To prevent unintended sudden acceleration from occurring in parking support when a selected required driving force changes from a second required driving force for reducing a damage due to collision of a vehicle to a first required driving force for parking support.SOLUTION: A parking support apparatus according to an embodiment comprises a first required driving force generation unit and an arbitration unit. The arbitration unit acquires a second required driving force from a second required driving force generation unit, compares the first required driving force with the second required driving force, and selects the smaller required driving force and outputs the selected driving force to a driving force generation control unit. If the arbitration unit selects the second required driving force, the first required driving force generation unit performs at least either one of first control not to increase the first required driving force until the arbitration unit then selects the first required driving force and second control to recalculate, when the arbitration unit then selects the first required driving force, the first required driving force based on an actual speed at that time.SELECTED DRAWING: Figure 6

    【課題】駐車支援において、選択されている要求駆動力が、車両の衝突による被害を軽減するための第2の要求駆動力から、駐車支援のための第1の要求駆動力に変わった場合に、意図しない急加速が起きないようにする。【解決手段】実施形態の駐車支援装置は、第1の要求駆動力生成部と、調停部と、を備える。調停部は、第2の要求駆動力生成部から第2の要求駆動力を取得し、第1の要求駆動力と第2の要求駆動力を比較し、小さいほうを選択して駆動力発生制御部に出力する。そして、調停部が第2の要求駆動力を選択した場合、第1の要求駆動力生成部は、次に調停部が第1の要求駆動力を選択するまで第1の要求駆動力を増加させない第1の制御と、次に調停部が第1の要求駆動力を選択したときにそのときの実速度に基づいて第1の要求駆動力を再計算する第2の制御と、の少なくともいずれかを実行する。【選択図】図6


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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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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