| 摘要 |
<p>A parking space (PS) is located diagonally in front of the host vehicle (V) in the direction of travel. The direction of travel of the host vehicle is defined as the X-direction and the direction perpendicular to the X-direction as the Y-direction. The parking assistance device acquires the X-direction position and the Y-direction position of a target present on the near side of the parking space in the X-direction (S11). On the basis of the acquired position of the target, the X-direction position and the Y-direction position of the parking space are estimated (S13). On the basis of the estimated parking space position, the forward movement approach is set (S17, S19, S20).</p> |
