Abstract: The parking assist apparatus includes a sensor that detects an object by receiving a reflected wave reflected by the object by a transmitted wave, and a controller that executes parking assist control for parking the vehicle in a parking space set based on a detection result of the sensor. The controller provides a predetermined margin to a size of a peripheral object, which is an object detected by the sensor and exists around the parking space, in a provisional direction in which the parking space is narrowed. The controller executes parking assist control using a size of the peripheral object to which the margin is provided. When the size of the peripheral object newly detected by the sensor becomes larger than the size to which the margin is provided, the controller executes parking assist control using the size of the peripheral object newly detected by the sensor.

Abstract: A parking control apparatus includes a control unit capable of executing backward parking assist control based on surrounding information. In a case when a parking space is detected, when a specific condition to be satisfied when the parking space has a relatively narrow width is satisfied, the control unit executes guidance control as the backward parking assist control. The guidance control is control for moving a vehicle from a current position to a guidance target position in front of the parking space, so that the vehicle stops at the guidance target position in a posture in which: a vehicle’s longitudinal axis is parallel to a long-side direction of the parking space; a vehicle’s width is included in the width of the parking space when viewed from front; and the parking space is in closer proximity to a rear end portion than to a front end portion of the vehicle.

Abstract: A park assist system includes a controller that executes park assist control with which a vehicle is automatically parked in a parking spot. The controller is configured to set a point at a position higher than the vehicle and across the vehicle from the parking spot as a viewpoint used to generate the parking spot image, set an angle according to a parking spot distance that is an actual distance between the vehicle and a parking spot shown by the parking spot image as a depression angle used to generate the parking spot image, generate a parking spot image by using the set viewpoint and depression angle, cause a display device to display the parking spot image, and park the vehicle with the park assist control in a parking spot set by the driver as a target parking spot by way of viewing the parking spot image.

Abstract: A parking assistance device includes an obstacle detection unit configured to detect an obstacle around a vehicle, a boundary detection unit configured to detect a boundary of a parking section, and a target position determination unit configured to determine a target position of a movement route of the vehicle based on the detected boundary. The target position determination unit recognizes, as a wheel stopper, the obstacle detected in a detection area that is set at a position in the parking section on a back side of an entrance and exit of the parking section based on the detected boundary, regardless of a height of the obstacle.

Abstract: In an obstacle detection apparatus, the captured image of a vicinity of a vehicle from an imaging apparatus is acquired. A three-dimensional estimation image showing a three-dimensional position of a feature point in the captured image is generated, and a three-dimensional position of an object is estimated. An attribute image in which an object in the captured image is classified into one or more classes that include at least a road-surface class is generated. The three-dimensional estimation image and the attribute image are fused, the feature points and the classes are associated, and road-surface points associated with the road-surface class are extracted. Based on the road-surface points, a road-surface height in the vicinity of the vehicle is estimated. Based on the estimated road-surface height, the three-dimensional position of the object is corrected. Based on the three-dimensional position of the object, an obstacle in the vicinity of the vehicle is detected.

Abstract: A park assist system includes a controller that executes park assist control with which a vehicle is automatically parked in a parking spot. The controller is configured to set a point at a position higher than the vehicle and across the vehicle from the parking spot as a viewpoint used to generate the parking spot image, set an angle according to a parking spot distance that is an actual distance between the vehicle and a parking spot shown by the parking spot image as a depression angle used to generate the parking spot image, generate a parking spot image by using the set viewpoint and depression angle, cause a display device to display the parking spot image, and park the vehicle with the park assist control in a parking spot set by the driver as a target parking spot by way of viewing the parking spot image.

Abstract: A parking assistance device includes a detection unit that detects a parkable area in a surrounding area of a vehicle, a route calculation unit that calculates a parking guidance route for guiding the vehicle from the current position of the vehicle to a parking target position contained in the parkable area, and a control unit that guides the vehicle to the parking target position according to the parking guidance route, completes the guidance when the vehicle has fit into the parkable area with a certain attitude and has reached the parking target position, and varies a completion extension period until the guidance of the vehicle is completed according to the stop mode of the vehicle when the vehicle has entered the parkable area with the certain attitude and the vehicle has stopped before reaching the parking target position.

Abstract: A driving assistance device that detects an object around the own vehicle by using an ultrasonic sensor mounted on the own vehicle and performs driving assistance control of the own vehicle. The driving assistance device drives an oscillator of the ultrasonic sensor so that ultrasonic waves are transmitted from the oscillator. The driving assistance device acquires a duration and a frequency of reverberation occurring in association with driving of the oscillator. The driving assistance device determines, on a basis of the acquired duration and frequency of the reverberation, whether an oscillation characteristic of the reverberation has changed. The driving assistance device changes, on a basis of a result of determination of the oscillation characteristic of the reverberation, at least one execution mode of the driving assistance control and determination of abnormality in the driving assistance control.

Abstract: A driving assistance device including a steering control unit that, when a steering angle of a wheel of the vehicle from a first steering angle on one side of a neutral position to a second steering angle on the other side and the state of a vehicle is switched from a first state that is an advancing state or a reversing state to a second state that is the other of the advancing state or the reversing state, controls the steering angle so as to cause the steering angle to start to be directed from the first steering angle toward the second steering angle before the state of the vehicle becomes the second state and to be directed from a third steering angle in between the first steering angle and the second steering angle toward the second steering angle when the state of the vehicle is the second state.

