Device for assisting a vehicle with exiting a parking space

1. A parking exit assist device comprising:

a front detection unit configured to detect at least a frontward distance from a user's own vehicle to a front obstacle in front of the user's own vehicle;

a target steering angle setting unit configured to set a target steering angle of the user's own vehicle and an exit-from-parking trajectory from a predetermined position, on a basis of the frontward distance detected by the front detection unit and a position of the user's own vehicle;

an assist control unit configured to carry out an assist control in which a steering angle of the user's own vehicle is changed to the target steering angle set by the target steering angle setting unit; and

an assist continuation determination unit configured to determine that the user's own vehicle is capable of exiting from parking, in a case where the user's own vehicle has traveled forward on the exit-from-parking trajectory by a certain distance from the predetermined position and no front obstacle is being detected by the front detection unit,

wherein the assist control unit is configured to determine a state for terminating the assist control in an event that the user's own vehicle has traveled forward from the predetermined position by a predetermined distance equal to or greater than the certain distance at a time that the assist continuation determination unit determines that the user's own vehicle is capable of exiting from parking, and to terminate the assist control when the state for terminating the assist control is determined,

wherein the predetermined position is an assist starting position, which is one of a position of the user's own vehicle at a time that the assist control is started and a most recent turning back position in a case that the user's own vehicle performs a turning back operation,

wherein the assist continuation determining unit is configured to set the predetermined distance on a basis of the assist starting position, a position of the lane into which the user's own vehicle exits from parking and merges with, and the position of the user's own vehicle, and

wherein the assist continuation determining unit is further configured to set the predetermined distance subsequent to the determination that the user's own vehicle is capable of exiting from parking and wherein the predetermined distance is set according to a predefined relationship in which the predetermined distances becomes shorter as an angular difference between an orientation of the user's own vehicle at the assist starting position and an orientation of the user's own vehicle at a current position of the user's own vehicle becomes greater, or as an angular difference of the orientation of the user's own vehicle at the current position of the user's own vehicle with respect to the lane becomes greater.

2. The parking exit assist device according to claim 1 , wherein when the user's own vehicle has traveled forward from the predetermined position by the predetermined distance, the assist control unit is further configured to determine the state for terminating the assist control in a case where the front detection unit cannot detect the frontward distance, or in a case where the detected frontward distance exceeds a predetermined threshold value.

3. The parking exit assist device according to claim 2 , further comprising an assist continuation determining unit configured to determine the state for terminating the assist control, in an event it was determined to continue the assist control by the assist control unit, and the user's own vehicle has traveled forward from the predetermined position by the predetermined distance.