Abstract: A parking assistance device includes: a calculation unit that calculates a target speed with passage of time until a vehicle is moved to a parking target position; an event detection unit that detects an event that is a predetermined event indicating a timing of recalculation of the target speed; and an acquisition unit that acquires a current actual speed of the vehicle. Then, when the event is detected, the calculation unit recalculates the target speed to match the target speed with the current actual speed of the vehicle.

Abstract: A vehicle controller includes a target position recognition unit configured to recognize a target position, a parking route generation unit configured to generate a parking route, and an automatic steering unit configured to automatically operate a steering device. The parking route generation unit generates a first route and a second route. The first route is a parking route to a temporary target position that is obtained by laterally moving the target position toward inside of the parking route in a turning direction. The second route is a parking route to the target position from a designated position in the middle of the first route. The automatic steering unit automatically operates the steering device to cause the subject vehicle to follow the first route until the subject vehicle reaches the designated position and to follow the second route from the designated position until the subject vehicle reaches the target position.

Abstract: A parking assistance device includes: a traveling assistance control unit that causes a vehicle to automatically travel to a designated parking area and park the vehicle; a reception unit that receives an operation signal for shifting to a state in which traveling control by the traveling assistance control unit can be executed from an operation unit provided in a vehicle interior of the vehicle; and a braking switching unit that switches a braking device that maintains a stop state of the vehicle to a braking force generating state in a case where the operation signal is received.

Abstract: A parking assistance device includes: a traveling assistance control unit that causes a vehicle to automatically travel to a designated parking area and park the vehicle; a detection unit that detects whether or not a passenger carrying a terminal device enabling traveling control of the vehicle has performed a getting on and off action at a driver's seat of the vehicle; and an authority determination unit that determines whether a traveling control authority of the vehicle is to be attributed to the traveling assistance control unit or the passenger based on a detection result of the detection unit.

Abstract: A driving assistance device provides driving assistance to a vehicle including a sensor that collects peripheral information according an instruction from a terminal of a user of the vehicle, the device including: a route calculation unit that calculates a movement route of the vehicle to a target position based on the peripheral information; a detection unit that detects an obstacle at a periphery of the vehicle moving through the movement route based on the peripheral information; and a movement control unit that moves the vehicle along the movement route; where the movement control unit temporarily interrupts the driving assistance and waits until the obstacle moves from a position that hinders the movement when the obstacle is detected at a position hindering the movement of the vehicle on the movement route and a length of the movement route shortened by the obstacle is longer than or equal to a predetermined distance.

Abstract: A driving assistance device that provides assistance to a vehicle including a sensor, collecting peripheral information, includes a detection unit that detects an obstacle and a parking area at a vehicle periphery; a road width calculation unit that calculates an area between first and second boundary lines as a road width; a route calculation unit that calculates a movement route through the area and the parking area to a target position; and a movement control unit that moves the vehicle along the movement route; where when a second obstacle is detected on the inside of the first and second boundary lines and on the second boundary line side with respect to the vehicle, and the second obstacle is continuously detected when the vehicle reaches a predetermined timing, an area between a third boundary line extending in the predetermined direction and the first boundary line is detected as new road width.

Abstract: A parking assistance device includes: a calculation unit that calculates a target speed with passage of time until a vehicle is moved to a parking target position; an event detection unit that detects an event that is a predetermined event indicating a timing of recalculation of the target speed; and an acquisition unit that acquires a current actual speed of the vehicle. Then, when the event is detected, the calculation unit recalculates the target speed to match the target speed with the current actual speed of the vehicle.

Abstract: A vehicle traveling assistance apparatus includes: a creation unit configured to create a first route, which is a route along which a vehicle moves from a first position to a second position and in which the vehicle stops to perform stationary steering in a middle of the route and then moves to the second position; and a controller configured to cause the vehicle to travel along the created first route.

Abstract: A driving control apparatus includes: a movement control unit that controls movement of a vehicle in accordance with a first movement path indicating a movement trajectory to a first target position that is a movement destination of the vehicle; and a movement path calculating unit that calculates a second movement path as a movement path to a second target position from a position after the vehicle moves from a current position of the vehicle for a predetermined period of time along the first movement path, wherein the movement control unit controls movement of the vehicle to the second target position in accordance with the second movement path after causing the vehicle to move along the first movement path for the predetermined period of time.

