Patent Publication Number: US-2022219678-A1

Title: Parking Assist Method and Parking Assist Apparatus

Description:
TECHNICAL FIELD 
     The present invention relates to a parking assist method and a parking assist apparatus. 
     BACKGROUND 
     There is a conventionally known parking assist method (Japanese Patent No. 6062406) including, when assisting a tandem parking of a vehicle, determining whether or not the parking space length at the frontage for the vehicle is equal to or greater than the sum of the entire length of the vehicle and a predetermined length, assisting in the parking of the vehicle with a clothoid curve route including no static steering if the parking space length is equal to or greater than the sum of the entire length of the vehicle and the predetermined length, and assisting in the parking of the vehicle with a route including the static steering when the parking space length is less than the sum of the entire length of the vehicle and the predetermined length. 
     SUMMARY 
     In the above prior art, when assisting in vehicle parking with a route requiring an operation of turning the steering wheel (or cutting the wheel), the steering direction of a subject vehicle is reversed after the operation of turning the steering wheel, which raises a problem that the time required for the parking becomes longer. 
     A problem to be solved by the present invention is to provide a parking assist method and a parking assist apparatus, in which the required parking time can be shortened when assisting in parking a vehicle with a route requiring an operation of turning the steering wheel. 
     In the present invention, the above problem is solved by determining a turning direction to which a subject vehicle turns in a route for traveling from a position of turning a steering wheel to a parking space, and generating a route from the current position of the subject vehicle to the position of turning the steering wheel such that the steering direction of the subject vehicle corresponds to the turning direction at the time when the subject vehicle is stopped at the position of turning the steering wheel. 
     The present invention can shorten the parking time required in the case of assisting in parking a vehicle with a route requiring the operation of turning the steering wheel. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram illustrating an exemplary configuration of a parking assist system of an embodiment according to the present invention; 
         FIG. 2  is a perspective view of a vehicle illustrating an exemplary arrangement of imaging devices of the present embodiment mounted on a subject vehicle; 
         FIG. 3  is an exemplary image displayed on a display, which is an bird&#39;s-eye image generated by an image processing device of the present embodiment; 
         FIG. 4  is a plan view of a vehicle illustrating an exemplary arrangement of ranging devices of the present embodiment mounted on the subject vehicle; 
         FIGS. 5A-5C  are plan views illustrating exemplary patterns of lines defining parking areas of the present embodiment; 
         FIG. 6  is a plan view illustrating a parking route according to a comparative example of the present invention; 
         FIG. 7  is a plan view illustrating an exemplary parking route (practical example) calculated by a parking assist apparatus of the present embodiment; 
         FIG. 8  is a plan view illustrating another exemplary parking route (practical example) calculated by the parking assist apparatus of the present embodiment; 
         FIG. 9A  is a plan view (Part  1 ) illustrating still another exemplary parking route (practical example) calculated by the parking assist apparatus of the present embodiment; 
         FIG. 9B  is a plan view (Part  2 ) illustrating still another exemplary parking route (practical example) calculated by the parking assist apparatus of the present embodiment; 
         FIG. 9C  is a plan view (Part  3 ) illustrating still another exemplary parking route (practical example) calculated by the parking assist apparatus of the present embodiment; 
         FIG. 9D  is a plan view (Part  4 ) illustrating still another exemplary parking route (practical example) calculated by the parking assist apparatus of the present embodiment; 
         FIG. 10  is a plan view illustrating yet another exemplary parking route (practical example) calculated by the parking assist apparatus of the present embodiment; 
         FIGS. 11A and 11B  are timing diagrams illustrating a traveling motion plan for parking assist according to a comparative example of the present invention, in which  FIG. 11A  is a timing diagram of vehicle speed and  FIG. 11B  is a timing diagram of steering angle; 
         FIGS. 12A and 12B  are timing diagrams illustrating an exemplary traveling motion plan for parking assist by the parking assist apparatus of the present embodiment, in which  FIG. 12A  is a timing diagram of vehicle speed and  FIG. 12B  is a timing diagram of steering angle; 
         FIGS. 13A and 13B  are timing diagrams illustrating another an exemplary traveling motion plan for parking assist by the parking assist apparatus of the present embodiment, in which  FIG. 13A  is a timing diagram of vehicle speed and  FIG. 13B  is a timing diagram of steering angle; 
         FIG. 14  is a flowchart illustrating an exemplary control procedure of the parking assist apparatus of the present embodiment illustrated in  FIG. 1 ; and 
         FIG. 15  is a flowchart illustrating an exemplary subroutine of step S 6  in the flowchart illustrated in  FIG. 14 . 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter, an embodiment according to the present invention will be described with reference to attached drawings. 
       FIG. 1  is a block diagram illustrating a configuration of a parking assist system  1000  according to an embodiment of the present invention. The parking assist system  1000  of the present embodiment is a system for assisting the traveling motion of a subject vehicle moving (parking) from the current position to a parking space. The parking assist system  1000  of the present embodiment includes a parking assist apparatus  1 , an imaging device  2 , an image processing device  3 , a ranging device  4 , a vehicle controller  5 , a driving system  6 , a vehicle speed sensor  7 , and a steering angle sensor  8 . These constituent components are connected by a controller area network (CAN) or other onboard LAN in order to exchange information with each other. 
