US 12,071,125 B2
Vehicle control apparatus
Takuya Nakagawa, Nagoya (JP); Tsutomu Mochida, Shizuoka-ken (JP); and Toshihiro Takagi, Nisshin (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Mar. 11, 2022, as Appl. No. 17/692,422.
Claims priority of application No. 2021-041944 (JP), filed on Mar. 16, 2021.
Prior Publication US 2022/0297678 A1, Sep. 22, 2022
Int. Cl. B60W 30/06 (2006.01); B60K 35/00 (2024.01); B60K 35/22 (2024.01); B60K 35/28 (2024.01); B60W 40/02 (2006.01)
CPC B60W 30/06 (2013.01) [B60K 35/00 (2013.01); B60W 40/02 (2013.01); B60K 35/22 (2024.01); B60K 35/28 (2024.01); B60K 2360/16 (2024.01); B60W 2420/403 (2013.01); B60W 2420/54 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A vehicle control apparatus comprising:
a sensor configured to acquire vehicle surrounding information that is information on a situation around a vehicle;
a display; and
a control unit comprising at least one processor that executes a program stored in a memory, wherein the control unit is configured to execute parking assistance control to cause the vehicle to move from a current location of the vehicle to a target location in response to an assistance request, wherein:
the control unit is configured to, upon receiving the assistance request in a situation in which the vehicle is parked;
determine a plurality of exit methods for causing the vehicle to exit to a road, based on the vehicle surrounding information,
cause the display to display a screen showing the plurality of exit methods, and
execute the parking assistance control in accordance with at least one of the plurality of exit methods selected on the screen; and
the control unit is further configured to:
select at least one of the plurality of exit methods estimated that a driver of the vehicle is likely to desire as a specific exit method from among the plurality of exit methods, and
cause the display to display the screen in a state where the specific exit method is selected in advance, wherein:
the control unit is configured to execute the parking assistance control in accordance with an assistance mode;
the assistance mode includes
a plurality of parking modes that are modes for parking the vehicle, and
a plurality of exit modes that are modes for causing the vehicle to exit;
wherein each of the plurality of exit methods is defined by at least one of the plurality of exit modes and also is defined by an exit direction; and
the control unit is configured to, when the vehicle is parked by using the parking assistance control in the parking mode, select at least one of the plurality of exit modes associated with the parking mode used when the vehicle is parked, as a specific exit mode of the specific exit method.