PARKING ASSISTANCE DEVICE

摘要

A parking assistance device assists the operation of steerable wheels for the entry of a vehicle into a parking space by the automatic control of a steering device. Upon execution of the automatic control, an entry path for moving the vehicle to the parking position is calculated, and also, a target steered angle (Tag) for moving the vehicle along the entry path is calculated, and the actual steered angle (Rag) is detected. If the target steered angle (Tag) is an angle closer to the neutral angle than the actual steered angle (Rag) (S102: YES), then the operation of the steering wheel through the automatic control is stopped (S103). If the target steered angle (Tag) is not at an angle closer to the neutral angle than the actual steered angle (Rag) (S102: NO), then the operation of the steering wheel through the automatic control is executed (S105).