| 摘要 |
The present invention is provided with a pivot turning device (11) that is capable of performing a pivot turn that pivots a vehicle about a preset, single point on an inner side of a vehicle body in plan view. Furthermore, a first pivot turn point (Pe) for performing a pivot turn is set, and a route area that allows a host vehicle to reach the first pivot turn point (Pe) is set before the host vehicle enters the parallel parking area (Ap). The first pivot turn point (Pe) is a point that enables the front-rear direction of the vehicle body to coincide with the longitudinal direction of the parallel parking area (Ap) when a pivot turn is performed. Furthermore, in the circular orbit of the pivot turn pivoting about the first pivot turn point (Pe), an angular range (θ) which enables the host vehicle to enter the parallel parking area (Ap) without interfering with an obstacle is set as the route area. |
