| CPC B62D 15/0285 (2013.01) [B62D 6/001 (2013.01)] | 6 Claims |
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1. A parking assist apparatus for a vehicle, comprising:
an information acquiring device configured to acquire information on an object present in a periphery of the vehicle; and
an electronic control unit including at least one processor programmed to:
set a target region, and set, as a target path, a path for moving the vehicle to the target region, the target region being a region which is occupied by the vehicle at a time point at which the vehicle completes parking or exiting from a parking space on an assumption that the vehicle moves from a current position of the vehicle; and
perform a parking assist control for changing a steering angle of the vehicle according to the set target path in such a manner that the vehicle moves along the target path,
wherein, in a case where the information acquiring device acquires, in a period from a first time point on and after a path setting time point at which the target path is set until a second time point at which the vehicle reaches the target region, information on a new object which has not been detected at the path setting time point, pause the parking assist control, when a pause condition is satisfied, the pause condition being a condition which is satisfied when the new object is on the target path, and
wherein, in a pause period from a fourth time point at which the pause of the parking assist control is started until a predetermined time threshold elapses, when a resume condition is satisfied, resume the parking assist control in accordance with the target path used until the fourth time point at which the pause of the parking assist control is started, the resume condition being a condition which is satisfied when there is a high possibility that the new object is not an obstacle which obstructs the vehicle when the vehicle travels along the target path used until the fourth time point at which the pause of the parking assist control is started.
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