Parking assist control apparatus and control method

A parking assist control apparatus comprising:

• an obstacle detector that is provided at a rear of a vehicle to detect an obstacle behind the vehicle;
• a parking assist unit that executes, when judges that a distance between the obstacle detected by the obstacle detector and the vehicle becomes equal-to or shorter-than a predetermined control start distance, a parking assist for preventing a close approach between the obstacle and the vehicle based on an assist control operational amount during a backward running of the vehicle from a parked position and a backward running of the vehicle for parking;
• a parking start judgment unit that judges a start of a parking operation in which a backward running is done after a predetermined forward running;
• and
• an assist control amount reduction unit that reduces, when the start of the parking operation is judged by the parking start judgment unit, the assist control operational amount by the parking assist unit during the backward running of the vehicle for parking less than the assist control operational amount by the parking assist unit at the backward running of the vehicle from a parked position, wherein
• the parking assist by the parking assist unit is at least one control of a brake force application to the vehicle and a restriction of a drive force of the vehicle, and
• a reduction of the assist control operational amount by the assist control amount reduction unit is done by a shortening of the parking start distance.

A parking assist control apparatus comprising:

• an obstacle detection means provided at a rear of a vehicle for detecting an obstacle behind the vehicle;
• a parking assist means for executing, when judging that a distance between the obstacle detected by the obstacle detection means and the vehicle becomes equal-to or shorter-than a predetermined control start distance, a parking assist for preventing a close approach between the obstacle and the vehicle based on an assist control operational amount during a backward running of the vehicle from a parked position and a backward running of the vehicle for parking;
• a parking judgment means for judging a start of a parking operation in which a backward running is done after a predetermined forward running;
• and
• an assist control amount reduction means for reducing, when the start of the parking operation is judged, the assist control operational amount by the parking assist means during the backward running of the vehicle for parking less than the assist control operational amount by the parking assist means at the backward running of the vehicle from a parked position, wherein
• the parking assist by the parking assist means is at least one control of a brake force application to the vehicle and a restriction of a drive force of the vehicle.

A parking assist control method comprising:

• detecting an obstacle behind a vehicle;
• judging whether or not a distance between the obstacle and the vehicle becomes equal-to or shorter-than a predetermined control start distance during a backward running of the vehicle from a parked position and a backward running of the vehicle for parking;
• executing a parking assist for preventing a close approach between the obstacle and the vehicle based on an assist control operational amount when it is judged that the distance between the obstacle and the vehicle becomes equal-to or shorter-than a predetermined control start distance;
• judging a start of a parking operation in which a backward running is done after a predetermined forward running;
• and
• reducing, when the start of the parking operation is judged, the assist control operational amount for the parking assist during the backward running of the vehicle for parking less than the assist control operational amount at the backward running of the vehicle from a parked position, wherein
• the parking assist is at least one control of a brake force application to the vehicle and a restriction of a drive force of the vehicle.

A parking assist control apparatus comprising:

• an obstacle detector that is provided at a rear of a vehicle to detect an obstacle behind the vehicle;
• a parking assist unit that executes, when judges that a distance between the obstacle detected by the obstacle detector and the vehicle becomes equal-to or shorter-than a predetermined control start distance, a parking assist for preventing a close approach between the obstacle and the vehicle based on an assist control operational amount during a backward running of the vehicle from a parked position and a backward running of the vehicle for parking;
• a parking start judgment unit that judges a parking operation in which the vehicle is running backward to a parking target position;
• and
• an assist control amount reduction unit that reduces, when the parking start judgment unit judges the parking operation, the assist control operational amount by the parking assist unit during the backward running of the vehicle for parking less than the assist control operational amount by the parking assist unit at the backward running of the vehicle from a parked position, wherein
• the parking assist by the parking assist unit is at least one control of a brake force application to the vehicle and a restriction of a drive force of the vehicle.

A parking assist control apparatus comprising:

• an obstacle detector that is provided at a rear of a vehicle to detect an obstacle behind the vehicle;
• a parking assist unit that executes, when judges that a distance between the obstacle detected by the obstacle detector and the vehicle becomes equal-to or shorter-than a predetermined control start distance, a parking assist for preventing a close approach between the obstacle and the vehicle based on an assist control operational amount during a backward running of the vehicle from a parked position and a backward running of the vehicle for parking;
• a parking start judgment unit that judges a start of a parking operation in which a backward running is done after a predetermined forward running;
• and
• an assist control amount reduction unit that reduces, when the start of the parking operation is judged by the parking start judgment unit, the assist control operational amount by the parking assist unit during the backward running of the vehicle for parking less than the assist control operational amount by the parking assist unit at the backward running of the vehicle from a parked position, wherein
• the parking assist by the parking assist unit is at least one control of a brake force application to the vehicle and a restriction of a drive force of the vehicle, and
• a reduction of the assist control operational amount by the assist control amount reduction unit is done by a lowering of the assist control operational amount.