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Parking-lot-leaving support apparatus and vehicle

  • US 10,232,850 B2
  • Filed: 05/11/2016
  • Issued: 03/19/2019
  • Est. Priority Date: 05/19/2015
  • Status: Active Grant
First Claim
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1. A parking-lot-leaving support apparatus, to execute a parking-lot-leaving support to support a vehicle leaving a parking lot, based on a positional relationship between the vehicle and an obstacle in a back-and-forth direction of the vehicle, wherein the parking-lot-leaving support derives a parking-lot-leaving path to have the vehicle leave the parking lot without contacting the obstacle, the parking-lot-leaving support apparatus comprising:

  • an ECU configured todetermine whether an obstacle is in front of the vehicle, based on a detection result of a detection unit that detects an obstacle in the forward direction of the vehicle, or behind the vehicle, based on a detection result of the detection unit that detects an obstacle in the rearward direction of the vehicle,determine that the vehicle is in a first parking state whenever the ECU determines that an obstacle is in front of the vehicle or behind the vehicle;

    inhibit the parking-lot-leaving support when the ECU determines that the vehicle is not in the first parking state;

    when the ECU determines that the vehicle is in the first parking state, determine whether an obstacle exists in a left side direction and a right side direction of the vehicle, based on a detection result of the detection unit that detects an obstacle in both side directions of the vehicle;

    inhibit the parking-lot-leaving support when the ECU determines that the vehicle is in the first parking state and that an obstacle exists in the left side direction and the right side direction of the vehicle;

    when the ECU determines that no obstacle exists in at least one of the left side direction and the right side direction of the vehicle, prompt a driver to select a parking-lot-leaving direction, the parking-lot-leaving direction being the left side direction or the right side direction of the vehicle;

    receive a selection operation of the parking-lot-leaving direction from the driver of the vehicle;

    after receiving the selection operation, determine whether an obstacle exists in the selected parking-lot-leaving direction;

    inhibit the parking-lot-leaving support when the ECU determines that an obstacle exists in the selected parking-lot-leaving direction; and

    activate the parking-lot-leaving support when the ECU determines that no obstacle exists in the selected parking-lot-leaving direction.

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