     The parking assist apparatus  1  of the present embodiment includes a control device  11  and an output device  12 . The control device  11  of the present embodiment includes a ROM  111  that is a read only memory (ROM) storing parking assist programs, a CPU  112  that is a central processing unit (CPU) executing the programs stored in the ROM  111 , and a RAM  113  that is a random access memory (RAM) functioning as an accessible storage device. The output device  12  includes a display  121  that is display equipment for presenting information such as a space in which the subject vehicle can be parked to a driver. The parking assist programs stored in the ROM  111  of the present embodiment are programs that enable the control device  11  to execute a control procedure for detecting a parking space in which the subject vehicle can be parked, presenting the parking space on the display  121 , calculating a parking route for parking the subject vehicle in the parking space set by the driver, and assisting the operation for moving the subject vehicle from the current position to the parking space. 
     The parking assist apparatus  1  of the present embodiment is applicable to automated (or autonomous) parking in which the parking can be realized in an automated or autonomous manner by performing all of steering, accelerator, and brake operations in an automated or autonomous manner, and is also applicable to semi-automated (or semi-autonomous) parking in which the parking can be realized by manually performing at least one of the steering, accelerator, and brake operations and performing the remaining operations in an automated or autonomous manner. 
     Further, the parking assist apparatus  1  of the present embodiment is also applicable to parking assist in which a parking route is presented to a driver such that the driver can operate the steering, accelerator, and brake to park the subject vehicle in a parking space. In the present embodiment, an automatically resettable switch such as a deadman switch is used in the automated (or autonomous) parking and the semi-automated (or semi-autonomous) parking. In the parking assist apparatus  1 , the execution of the automated (or autonomous) driving for the subject vehicle is in progress while the deadman switch is in a pressed state, and the automated (or autonomous) driving and the semi-automated (or semi-autonomous) driving for the subject vehicle is stopped upon releasing of pressing on the deadman switch. 
     Further, the parking assist apparatus  1  of the present embodiment may be configured to work in response to a signal transmitted from a portable terminal device (equipment such as a smartphone, a PDA, or an intelligent key that locks and unlocks vehicle doors) that can exchange information with the parking assist apparatus  1 . In this case, the parking assist apparatus  1  of the present embodiment is also applicable to remote parking in which a driver can manipulate and park the subject vehicle from outside the vehicle. 
     The imaging device  2  of the present embodiment, the image processing device  3  of the present embodiment, and the ranging device  4  of the present embodiment are equipment capable of detecting traveling environment information including the presence of any obstacle positioned around the subject vehicle, in front of, on both sides, behind, or in the entire circumference of the subject vehicle, and other situation around the subject vehicle. 
     The imaging device  2  of the present embodiment is an onboard device configured to recognize environmental information around the subject vehicle from images. The imaging device  2  of the present embodiment acquires the environmental information around the subject vehicle by imaging the surroundings of the subject vehicle and acquiring image data including any obstacle existing around the subject vehicle. Examples of the imaging device  2  include a camera equipped with image sensor elements such as CCDs, an ultrasonic camera, an infrared camera, and other cameras. The environmental information around the subject vehicle acquired by the imaging device  2  is output to the control device  11 . 
       FIG. 2  is a perspective view of a subject vehicle V 1  illustrating an exemplary arrangement of the imaging device  2  of the present embodiment mounted on the subject vehicle V 1 . According to the example illustrated in  FIG. 2 , an imaging device  2   a  is arranged on a front grill part of the subject vehicle V 1 , an imaging device  2   b  is arranged beneath a left door mirror, an imaging device  2   c  is arranged beneath a right door mirror, and an imaging device  2   d  is arranged near a rear bumper. Each of the imaging devices  2   a  to  2   d  can be a camera including a wide-angle lens having a large viewing angle. As illustrated in  FIG. 2 , the imaging device  2   a  captures an image covering from the front right to the front left of the subject vehicle V 1 , the imaging device  2   b  captures an image covering from the front left to the rear left of the subject vehicle V 1 , the imaging device  2   c  captures an image covering from the front right to the rear right of the subject vehicle V 1 , and the imaging device  2   d  captures an image covering from the rear right to the rear left of the subject vehicle V 1 . Adopting such an arrangement of the imaging device  2  can reduce any blind spot wherein information cannot be acquired in the case of acquiring the environmental information around the subject vehicle V 1 . A motion stereo technique using the imaging devices  2   a  to  2   d  may be usable in the obstacle detection by the imaging device  2 . 
     The image processing device  3  of the present embodiment is a device configured to generate an bird&#39;s-eye image indicating the situation around the subject vehicle V 1  when the subject vehicle V 1  is viewed from an upper virtual viewpoint. The virtual viewpoint is, for example, a virtual viewpoint VP illustrated in  FIG. 2 . The image processing device  3  generates an bird&#39;s-eye image using a plurality of captured images acquired by using the imaging device  2 . Image processing for generating an bird&#39;s-eye image in the image processing device  3  is, for example, but is not limited to, the processing method described in SUZUKI Masayasu, CHINOMI Satoshi, and TAKANO Teruhisa, “Development of All-around View System”, Society of Automotive Engineers of Japan, Academic Lecture Pre-print Collection, 116-07 (2007 October),17-22. The bird&#39;s-eye image (or all-around image) generated by the image processing device  3  is output to the control device  11 , and is presented to a driver by the display  121  illustrated in  FIG. 2 . Although the display  121  illustrated in  FIG. 2  is disposed on an upper part of the dashboard between a driver&#39;s seat and a passenger seat, the installation position of the display  121  is not particularly limited and the display  121  can be installed at a suitable position. 
