US 11,884,262 B2
Parking assist apparatus
Yuki Minase, Toyota (JP); Kota Inoue, Toyota (JP); Takuya Nakagawa, Miyoshi (JP); Hiroyuki Tachibana, Kariya (JP); Norio Imai, Kariya (JP); and Nozomu Maeda, Kariya (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and AISIN SEIKI KABUSHIKI KAISHA, Kariya (JP)
Filed by Toyota Jidosha Kabushiki Kaisha, Toyota (JP); and Aisin Seiki Kabushiki Kaisha, Kariya (JP)
Filed on Feb. 19, 2020, as Appl. No. 16/794,920.
Claims priority of application No. 2019-042784 (JP), filed on Mar. 8, 2019.
Prior Publication US 2020/0282975 A1, Sep. 10, 2020
Int. Cl. B60W 30/06 (2006.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 50/14 (2020.01); B60W 10/20 (2006.01); B60L 15/30 (2006.01)
CPC B60W 30/06 (2013.01) [B60L 15/30 (2013.01); B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/14 (2013.01); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2720/10 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A parking assist apparatus for a vehicle, comprising:
a sensor configured to acquire vehicle peripheral information including information on an object present in a peripheral region of the vehicle;
an electronic control unit configured to, when an assist request is generated,
set a target position which is a position of the vehicle at a point in time at which the vehicle completes parking in a parking space or exiting from the parking space based on the vehicle peripheral information,
set, as a movement path, a path along which the vehicle is movable from a current position of the vehicle to the target position, and
determine movement assist information including steering angle information representing changes in a steering angle of the vehicle when the vehicle moves along the movement path; and
the electronic control unit configured to execute parking assist control such that the vehicle moves in accordance with the determined movement assist information, the parking assist control including steering angle control for changing the steering angle of the vehicle, driving force control for controlling a driving force of the vehicle, and braking force control for controlling a braking force of the vehicle,
wherein the electronic control unit is further configured to, when an occupant performs a predetermined first operation that is an operation to one of an accelerator pedal and a shift lever in a first time period,
apply the braking force to the vehicle to stop the vehicle, and
execute pause processing for maintaining the movement assist information, the first time period being a period from a first point in time at which the movement assist information is determined to a second point in time immediately before the vehicle has reached the target position.