| 摘要 |
PROBLEM TO BE SOLVED: To provide a parking support system which controls generating of technical hitches of parking support resulting from the incorrect detection of obstacle positions during the time of advancement when going backward of own vehicle to park at a parking space.SOLUTION: While carrying out sequential detection of obstacles which exist in back and slanting back of own vehicle by a ranging sensor prepared at the backside, a vehicle goes back. When a backward ranging means detects any obstacles near a target parking space during going backward, the position of obstacles detected, based on comparison of the position of the detected obstacle and the position of the obstacle detected by a lateral ranging means during the time of advancement, the latter is corrected. Moreover, according to the amount of correction corresponding to the corrected obstacle position, a target parking position is corrected and a parking route is re-calculated. Thus, even when the obstacle is detected in a different position from the position detected during the time of advancement, a parking route can be corrected and the parking support can be continued. |
