| 摘要 |
PROBLEM TO BE SOLVED: To prevent collision during a wedging parking process, by starting an automatic brake process when a space relating to an obstacle provided before or behind is less than a spacing limit value simultaneously when an approaching speed is more than an approaching speed limit value. SOLUTION: When a vehicle speed vF is less than a vehicle speeding limit value, for instance, 8 km/h, a space d of a vehicle from one or a plurality of obstacles Hi1, Hi2 and an approaching speed vA to the obstacles Hi1, Hi2 are obtained by a sensor S provided in a front/rear range of the vehicle. The space d is changed in, for instance, 0.5 to 2 m, and whether the space d is less than a spacing limit value 1 m or not simultaneously whether the approaching speed vA is more than 8 km/h or not, which is an approach speeding limit value, are detected. Here in the case of satisfying these conditions, an automatic brake process of the vehicle Fa is started, a speed vF of the vehicle is decelerated till taking a creep speeding limit value capable of changing at, for instance, 3 to 5 km/h and profitably 4 km/h.
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