| 摘要 |
PROBLEM TO BE SOLVED: To improve safety and usefulness in withdrawal of an own vehicle from a parking area.SOLUTION: Included in a parking support ECU 1 and a periphery monitoring ECU 2 are a laser light control unit that irradiates laser light to a periphery while scanning the periphery, an obstacle discrimination unit that detects and discriminates an obstacle in the periphery of an own vehicle on the basis of the laser light and reflected light of the laser light, a route creation unit that creates a withdrawal route of the own vehicle from a parking area on the basis of the result of discrimination of the obstacle discrimination unit, and a withdrawal support control unit that if a dynamic obstacle is not detected on a road or passage intersecting the withdrawal route, or if a predetermined distance or longer can be preserved as a distance from the dynamic obstacle on the road or passage approaching the own vehicle, implements travel control of the own vehicle along the withdrawal route, and thus withdraws the own vehicle from a parking area through automatic travel. The withdrawal support control unit decides based on a distance of the own vehicle from a static obstacle, which exists in a withdrawing direction at the beginning of withdrawal of the own vehicle, whether withdrawal support should be given for withdrawal from the parking area through automatic travel. |
