Parking assist system

A parking assist system comprising:

• an external environment information acquiring device configured to acquire external environment information around a vehicle;
• a parking space extracting device configured to extract an available parking space delimited by one or more delimiting lines based on first external environment information which is the external environment information acquired by the external environment information acquiring device;
• a display device configured to display a parking position candidate set in the parking space;
• a selection input member configured to receive a selection operation by a user, the selection operation being an operation to select the parking position candidate displayed on the display device;
• and
• a control device configured to set the parking position candidate at a prescribed position in the parking space, to set the parking position candidate selected by the user via the selection input member as a target parking position, to calculate a first trajectory to the target parking position, and to execute a first driving process to autonomously move the vehicle along the first trajectory,
• wherein, after the vehicle reaches the target parking position, the control device is configured to set a corrected parking position different from the target parking position based on second external environment information which is the external environment information acquired by the external environment information acquiring device during and/or after the first driving process, to calculate a second trajectory from the target parking position to the corrected parking position, and to execute a second driving process to autonomously move the vehicle along the second trajectory,
• the control device is configured to set the target parking position at a central position of the parking space in a width direction, and to set the corrected parking position at a position in the parking space offset from the target parking position in the width direction,
• in a case where an entrance width of a parking area corresponding to the parking space is equal to or more than a first width which is greater than a vehicle width, the control device sets the parking position candidate,
• in a case where the entrance width of the parking area corresponding to the target parking position is equal to or more than a second width which is greater than the first width, the control device executes the second driving process, and
• in a case where the entrance width of the parking area corresponding to the target parking position is smaller than the second width, the control device does not execute the second driving process.