       FIG. 3  is an image displayed on the display, which is an exemplary bird&#39;s-eye image generated by the image processing device  3  of the present embodiment. The traveling scene of the subject vehicle V 1  in  FIG. 3  is a scene in which the subject vehicle V 1  is traveling in a parking lot in order to find a parking space PS. The image displayed on the display illustrated in  FIG. 3  includes an bird&#39;s-eye image IM 1  generated by the image processing device  3  of the present embodiment, on the left side, and a monitoring image IM 2  for monitoring the surroundings of the subject vehicle V 1 , on the right side. The subject vehicle V 1  is displayed at the center of the bird&#39;s-eye image IM 1 , and parking areas sectioned with white lines are displayed on the left and right sides of the subject vehicle V 1 . These parking areas include an area in which another vehicle V 2  is detected and this vehicle V 2  is displayed, and an area in which any obstacle such as another vehicle V 2  is not detected and the subject vehicle V 1  can be parked, which is indicated by a dotted line frame indicating the parking space PS as an area in which the subject vehicle V 1  can be parked. On the other hand, the monitoring image IM 2  is the image acquired from the imaging device  2   a  arranged on the front grill part of the subject vehicle V 1 , which is displayed in order to present surrounding environmental information of the front side, that is the current traveling direction of the subject vehicle V 1 . The monitoring image IM 2  includes, for example, the display of an obstacle such as another vehicle V 2 , in addition to the parking areas sectioned by white lines. 
     The ranging device  4  of the present embodiment is a device configured to calculate the relative distance and the relative speed between the subject vehicle V 1  and an object. The ranging device  4  is a radar device or sonar, such as a laser radar, a millimeter wave radar (e.g., LRF), a light detection and ranging (LiDAR) unit, or an ultrasonic wave radar. Based on a signal received from the radar device or sonar, the ranging device  4  detects the presence/position of an object and the distance to this object. The object is, for example, an obstacle, a pedestrian, or any other vehicle around the subject vehicle V 1 . The information about the object detected by the ranging device  4  is output to the control device  11 . During the parking assist, if the subject vehicle V 1  is likely to collide with the object detected by the ranging device  4 , the control device  11  of the present embodiment stops the subject vehicle V 1  and informs the driver of the likelihood of collision between the detected object and the subject vehicle V 1  by using the display  121 . 
       FIG. 4  is a plan view of the subject vehicle V 1  illustrating an exemplary arrangement of the ranging device  4 , in a case where the ranging device  4  of the present embodiment is mounted on the subject vehicle V 1 . The subject vehicle V 1  illustrated in  FIG. 4  includes front ranging devices  4   a  configured to detect objects in front of the subject vehicle V 1 , side ranging devices  4   b  configured to detect objects on the right and left sides of the subject vehicle V 1 , and rear ranging devices  4   c  configured to detect objects behind the subject vehicle V 1 . The subject vehicle V 1  illustrated in  FIG. 4  includes ranging devices  4   a - 1  to  4   a - 4  as the front ranging devices  4   a , ranging devices  4   b - 1  to  4   b - 4  as the side ranging devices  4   b , and ranging devices  4   c - 1  to  4   c - 4  as the rear ranging devices  4   c . The ranging device  4  of the present embodiment can be installed, for example, in bumpers of the subject vehicle V 1 . Arranging the ranging device  4  in this manner can prevent the calculation of the relative distance and the relative speed between the subject vehicle V 1  and the surrounding object from becoming inaccurate. 
     The vehicle controller  5  of the present embodiment is an onboard computer such as an electronic control unit (ECU) that electronically controls the driving system  6  controlling the driving of the subject vehicle V 1 . The vehicle controller  5  controls a driving device, a braking device, and a steering device included in the driving system  6 , in order to assist the traveling motion of the subject vehicle V 1  for moving (parking) from the current position to the parking space PS. The vehicle controller  5  receives, from the parking assist apparatus  1 , a control instruction based on a parking route, a target vehicle speed, and a target steering angle calculated in advance. Each of the parking route, the target vehicle speed, and the target steering angle will be described below. 
     The driving system  6  of the present embodiment includes driving equipment such as an electrically driven motor and/or an internal combustion engine serving as traveling drive sources, a power transmission device including a drive shaft and an automatic transmission for transmitting the output of these traveling drive sources to driving wheels, the driving device that controls the power transmission device, the braking device that brakes the wheels, and the steering device that controls wheels steered according to the steering angle of the steering wheel (so-called handle). The vehicle controller  5  receives, from the parking assist apparatus  1 , the control instruction based on the parking route and the target vehicle speed calculated in advance. Then, the vehicle controller  5  generates a control signal to be supplied to the driving equipment of the driving system  6  based on the control instruction from the parking assist apparatus  1 , and controls the driving behavior of the vehicle including acceleration/deceleration. The driving system  6  can autonomously control the vehicle speed of the subject vehicle V 1  by receiving the control signal from the vehicle controller  5 . 
