Einparkhilfevorrichtung und -steuerverfahren

摘要

A running control portion (10) of a parking assist ECU (1) determines an inclination of a road surface based on information such as outputs of a wheel speed sensor (32) and an acceleration sensor (33), and a brake hydraulic pressure which an actuator (34) applies to a wheel cylinder (38). The running control portion (10) execute a vehicle speed control by controlling a braking force applied by the wheel cylinder (38) while increasing a torque of an engine (22). The operation of the vehicle speed control is prohibited when conditions for operating the vehicle speed control are not fulfilled.