PARKING ASSISTANCE DEVICE AND METHOD

摘要

In order to carry out parking assistance even in a circumstance where an end part of a vehicle makes contact with an obstacle, a space (101) where parking is possible is set; a target parking location within the space (101) where parking is possible is set; and, if it is determined that an end part of the vehicle makes contact with an end part of the space (101) where parking is possible when the vehicle is being driven in order to park in the target parking location, the angle of entry (?1) of the host vehicle with respect to the space (101) where parking is possible is changed, and a parking trajectory on which the host vehicle is driven toward a non-final target parking location (102') computed, such that the end part of the host vehicle is driven away from an end part of a front end point (P) of the space (101) where parking is possible and toward a target parking location (102).