     Further, the driving system  6  of the present embodiment includes the steering device. The steering device includes a steering actuator, and the steering actuator includes a motor or the like attached to a column shaft of the steering. The steering device of the driving system  6  is controlled by the vehicle controller  5  such that the subject vehicle travels while maintaining a predetermined lateral position (position in the left and right direction of the vehicle) with respect to the parking route calculated in advance. The vehicle controller  5  controls the steering device using at least one of the environmental information around the subject vehicle V 1  acquired by the imaging device  2 , the bird&#39;s-eye image IM 1  generated by the image processing device  3 , and the information of an obstacle, a pedestrian, or any other vehicle around the subject vehicle V 1  detected by the ranging device  4 . In this case, the parking assist apparatus  1  transmits, to the vehicle controller  5 , the control instruction based on the parking route calculated in advance and the target steering angle. Then, the vehicle controller  5  generates a control signal to be supplied to the steering device of the driving system  6  based on the control instruction from the parking assist apparatus  1 , and executes steering control for the subject vehicle V 1 . The driving system  6  can autonomously control the steering of the subject vehicle V 1  by receiving the control signal from the vehicle controller  5 . 
     The vehicle speed sensor  7  of the present embodiment is a sensor that is provided in the driving device of the driving system  6  and configured to detect the vehicle speed of the subject vehicle V 1 . The steering angle sensor  8  of the present embodiment is a sensor that is provided in the steering device of the driving system  6  and configured to detect the steering angle of the subject vehicle V 1 . The vehicle speed of the subject vehicle V 1  detected by the vehicle speed sensor  7  and the steering angle of the subject vehicle V 1  detected by the steering angle sensor  8  are output to the control device  11  via the vehicle controller  5 . 
     The control device  11  of the present embodiment achieves an environmental information acquisition function of acquiring the environmental information around the subject vehicle V 1  by causing the CPU  112  to execute the parking assist programs stored in the ROM  111 , a parking space detection function of detecting a parking area in which the subject vehicle V 1  can be parked, a parking space display function of displaying the detected parking space PS as the bird&#39;s-eye image IM 1  on the display  121 , a parking route calculation function of calculating a parking route for enabling the subject vehicle V 1  to move from the current position to the parking space PS (so as to be parked), and a traveling motion planning function of planning the traveling motion of the subject vehicle V 1  so as to be parked along the calculated parking route. 
     The environmental information acquisition function of the control device  11  of the present embodiment is a function that the control device  11  can use to acquire surrounding environmental relevant information including the presence of any obstacle positioned around the subject vehicle V 1 . The control device  11  uses the environmental information acquisition function to acquire, for example, vehicle speed information about the subject vehicle V 1  detected by the vehicle speed sensor  7  and steering angle information about the subject vehicle V 1  detected by the steering angle sensor  8 , as the surrounding environmental relevant information. Further, the control device  11  uses the environmental information acquisition function to acquire positional information about the subject vehicle V 1 , as the surrounding environmental relevant information, which has been detected by a subject vehicle position detection device (not illustrated) equipped with, for example, a GPS unit and a gyro sensor, and from three-dimensional high-precision map information including positional information of various facilities and specific points stored in the ROM. Using the above-mentioned surrounding environmental relevant information, the control device  11  of the present embodiment determines whether or not the traveling scene of the subject vehicle V 1  is a scene in which the subject vehicle V 1  is about to be parked in the parking space PS by the environmental information acquisition function. 
     For example, from the surrounding environmental relevant information, the control device  11  of the present embodiment determines that a situation in which the subject vehicle V 1  is traveling at a vehicle speed equal to or less than a predetermined vehicle speed for a predetermined time or more is the scene in which the subject vehicle V 1  is about to be parked in the parking space PS. Alternatively, when it is determined from the surrounding environmental relevant information that the subject vehicle V 1  is traveling in a parking lot such as a parking area of an automobile road, the control device  11  of the present embodiment determines that this situation is the scene in which the subject vehicle V 1  is about to be parked in the parking space PS. Alternatively, if the surrounding environmental relevant information is acquired using a communication device (not illustrated) through communication with the outside of the vehicle (so-called road-vehicle communication), or vehicle-to-vehicle communication, the control device  11  of the present embodiment may refer to this in determining the scene in which the subject vehicle V 1  is about to be parked in the parking space PS. When the scene in which the subject vehicle V 1  is about to be parked in the parking space PS is determined, the control device  11  of the present embodiment continues the execution of the parking assist programs. To the contrary, for example, when it is determined from the surrounding environmental relevant information that the subject vehicle V 1  exits the parking lot and is traveling on a road, the control device  11  of the present embodiment determines that this situation is not the scene in which the subject vehicle V 1  is about to be parked in the parking space PS. Upon determining that it is not the scene in which the subject vehicle V 1  is about to be parked in the parking space PS, the control device  11  of the present embodiment stops the execution of the parking assist programs. 
     In the case of determining the scene in which the subject vehicle V 1  is about to be parked in the parking space PS, the control device  11  of the present embodiment uses the environmental information acquisition function to acquire images of boundary lines such as white lines around the subject vehicle V 1  and surrounding objects captured, for example, by the imaging devices  2  attached to a plurality of portions of the subject vehicle V 1 , as the surrounding environmental relevant information. Further, the control device  11  of the present embodiment uses the environmental information acquisition function to acquire detection results of, for example, the front ranging device  4   a , the side ranging device  4   b , and the rear ranging device  4   c , as the surrounding environmental relevant information. Using the above-mentioned surrounding environmental relevant information, the control device  11  of the present embodiment detects the parking space PS that is a parking area in which the subject vehicle V 1  can be parked. In detecting the parking space PS, the parking space detection function can be used. 
