| 摘要 |
In order to provide parking assist even in a situation where an end portion of a vehicle is predicted to come into contact with an obstacle, an available parking space (101) is set, and a target parking position is set within the available parking space (101). When it is determined that the end portion of the vehicle will come into contact with an end portion of the available parking space (101) if the vehicle travels to be parked in the target parking position, an entering angle (¸1) of the vehicle with respect to the available parking space (101) is changed so that the vehicle may travel toward a target parking space (102) with the end portion of the vehicle spaced away from a front end point P of the available parking space (101), and a parking path for the vehicle to travel to a non-final target parking position (102') is calculated. |
