| 摘要 |
<p>PROBLEM TO BE SOLVED: To maintain manipulated variables of a brake pedal proper at the time of carrying out automatic parking control while travelling a vehicle to creep. SOLUTION: A data of a steering angleθref of a wheel Wf against a moving distance X of a vehicle V is memorized in correspondence with four kinds of parking modes, the desired parking mode is selected by a mode selection switch S7 and the vehicle V is travelled to creep while operating a brake pedal 9, and consequently, a control part 22 controls actuation of a steering actuator 7 and automatic parking is carried out. At this time, a standard manipulated variable of the brake pedal 9 is set to provide proper creeping car speed, and when a deviation of an actual manipulated variable of the brake pedal 9 detected by a brake manipulated variable detection means S4 and the standard manipulated variable exceeds a specified value, an alarm is generated to a driver by an alarm means 11 to urge adjustment of the actual manipulated variable of the brake pedal 9.</p> |