     The parking space detection function of the control device  11  of the present embodiment is a function usable to detect the parking area in which the subject vehicle V 1  can be parked using the environmental information around the subject vehicle V 1  acquired by the environmental information acquisition function. In the detection of the parking space PS, the control device  11  of the present embodiment uses the parking space detection function to cause the image processing device  3  to create the bird&#39;s-eye image IM 1  using the captured image acquired by the imaging device  2 . The control device  11  of the present embodiment uses the parking space detection function to detect lines defining the boundary of the area from the created bird&#39;s-eye image IM 1  and identifies candidate lines that define the parking area from the detected lines. Then, the control device  11  of the present embodiment uses the parking space detection function to determine whether or not the identified line candidates define the parking area. When it is determined that the identified line candidates define the parking area, the control device  11  determines whether or not the subject vehicle V 1  can be parked in the detected parking area. 
     In order to detect the lines defining the boundary of the area from the bird&#39;s-eye image IM 1 , the control device  11  of the present embodiment uses the parking space detection function to perform edge detection on the bird&#39;s-eye image IM 1  and calculate the difference in luminance (contrast). Then, the control device  11  of the present embodiment uses the parking space detection function to identify each sequence of pixels whose luminance difference is equal to or larger than a predetermined value from the bird&#39;s-eye image IM 1  and calculate the thickness and length of each line. The color of the detected line is not always required to be white and may be red, yellow, or any other color. 
     The control device  11  of the present embodiment uses a conventionally known image processing technique such as pattern matching to identify line candidates defining the parking area from the detected lines. Patterns to be used in the pattern matching are stored in advance in the ROM  111  of the control device  11  of the present embodiment. For example,  FIG. 5A  illustrates a scene in which the subject vehicle V 1  is about to be parked in a parking space PS 1 , which is a parking area in which the subject vehicle V 1  can be parked, between another vehicle V 2   a  and another vehicle V 2   b . In the scene of  FIG. 5A , lines that define the parking area corresponding to the parking space PS 1  are a line L 1 , a line L 2 , and a line L 3 , which are three of all sides forming the rectangular shape of the parking space PS 1 . The control device  11  of the present embodiment stores a combination of the lines L 1 , L 2 , and L 3  that define the parking area, as a pattern corresponding to the scene of  FIG. 5A , in the ROM  111 . 
     Further,  FIG. 5B  illustrates a scene in which the subject vehicle V 1  is about to be tandem-parked in a parking space PS 2  between another vehicle V 2   c  and another vehicle V 2   d . In the scene of  FIG. 5B , the control device  11  of the present embodiment causes the imaging device  2  to detect a line L 4  as a line that defines a parking area corresponding to the parking space PS 2  and further detect a curb or wall (not illustrated) positioned on the left side of another vehicle V 2   c  and another vehicle V 2   d . However, the control device  11  of the present embodiment cannot define any parking area from the line L 4 , and the curb or the like. Therefore, in the scene of  FIG. 5B , the control device  11  of the present embodiment locates a virtual line L 5  behind another vehicle V 2   c  and a virtual line L 6  in front of another vehicle V 2   d . Then, if any parking area can be defined by the line L 4  detected by the imaging device  2  together with the virtual lines L 5  and L 6 , it is determined that the line L 4  is the line defining the parking area. The control device  11  of the present embodiment stores a combination of the lines L 4 , the virtual line L 5  located behind another vehicle V 2   c , and the virtual line L 6  located in front of another vehicle V 2   d , as a pattern corresponding to the scene of  FIG. 5B , in the ROM  111 . 
     Further,  FIG. 5C  illustrates a scene in which the subject vehicle V 1  is about to be parked obliquely in a parking space PS 3 , which is a parking area in which the subject vehicle V 1  can be parked, between another vehicle V 2   e  and another vehicle V 2   f . In the scene of  FIG. 5C , lines that define the parking area corresponding to the parking space PS 3  are a line L 7 , a line L 8 , a line L 9 , and a line L 10 , which are sides that form a rectangular shape of the parking space PS 3 . The control device  11  of the present embodiment stores a combination of the lines L 7 , L 8 , L 9 , and L 10  that are lines defining the parking area, as a pattern corresponding to the scene of  FIG. 5C , in the ROM  111 . 
     Further, the control device  11  of the present embodiment checks the surroundings of the lines identified as the lines defining the parking area to detect the presence of any candidate line having a higher possibility of being a line that defines the parking area, than the identified lines. For example, if a line that is larger in luminance difference is newly identified, the control device  11  detects the newly identified line as a line candidate defining the parking area. To the contrary, when there is no candidate line having a higher possibility of being a line that defines the parking area than the identified lines, the control device  11  determines whether or not the identified lines define the parking area. 
