To provide a parking support apparatus capable of appropriately adjusting a movable range of a vehicle in response to traveling of the vehicle toward a target position to be reached by the vehicle for parking.SOLUTION: A parking support apparatus comprises an acquisition unit that acquires a target position to be reached by a vehicle for parking based on a detection result of a sensor that detects a situation surrounding the vehicle and a support unit that specifies a movable range where the vehicle is movable based on a detection result of the sensor for a detection region to be specified based on the target position to include a region on the opposite side to the target position as viewed from the vehicle, calculates a parking route to be followed by the vehicle until the vehicle reaches the target position in the movable range, and provides support for movement of the vehicle along the parking route and parking of the vehicle at the target position. The support unit changes the detection region in response to traveling of the vehicle along the parking route toward the target position. Therefore, the parking support apparatus can appropriately adjust the movable range in response to the traveling of the vehicle toward the target position.SELECTED DRAWING: Figure 6
【課題】駐車のために車両が到達すべき目標位置に向かって車両が進むことに応じて車両の移動可能範囲を適切に調整できる駐車支援装置を提供する。【解決手段】車両の周囲の状況を検出するセンサの検出結果に基づいて駐車のために車両が到達すべき目標位置を取得する取得部と、車両から見て目標位置とは反対側の領域を含むように目標位置に基づいて特定される検出領域に対するセンサの検出結果に基づいて、車両が移動可能な移動可能範囲を特定し、当該移動可能範囲内で、目標位置に到達するまでに車両が辿るべき駐車経路を算出し、駐車経路に沿った車両の移動および目標位置での車両の駐車の支援を提供する支援部と、を備える。支援部は、目標位置に向かい駐車経路に沿って車両が進むことに応じて検出領域を変更する。したがって、目標位置に向かって車両が進むことに応じて移動可能範囲を適切に調整できる駐車支援装置を提供することができる。【選択図】図6
PARKING SUPPORT APPARATUS, PARKING SUPPORT METHOD, AND PARKING SUPPORT PROGRAM
駐車支援装置、駐車支援方法、および駐車支援プログラム
2021-04-22
Patent
Electronic Resource
Japanese
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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