Abstract: A parking assistance device according to an embodiment includes a determination unit that determines, when the parallel parking of a vehicle in a parking area is assisted, whether the parking space length of a frontage that the vehicle enters in the parking area is the sum of the full length of the vehicle and a certain length or more and a control unit that performs parking assistance for the vehicle along a route in which stationary steering control is not performed at a turning position of the vehicle when the parking space length is the sum of the full length of the vehicle and the certain length or more.

Abstract: A parking-lot-leaving support apparatus, to execute parking-lot-leaving support to support a vehicle leaving a parking lot, based on a positional relationship between the vehicle and an obstacle in a back-and-forth direction of the vehicle, includes a determination unit configured to determine whether an obstacle exists in a side direction of the vehicle, based on a detection result of a detection unit that detects an obstacle in the side direction of the vehicle; and an inhibition unit configured to, when the determination unit has determined that the obstacle exists in the side direction of the vehicle, inhibit the parking-lot-leaving support in a direction that coincides with the side direction.

Abstract: A vehicle control device according to an embodiment includes: a steering controller configured to control steering of a vehicle; and a controller configured to, when the vehicle is located at a first position on a travel route, instruct the steering controller to control the vehicle at a steering angle corresponding to a second position that is an advanced position from the first position in a traveling direction on the travel route.

Abstract: A driving assistance device according to an embodiment includes: a target setting unit configured to set a stop target; an acquisition unit configured to acquire a position of a vehicle; and an output information control unit configured to control a display unit to display a first image that instructs a driver to stop the vehicle in a first form when the vehicle is located within a region including the stop target and display the first image in a second form different from the first form when the vehicle is located outside the region.

Abstract: A parking assist system includes an electronic control unit. The electronic control unit is configured to detect an obstacle, detect a boundary of a parking space, determine a target position to which a vehicle moves, and, when the vehicle is allowed to be located in a third area in which a first area and a second area overlap with each other, be allowed to determine the target position in the third area. The first area is an area across a limit line from the obstacle. The limit line is set substantially along an outer periphery of the obstacle at a position spaced a predetermined distance from the obstacle outward of the obstacle. The second area is an area out of the boundary.

Abstract: A driving assistance device that detects an object around the own vehicle by using an ultrasonic sensor mounted on the own vehicle and performs driving assistance control of the own vehicle. The driving assistance device drives an oscillator of the ultrasonic sensor so that ultrasonic waves are transmitted from the oscillator. The driving assistance device acquires a duration and a frequency of reverberation occurring in association with driving of the oscillator. The driving assistance device determines, on a basis of the acquired duration and frequency of the reverberation, whether an oscillation characteristic of the reverberation has changed. The driving assistance device changes, on a basis of a result of determination of the oscillation characteristic of the reverberation, at least one execution mode of the driving assistance control and determination of abnormality in the driving assistance control.

Abstract: A control system for a vehicle includes an electronic control unit. The electronic control unit is configured to acquire first information indicating a situation of the vehicle at the time when the vehicle is traveling, and set a path for guiding the vehicle to a target position on the basis of the first information such that a variation in an inertial force in a lateral direction perpendicular to a traveling direction of the vehicle is smaller than or equal to a first threshold.

Abstract: A parking assist system includes an electronic control unit. The electronic control unit is configured to: at the time of assisting in parking a vehicle to a parking area, determine a path from an initial position of the vehicle to a target position; generate a first circumference that passes through the initial position and that touches a traveling direction of the vehicle, as the path; determine a center position on the basis of a position of a rear corner of a parked vehicle ahead, a turning radius of the vehicle at a minimum turn and the target position; and generate a second circumference that has a center at the center position and that passes through the target position and touches both the traveling direction of the vehicle at the target position and the first circumference, as the path continuous with the first circumference.

Abstract: A parking assist system includes an electronic control unit. The electronic control unit is configured to set at least one candidate position that is a candidate for a target position of a moving path of a vehicle on the basis of at least one of a detected obstacle or a detected parking boundary, rank each of the at least one candidate position on the basis of the candidate position and a position and orientation of the host vehicle, and determine one of the ranked at least one candidate position as the target position.

Abstract: A parking assist system includes an electronic control unit configured to: set at least one candidate position that is a candidate for a target position of a moving path of a vehicle on the basis of at least one of a detection result of an obstacle and a detection result of a parking boundary; set an orientation of the vehicle at each of the at least one candidate position, as a candidate position vehicle orientation, on the basis of at least one of the detection result of the obstacle and the detection result of the parking boundary; rank each of the at least one candidate position on the basis of an orientation of the vehicle and the candidate position vehicle orientation; and determine one of the ranked at least one candidate position as the target position.

Abstract: A control system for a vehicle includes a steering control unit and an electronic control unit. The steering control unit is configured to control a steering angle of a wheel of the vehicle. The electronic control unit is configured to acquire a target steering angle set as a target to move the vehicle, adjust the acquired target steering angle such that the target steering angle does not exceed a first guard value determined in order to inhibit a change in the steering angle of the vehicle, larger than or equal to a first reference, output the adjusted target steering angle to the steering control unit in order for the steering control unit to control the steering angle to the adjusted target steering angle, and change the first guard value in response to a situation of the vehicle.