     In order to determine whether or not the identified line candidates define the parking area, the control device  11  of the present embodiment determines whether or not the identified candidates satisfy predetermined conditions. The predetermined conditions are, for example: (1) any line having the length equal to or longer than a first line length distance threshold (e.g., length corresponding to 15 [m] in real distance) set in advance is not included in the lines identified as the line candidates defining the parking area; (2) any set of lines each having the length equal to or longer than a second line length distance threshold (e.g., length corresponding to 7 [m] in real distance) set in advance is not included in the sets of two adjacent lines within a first line-to-line distance range (e.g., length corresponding to 3 to 5 [m] in real distance) set in advance, among the lines identified as the line candidates defining the parking area, and (3) any set of lines each having the length equal to or longer than a third line length distance threshold (e.g., length corresponding to 15 [m] in real distance) set in advance is not included in the sets of two adjacent lines within a second line-to-line distance range (e.g., length corresponding to 2.5 to 5 [m] in real distance) set in advance, among the lines extracted as line candidates defining the parking area. If at least one of the above conditions (1), (2), and (3) is not satisfied, the control device  11  of the present embodiment determines that the identified line candidates define no parking area. To the contrary, when all of the conditions (1) to (3) are satisfied, the control device  11  of the present embodiment determines that the identified line candidates define a parking area and detects this parking area. 
     In order to determine whether or not the subject vehicle V 1  can be parked in the detected parking area, the control device  11  of the present embodiment determines whether or not there is any obstacle in the parking area using the information about the object detected by the ranging device  4 . For example, in the scene of  FIG. 5(A) , the rear ranging device  4   c  of the subject vehicle V 1  is used to determine the presence of any obstacle in the parking area. Further, in the scene of  FIG. 5(B) , the side ranging device  4   b  and the rear ranging device  4   c  of the subject vehicle V 1  are used to determine the presence of any obstacle in the parking area. Further, in the scene of  FIG. 5(C) , the side ranging device  4   b  and the rear ranging device  4   c  of the subject vehicle V 1  are used to determine the presence of any obstacle in the parking area. Then, the control device  11  of the present embodiment detects a parking area in which no obstacle exists, as the parking space PS, from among the detected parking areas. To the contrary, when any obstacle exists in a detected parking area, the control device  11  of the present embodiment does not detect this parking area as the parking space PS. 
     Alternatively, in addition to this, the control device  11  of the present embodiment may determine whether or not the subject vehicle V 1  can be parked in the detected parking area by automated (or autonomous) driving. For example, in a case where there is a parking area facing a wall side and the passage width necessary to control the traveling motion by automated (or autonomous) driving cannot be secured, or in a case where there is a parking area surrounded by pillars of a building and information necessary to control the traveling motion by automated (or autonomous) driving cannot be detected, the detected parking area does not correspond to a parking area in which the parking by automated (or autonomous) driving is feasible. Then, if it is determined that no obstacle exists in the detected parking area and the parking by automated (or autonomous) driving is feasible, the control device  11  of the present embodiment detects the detected parking area as the parking space PS. To the contrary, when it is determined that the parking by automated (or autonomous) driving is unfeasible although no obstacle exists in the detected parking area, the control device  11  of the present embodiment does not detect the detected parking area as the parking space PS. 
     In order to detect the parking space PS, it is not always necessary to detect the parking area. When a certain area satisfies predetermined conditions, the control device  11  of the present embodiment may detect this area as the parking space PS. For example, the control device  11  of the present embodiment may detect an area in a predetermined range in which no obstacle exists and detect this area as the parking space PS. Further, the control device  11  of the present embodiment may use past travel information in the detection of the parking space PS. 
     The parking space display function of the control device  11  of the present embodiment is a function usable to present the parking space PS to the driver by displaying the parking space PS detected by the control device  11  on the display  121 . The control device  11  of the present embodiment uses the parking space display function to present the parking space PS to the driver, for example, with a dotted line frame, as illustrated in  FIG. 3 . The driver selects the parking space PS for parking the subject vehicle V 1  from the parking spaces PS illustrated in  FIG. 3 . The parking space PS can be selected, for example, by touching the screen of the display  121 . 
     The parking route calculation function of the control device  11  of the present embodiment is a function usable to calculate a parking route from the current position to the parking space PS, for parking the subject vehicle V 1  in the selected parking space PS. Especially, in a case where turning of the steering wheel is required in the middle of the parking route, the control device  11  of the present embodiment uses the parking route calculation function to set a position of turning the steering wheel, the steering wheel of the subject vehicle V 1  being turned at the position of turning the steering wheel, and generates a parking route for reaching the parking space PS via the position of turning the steering wheel from the current position of the subject vehicle V 1 . The parking route generated by the control device  11  of the present embodiment is a route determined considering a turning direction to which the subject vehicle V 1  turns in the route from the position of turning the steering wheel to the parking space, and is set in such a manner that the steering direction of the subject vehicle V 1  corresponds to the turning direction at the time when the subject vehicle is stopped at the position of turning the steering wheel. 
     For example, in the traveling scene in which the subject vehicle V 1  moves from the current position to the parking space PS so as to be parked in the parking space PS, the control device  11  according to a comparative example of the present invention calculates a parking route as illustrated in a plan view of  FIG. 6 . That is, the control device  11  according to the comparative example of the present invention detects a passage width W and other vehicles V 2  with the imaging device  2  and the ranging device  4 , and calculates a width W 1  of a passage in which the subject vehicle V 1  can travel to move from the current position to the parking space PS via a position of turning the steering wheel P. Then, the control device  11  sets the number of required the operations of turning the steering wheel, sets the position(s) of turning the steering wheel P, and calculates the parking route for moving from the current position to the parking space PS via the position of turning the steering wheel P. The parking route illustrated in  FIG. 6  includes a section Z-A that is a section in which the subject vehicle V 1  moves from the current position to the position of turning the steering wheel P at a constant steering angle, and a section Z-B that is a section in which the subject vehicle V 1  moves from the position of turning the steering wheel P to the parking space PS. As the traveling motion, the subject vehicle V 1  performs static steering at the position of turning the steering wheel P to orient the steering direction toward the turning direction. 
