| 摘要 |
PROBLEM TO BE SOLVED: To provide a parking assist device properly determining the opening amounts of doors in a parked own vehicle.SOLUTION: A parking assist device, when a vehicle speed becomes equal to or lower than a predetermined speed (S400:Yes), on the basis of a scanning result by laser radars, updates a three-dimensional obstacle map around an own vehicle by creating the same in time series at every scanning cycle by the laser radars (S402). The parking assist device: when a shift range is sifted to a P range (S404:Yes), determines that the own vehicle is parked; on the basis of the three-dimensional obstacle map, in an opening region from a position of closing respective doors of the own vehicle to a position of opening them to the maximum, creates a two-dimensional map showing the objects which interfere with the doors when the doors are opened; determines the opening amounts of the doors on the basis of the two-dimensional map (S406) and indicates the opening amounts on a display (S408). When the doors reach the upper limits of the allowable range (S410:Yes), the parking assist device stops the doors from opening beyond the allowable range (S412). |
