To provide a parking support apparatus that suppresses occurrence of an unnatural behavior such as sudden braking or a sharp turn and smoothly continues guidance to a parking target position even when an object is detected during route guidance.SOLUTION: A parking support apparatus includes an acquisition unit that acquires peripheral information representing a situation surrounding a vehicle, a route acquisition unit that acquires, to park the vehicle in a retreat posture at a parking target position of the vehicle to be determined on the basis of the peripheral information, an advance guidance route for performing advance guidance from a current position of the vehicle and a retreat guidance route for performing retreat guidance of the vehicle from an advance stop position in the advance guidance route to the parking target position, a correction position setting unit that sets, when peripheral information representing an object that can contact the vehicle before the vehicle reaches the advance stop position during the advance guidance, a correction stop position on the advance guidance route that is a predetermined distance short of the object, and a control unit that performs braking-driving control to start deceleration from a predetermined position to stop the vehicle at the correction stop position at a standard stop deceleration in normal guidance control.SELECTED DRAWING: Figure 5

    【課題】経路誘導中に物体が検知された場合でも、急制動や急旋回等の不自然な挙動の発生を抑制し、かつスムーズに駐車目標位置までの誘導を継続する駐車支援装置を提供する。【解決手段】駐車支援装置は、車両の周辺状況を示す周辺情報を取得する取得部と、周辺情報に基づいて定められる車両の駐車目標位置に車両を後退姿勢で駐車させるために、車両の現在位置から前進誘導するための前進誘導経路および当該前進誘導経路における前進停止位置から車両を駐車目標位置に後退誘導するための後退誘導経路を取得する経路取得部と、前進誘導中に前進停止位置に到達するより前に車両に接触し得る物体を示す周辺情報を取得した場合、物体より所定距離手前の前進誘導経路上に修正停止位置を設定する修正位置設定部と、修正停止位置に車両を通常誘導制御における標準停止減速度で停止させるように所定の位置から減速を開始する制駆動制御を実行する制御部と、を含む。【選択図】図5


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    Title :

    PARKING SUPPORT APPARATUS, PARKING SUPPORT METHOD, AND PARKING SUPPORT PROGRAM


    Additional title:

    駐車支援装置、駐車支援方法、および駐車支援プログラム



    Publication date :

    2021-04-22


    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



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