| 摘要 |
<p>PROBLEM TO BE SOLVED: To conduct automatic parking control accurately when an obstacle is present. SOLUTION: When the data of a steering angleθref of a wheel Wf for a travel distance of a vehicle V are stored in a storage part 23 according to four types of parking modes, a desired parking mode is selected by a mode selection switch S7 , and the vehicle V is crept while a brake pedal 9 is being depressed, a control part 22 controls the operation of a steering actuator 7 to conduct automatic parking. A body detecting means S6 detects the position of an object around an own vehicle continuously, and when the obstacle has been already present in the' moving locus of the own vehicle, or when a moving obstacle has a possibility to invade the moving locus of the own vehicle, warning is given to the driver, and automatic braking is operated.</p> |