Abstract: A driving assistance apparatus includes: a driving assistance unit configured to control a braking unit which decelerates a moving body, and assist driving of the moving body by automatic driving; and a switching unit configured to perform instructing a driver of the moving body to operate the braking unit which is under control by the driving assistance unit, and switching from the automatic driving to manual driving by transferring an authority of driving to the driver when receiving an operation of the braking unit by the driver.

Abstract: A vehicle controller includes a target position recognition unit configured to recognize a target position, a parking route generation unit configured to generate a parking route, and an automatic steering unit configured to automatically operate a steering device. The parking route generation unit generates a first route and a second route. The first route is a parking route to a temporary target position that is obtained by laterally moving the target position toward inside of the parking route in a turning direction. The second route is a parking route to the target position from a designated position in the middle of the first route. The automatic steering unit automatically operates the steering device to cause the subject vehicle to follow the first route until the subject vehicle reaches the designated position and to follow the second route from the designated position until the subject vehicle reaches the target position.

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 driving control apparatus includes: a movement control unit that controls movement of a vehicle in accordance with a first movement path indicating a movement trajectory to a first target position that is a movement destination of the vehicle; and a movement path calculating unit that calculates a second movement path as a movement path to a second target position from a position after the vehicle moves from a current position of the vehicle for a predetermined period of time along the first movement path, wherein the movement control unit controls movement of the vehicle to the second target position in accordance with the second movement path after causing the vehicle to move along the first movement path for the predetermined period of time.

Abstract: A vehicle traveling assistance apparatus includes: a creation unit configured to create a first route, which is a route along which a vehicle moves from a first position to a second position and in which the vehicle stops to perform stationary steering in a middle of the route and then moves to the second position; and a controller configured to cause the vehicle to travel along the created first route.

Abstract: A driving assistance apparatus includes: a driving assistance unit configured to control a braking unit which decelerates a moving body, and assist driving of the moving body by automatic driving; and a switching unit configured to perform instructing a driver of the moving body to operate the braking unit which is under control by the driving assistance unit, and switching from the automatic driving to manual driving by transferring an authority of driving to the driver when receiving an operation of the braking unit by the driver.

Abstract: A parking assistance device includes: a route determination unit that determines a route from an initial position of a vehicle to a target parking position when assisting the vehicle to be parked in a parking area, and includes, a first generation unit generating a first circumference tangent to a line passing though the initial position and extending along a forward direction of the vehicle, and a second generation unit generating a second circumference having a tangent line passing through a rear position of the vehicle at a rear direction of the target parking position in the forward direction and extending along the forward direction, and having a radius of minimum turning of the vehicle, a part of the first circumference functions as a part of the route, and a part of a third circumference functions as the route subsequent to the first circumference.

Abstract: A parking assistance device includes: an obstacle detection unit detecting an obstacle; a target position determination unit determining a target position between a first virtual obstacle, based on a first obstacle, and a second virtual obstacle based on a second obstacle being lined up with the first obstacle in a first direction; and a route determination unit determining a first route from the position of a vehicle to the target position, and that, when while the vehicle travels along the determined first route, the obstacle detection unit has detected a third obstacle positioned between the first and second obstacles and closer to the first obstacle than the second obstacle, enlarges the first virtual obstacle, and determines a second route that avoids the enlarged first virtual obstacle and is set from the position of the vehicle to the target position.

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 assistance device includes: a route determination unit determining a route from an initial position of a vehicle to a target position at a time of assisting the vehicle to be parked in a parking area, wherein the route determination unit includes a first generation unit generating a first circumference being tangent to a line passing through the target position and extending along the forward direction, a second generation unit generating a second circumference being tangent to a line passing through the initial position and extending along a forward direction and to the first circumference, and a recalculation determination unit generating a third circumference having a center at the position on an obstacle in the front direction nearest to the route, and determining whether the recalculation of the route is necessary based on the first and third circumferences.