Abstract: A vehicle control device suppresses unnecessary activation of a collision mitigation system due to reduced accuracy during turning of a host vehicle. The device comprises a rotational speed acquisition unit configured to obtain the vehicle's rotational speed, and a vehicle speed acquisition unit configured to obtain the host vehicle's speed. A target position acquisition unit obtains the position of a target recognized by an external environment recognition unit, while a target ground speed calculation unit determines the ground speed of the recognized target. A reference target ground speed error calculation unit derives ground speed error of a reference target. Based on this error, a driving assistance function calculation unit determines the execution content of a driving assistance function related to vehicle safety with respect to a recognized moving object. An output unit transmits control instructions to driving assistance execution units according to the determined execution content.

Abstract: In a method of detecting a parkable space using only a sonar installed on a side of a vehicle, automatic parking assistance cannot be implemented at an early stage, and an environment in which automatic parking assistance is possible is limited. In a parking assistance device including a parkable space setting unit that sets a parkable space existing ahead of the vehicle based on information from a front detector, the parkable space setting unit corrects the parkable space based on information on the parkable space acquired by a side detector when the vehicle passes by the parkable space.

Abstract: In a method of detecting a parkable space using only a sonar installed on a side of a vehicle, automatic parking assistance cannot be implemented at an early stage, and an environment in which automatic parking assistance is possible is limited. In a parking assistance device including a parkable space setting unit that sets a parkable space existing ahead of the vehicle based on information from a front detector, the parkable space setting unit corrects the parkable space based on information on the parkable space acquired by a side detector when the vehicle passes by the parkable space.