| 摘要 |
In an automatic parking mode, a target path is obtained, and a vehicle is automatically controlled to follow the target path. When a driver intervenes steering of the vehicle, an anticipated course to be taken by the vehicle to follow after the intervention to the steering is calculated as a revised path. When the vehicle follows the revised path, if the vehicle is expected to be brought into contact with an obstacle, firstly, an alarm is raised. When an avoidance operation is performed after the alarm, an anticipated course to be taken by the vehicle to follow after the avoidance operation is re-calculated as a revised path. If no avoidance operation is performed or if the vehicle is expected to be brought into contact with the obstacle even when the vehicle follows the revised path, forced brakes are applied to the vehicle, and the automatic parking control is halted.
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