing steering control according to the traveling route calculated by the traveling route calculation part. The traveling route calculation part calculates the traveling route assuming that the object exists in the unspecified region.SELECTED DRAWING: Figure 1

    【課題】センサで検出できない死角にある障害物との衝突の可能性を解消した車両制御装置および駐車支援装置を提供する。【解決手段】自車の周辺状況を検知する検知センサで得られた周辺状況に基づいて、自車周辺の物体の存在の有無を認識すると共に物体の存在の有無を認識できない領域を不特定領域として認識し、これらを認識結果として出力する物体認識部と、自車位置検出部で検出した自車位置および認識結果に基づいて、走行経路を演算する走行経路演算部と、走行経路演算部で演算された走行経路に従って操舵制御する制御部と、を備え、走行経路演算部は、不特定領域には前記物体が存在するものとして走行経路の演算を行う。【選択図】図1


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    Title :

    VEHICLE CONTROL APPARATUS, PARKING ASSISTANCE APPARATUS, VEHICLE CONTROL METHOD, AND PARKING ASSISTANCE METHOD


    Additional title:

    車両制御装置、駐車支援装置、車両制御方法および駐車支援方法


    Contributors:

    Publication date :

    2021-01-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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