Parking support device
A parking support device 1 includes a calculation unit 17 that calculates a speed pattern, an acceleration recognition unit 13 that recognizes driver-requested acceleration, a parking support control unit 19 that performs parking support control in a target parking position based on the speed pattern, and a determination unit 18 that determines whether a host vehicle V can stop in the target parking position at a set deceleration. When the driver-requested acceleration is recognized during the control and exceeds acceleration of the speed pattern at the time of recognition, the parking support control unit 19 accelerates the host vehicle V at the driver-requested acceleration. When the determination unit 18 determines that the host vehicle V can stop in the target parking position at the set deceleration, the host vehicle V is decelerated at the set deceleration and is stopped in the target parking position regardless of the driver-requested acceleration.
1. A parking support device comprising:
a calculation unit configured to calculate a speed pattern which causes a vehicle to travel along a traveling route from a current position of the vehicle to a target parking position;
an acceleration recognition unit configured to recognize driver-requested acceleration with regard to the vehicle based on an accelerator operation performed by the driver of the vehicle; and
a control unit configured to control parking support in the target parking position based on the speed pattern and the traveling route and to determine whether or not the driver-requested acceleration exceeds acceleration of the speed pattern,
wherein the control unit is configured to
accelerate the vehicle at the requested acceleration when (i) the driver-requested acceleration is recognized by the acceleration recognition unit during the control of parking support and (ii) the requested acceleration exceeds the acceleration of the speed pattern at the time of the recognition, and
decelerate the vehicle at a set deceleration and stop the vehicle in the target parking position regardless of the requested acceleration when it is determined that the vehicle (i) is present on a predetermined final traveling route and (ii) can stop in the target parking position at the set deceleration which is set in advance, based on a traveling speed and a position of the vehicle.
2. The parking support device according to claim 1 , further comprising:
an obstacle detection unit configured to detect a position of an obstacle which is present in a vicinity of the vehicle,
wherein the traveling route includes a wheel-turning traveling route from the current position of the vehicle to a wheel-turning position which is determined by clearance with the obstacle detected by the obstacle detection unit,
wherein the calculation unit is configured to calculate a wheel-turning speed pattern which causes the vehicle to travel along the wheel-turning traveling route, as a part of the speed pattern, and
wherein the control unit is configured to
accelerate the vehicle at the requested acceleration when (i) the driver-requested acceleration is recognized by the acceleration recognition unit during the control of parking support and (ii) the requested acceleration exceeds the acceleration of the wheel-turning speed pattern at the time of the recognition, and
decelerate the vehicle at a set wheel-turning deceleration and stop the vehicle in the wheel-turning position regardless of the requested acceleration when it is determined that the vehicle can stop in the wheel-turning position at the set wheel-turning deceleration which is set in advance, based on the traveling speed and the position of the vehicle.