     In the parking route according to the comparative example of the present invention, the time required for parking becomes longer since the subject vehicle V 1  is kept in a stopped state during the static steering. In order to shorten the time required for parking, in the parking route according to the comparative example of the present invention, for example, it may be possible to omit the static steering at the position of turning the steering wheel and instead speed up the traveling motion for orienting the steering direction toward the turning direction in the section Z-B. However, such traveling motion causes a great change in the movement of the subject vehicle V 1  during acceleration, and therefore a sense of incongruity is imposed on an occupant of the subject vehicle V 1 . Further, the motion for orienting the steering direction toward the turning direction requires suppressing the vehicle speed of the subject vehicle V 1  until the turning is completed. 
     As mentioned above, including the position of turning the steering wheel P in the parking route forces the subject vehicle V 1  to stop at the position of turning the steering wheel P in order to change the traveling direction. The present embodiment is different from the comparative example of the present invention in not performing the travel control for orienting the steering direction toward the turning direction during the speeded-up motion of the subject vehicle V 1 , and is characterized by orienting the steering direction toward the turning direction in the process of decreasing the vehicle speed to stop the subject vehicle V 1 . That is, the control device  11  of the present embodiment orients the steering direction toward the turning direction when the subject vehicle V 1  decreases the vehicle speed to stop (in other words, before or immediately in front of the position of turning the steering wheel P), thereby suppressing the sense of incongruity imposed on the occupant of the subject vehicle V 1 , shortening the time required for turning, and shortening the time during which the vehicle speed of the subject vehicle V 1  is suppressed after the operation of turning the steering wheel. 
     For example, in the traveling scene in which the subject vehicle V 1  moves from the current position to the parking space PS so as to be parked in the parking space PS, the control device  11  of the present embodiment uses the parking route calculation function to calculate a parking route illustrated in a plan view of  FIG. 7 . That is, the control device  11  of the present embodiment detects the passage width W and other vehicles V 2  with the imaging device  2  and the ranging device  4  and calculates the width W 1  of a passage in which the subject vehicle V 1  can travel to move from the current position to the parking space PS via the position of turning the steering wheel P. Then, the control device  11  of the present embodiment sets the number of required operations of turning the steering wheel, sets the position(s) of turning the steering wheel P, and calculates a parking route along which the subject vehicle V 1  moves from the current position to the parking space PS via the position of turning the steering wheel P. The parking route illustrated in  FIG. 7  includes a first section Z 1  that is a section from the current position of the subject vehicle V 1  to a position before or immediately in front of the position of turning the steering wheel P, in which the subject vehicle V 1  moves at a constant steering angle, a second section Z 2  that is a section following the first section Z 1  and preceding the position of turning the steering wheel P, in which the position of turning the steering wheel P is included, and a third section Z 3  that is a section following the second section Z 2 , in which the subject vehicle V 1  is turned toward the direction of moving to the parking space PS. In the parking route illustrated in  FIG. 7 , the subject vehicle V 1  moves at a constant steering angle in the first section Z 1 . However, in the parking route of the present embodiment, the subject vehicle V 1  is not required to move at a constant steering angle. Further, in the parking route of the present embodiment, the subject vehicle V 1  may move at a constant steering angle in the third section Z 3 . 
     Regarding the calculation of the width W 1  of the passage in which the subject vehicle V 1  can travel, in the traveling scene illustrated in  FIG. 7 , the control device  11  of the present embodiment detects the passage width W and obstacles around the subject vehicle V 1 , for example, with the imaging device  2   a  arranged on the front grill part of the vehicle, the imaging device  2   b  arranged beneath the left door mirror of the vehicle, the imaging device  2   c  arranged beneath the right door mirror of the vehicle, and the imaging device  2   d  arranged near the rear bumper of the vehicle, as well as the front ranging device  4   a , the side ranging devices  4   b , and the rear ranging device  4   c . If no obstacle is detected, the subject vehicle V 1  can move from the current position to the parking space PS within the entire passage width W. To the contrary, in the case of detecting any obstacle, the subject vehicle V 1  can use only a part of the passage width W for traveling. In the traveling scene illustrated in  FIG. 7 , because of the presence of other vehicles V 2  in the advancing direction of the subject vehicle V 1 , the width of the passage in which the subject vehicle V 1  can travel to move from the current position to the parking space PS via the position of turning the steering wheel P is W 1 . 
