Vehicle control apparatus

A control apparatus for a vehicle, comprising:

• a driving device configured to apply a driving force to a drive wheel among wheels of the vehicle;
• a braking device configured to apply a braking force to the wheels;
• a shift switching device configured to switch a shift position of a transmission of the vehicle to one of a plurality of positions including a forward drive position, a reverse drive position, and a parking position;
• a steering device configured to control a steering angle of a steered wheel among the wheels;
• a controller configured to:
• receive an assist request transmitted from a portable device via wireless communication,
• determine, in response to the received assist request, a vehicle movement path from a current position of the vehicle to a predetermined target position of the vehicle, and
• perform parking assist control for controlling the driving device, the braking device, the shift switching device, and the steering device such that the vehicle moves along the determined vehicle movement path;
• a first power supply device mounted on the vehicle, and having a first power supply capacity;
• a second power supply device mounted on the vehicle, and having a second power supply capacity smaller than the first power supply capacity;
• and
• a power supply circuit configured to:
• when the first power supply device is normal during the performance of the parking assist control, supply an electric power from the first power supply device to the driving device, the braking device, the shift switching device, the steering device, and the controller, and
• when an abnormality occurs in the first power supply device during the performance of the parking assist control, supply an electric power from the second power supply device to the braking device and the shift switching device,
• wherein:
• when the abnormality occurs in the first power supply device during the performance of the parking assist control, the braking device performs first control and the shift switching device performs second control such that a timing at which a current flowing from the second power supply device to the braking device reaches a maximum value and a timing at which a current flowing from the second power supply device to the shift switching device reaches a maximum value do not overlap, the first control! being control for applying the braking force to the wheels, and the second control being control for switching the shift position to the parking position.