Abstract: A parking assist control apparatus includes an obstacle detector that detects an obstacle around a vehicle; a parking operation assist unit that executes a parking operation assist for preventing a close approach between the obstacle and the vehicle when judges that a distance of the obstacle to the vehicle becomes equal-to or shorter-than a predetermined control start distance; a parking start judgment unit that judges a parking operation; a parking progress judgment unit that judges a parking progress degree during the parking operation judged by the parking start judgment unit; and a parking progress computing unit that reduces an assist control amount by the parking operation assist unit according to the parking progress degree judged by the parking progress judgment unit. According to the parking assist control apparatus, the parking operation assist for the obstacle around the vehicle can be executed more adequately.

Abstract: A parking assist control apparatus includes an obstacle detector that detects an obstacle around a vehicle; a parking operation assist unit that executes a parking operation assist for preventing a close approach between the obstacle and the vehicle when judges that a distance of the obstacle to the vehicle becomes equal-to or shorter-than a predetermined control start distance; a parking start judgment unit that judges a parking operation; a parking progress judgment unit that judges a parking progress degree during the parking operation judged by the parking start judgment unit; and a parking progress computing unit that reduces an assist control amount by the parking operation assist unit according to the parking progress degree judged by the parking progress judgment unit. According to the parking assist control apparatus, the parking operation assist for the obstacle around the vehicle can be executed more adequately.

Abstract: A lane departure prevention system is provided with a lane departure tendency detection section, a yaw moment calculating section and a yaw moment control section. The lane departure tendency detection section detects a degree of a lane departure tendency of a host vehicle exhibiting a tendency of departing from its driving lane. The yaw moment calculating section calculates a base yaw moment to be applied to the host vehicle based on the degree of the lane departure tendency. The yaw moment control section applies the base yaw moment calculated by the yaw moment calculating section to the host vehicle when the base yaw moment is equal to or larger than a first prescribed minimum yaw moment, which is greater than zero, and applies the first prescribed minimum yaw moment to the host vehicle if the base yaw moment is smaller than the first prescribed minimum yaw moment.

Abstract: In the case that a vehicle 1 is making a reverse movement, a control section 4 sets a braking control operation distance according to an angle formed by the vehicle 1's proceeding direction and an extending direction of a road on which an approaching vehicle is traveling. With this, a braking control is implemented at a delayed timing in a scene where the following possibility is high: the driver wishes to end the reverse movement operation as early as possible when a space for allowing the approaching vehicle to pass by is not present at the back of the vehicle 1. Thereby, the cumbersomeness or discomfort which may be felt by the driver with respect to the braking control can be decreased.

Abstract: There is disclosed a vehicle control processing when a vehicle backs up. According to this vehicle control processing, a controller backs the vehicle toward an obstacle step by step by repeating execution of back control processing for backing the vehicle to a halt at a target stop position, which is set on the obstacle side of the vehicle, until a distance from the vehicle to the obstacle becomes equal to or less than a final target stop position. Thus, it prevents the vehicle driver from failing to park the vehicle at an appropriate position and feeling a lot of trouble during vehicle control as experienced by the vehicle driver in the conventional vehicle control apparatus.

Abstract: In the case that a vehicle 1 is making a reverse movement, a control section 4 sets a braking control operation distance according to an angle formed by the vehicle 1's proceeding direction and an extending direction of a road on which an approaching vehicle is traveling. With this, a braking control is implemented at a delayed timing in a scene where the following possibility is high: the driver wishes to end the reverse movement operation as early as possible when a space for allowing the approaching vehicle to pass by is not present at the back of the vehicle 1. Thereby, the cumbersomeness or discomfort which may be felt by the driver with respect to the braking control can be decreased.

Abstract: There is disclosed a vehicle control processing when a vehicle backs up. According to this vehicle control processing, a controller backs the vehicle toward an obstacle step by step by repeating execution of back control processing for backing the vehicle to a halt at a target stop position, which is set on the obstacle side of the vehicle, until a distance from the vehicle to the obstacle becomes equal to or less than a final target stop position. Thus, it prevents the vehicle driver from failing to park the vehicle at an appropriate position and feeling a lot of trouble during vehicle control as experienced by the vehicle driver in the conventional vehicle control apparatus.

Abstract: A lane departure prevention system is provided with a lane departure tendency detection section, a yaw moment calculating section and a yaw moment control section. The lane departure tendency detection section detects a degree of a lane departure tendency of a host vehicle exhibiting a tendency of departing from its driving lane. The yaw moment calculating section calculates a base yaw moment to be applied to the host vehicle based on the degree of the lane departure tendency. The yaw moment control section applies the base yaw moment calculated by the yaw moment calculating section to the host vehicle when the base yaw moment is equal to or larger than a first prescribed minimum yaw moment, which is greater than zero, and applies the first prescribed minimum yaw moment to the host vehicle if the base yaw moment is smaller than the first prescribed minimum yaw moment.