     Regarding the setting of the position of turning the steering wheel P, the control device  11  of the present embodiment sets the position of turning the steering wheel P by using at least one of the width W 1  of the passage in which the subject vehicle V 1  can travel to move from the current position to the parking space PS via the position of turning the steering wheel P, calculated by the parking route calculation function, the minimum turning radius of the subject vehicle V 1 , the steering speed of the subject vehicle V 1 , and the vehicle speed of the subject vehicle V 1 . Further, in the setting of the position of turning the steering wheel P, the control device  11  of the present embodiment may use the entire length and the entire width of the subject vehicle V 1 . The width W 1  of the passage in which the subject vehicle V 1  can travel, and the minimum turning radius, the entire length, and the entire width of the subject vehicle V 1  are fixed in predetermined values depending on the traveling scene and the subject vehicle V 1 . To the contrary, the steering speed of the subject vehicle V 1  and the vehicle speed of the subject vehicle V 1  can be set to appropriate values within a predetermined range. 
     For example, the control device  11  of the present embodiment sets the position of turning the steering wheel P in such a way as to minimize the time required for the subject vehicle V 1  to move from the current position to the parking space PS. For example, even in a case where only one operation of turning the steering wheel enables the subject vehicle V 1  to move from the current position to the parking space PS, if a movement including three operations of turning the steering wheel can shorten the time required to complete the movement, the control device  11  of the present embodiment sets three positions of turning the steering wheels P. Alternatively, the control device  11  of the present embodiment may set the position of turning the steering wheel P in such a way as to minimize the number of operations of turning the steering wheel required for the subject vehicle V 1  to move from the current position to the parking space PS. Upon completing the settings with respect to the current position of the subject vehicle V 1 , the position of turning the steering wheel P, and the parking space PS, the control device  11  of the present embodiment can calculate the parking route. 
     The route in the second section Z 2  of the present embodiment is a route determined considering the turning direction of the subject vehicle V 1  in the third section Z 3  oriented toward the parking space PS from the position of turning the steering wheel P, and is set in such a manner that the steering direction of the subject vehicle V 1  corresponds to the turning direction at the time when the subject vehicle V 1  is stopped at the position of turning the steering wheel P. The steering direction is, for example, the orientation of the steering angle of the steering wheel of the subject vehicle V 1 , or the orientation of the front wheels of the subject vehicle V 1  facing ahead of the subject vehicle V 1 . For example, in the traveling scene illustrated in  FIG. 7 , at the end point of the first section Z 1 , the orientation of the steering angle of the steering wheel of the subject vehicle V 1  moving forward and the orientation of the front wheels of the subject vehicle V 1  facing ahead of the subject vehicle V 1  are directed to the left. To the contrary, in the third section Z 3  following the position of turning the steering wheel P, the orientation of the steering angle of the steering wheel of the subject vehicle V 1  moving backward and the orientation of the front wheels of the subject vehicle V 1  facing ahead of the subject vehicle V 1  are directed to the right. In this case, the control device  11  of the present embodiment determines that it is necessary to switch the steering direction from the left to the right before and after the position of turning the steering wheel P, and calculates the route in the second section Z 2  such that the orientation of the steering angle of the steering wheel of the subject vehicle V 1 , or the orientation of the front wheels of the subject vehicle V 1  facing ahead of the subject vehicle V 1 , is directed to the right, for example, when the subject vehicle V 1  is stopped at the position of turning the steering wheel P. This can suppress such traveling motion that imposes a sense of incongruity on the occupant of the subject vehicle V 1 . In addition, the time required for turning can be shortened, and the time during which the vehicle speed of the subject vehicle V 1  is suppressed after the operation of turning the steering wheel can be shortened. 
     The route in the second section Z 2  of the present embodiment will be sufficient if the steering direction of the subject vehicle V 1  traveling along this route corresponds to the turning direction at the time when the subject vehicle V 1  is stopped at the position of turning the steering wheel P. Alternatively, the steering angle of the subject vehicle V 1  at the time when the subject vehicle V 1  is stopped at the position of turning the steering wheel P may be set to be equal to the steering angle of the subject vehicle V 1  that starts traveling from the position of turning the steering wheel P toward the parking space PS in the third section. As a result, it is unnecessary to change the steering direction when the subject vehicle V 1  starts acceleration from the stopped state, and therefore it is unnecessary to suppress the vehicle speed of the subject vehicle V 1  until the turning is completed. 
     Further, the control device  11  of the present embodiment can increase and decrease the length of the second section Z 2  according to the width W 1  of the passage in which the subject vehicle V 1  can travel. For example, a traveling scene illustrated in  FIG. 8  is the same as the traveling scene illustrated in  FIG. 7 , except that the width W 1  of the passage in which the subject vehicle V 1  can travel is narrower than that in  FIG. 7 . In this case, the control device  11  of the present embodiment uses the parking route calculation function to calculate the parking route illustrated in the plan view of  FIG. 8  in which the length of the second section Z 2  is set to be shorter than the length of the second section Z 2  illustrated in  FIG. 7 . Increasing and decreasing the length of the second section Z 2  illustrated in  FIG. 8  is feasible by changing the steering speed of the subject vehicle V 1  and/or the vehicle speed of the subject vehicle V 1 . For example, shortening the length of the second section Z 2  can be achieved by increasing the steering speed of the subject vehicle V 1  and/or decreasing the vehicle speed of the subject vehicle V 1 . To the contrary, increasing the length of the second section Z 2  can be achieved by decreasing the steering speed of the subject vehicle V 1  and/or increasing the vehicle speed of the subject vehicle V 1 . Alternatively, the length of the second section Z 2  may be shortened in advance and subsequently increased in the middle of the parking assist, or the length may be increased and decreased during the parking assist control. 
     Further, in the case where the number of required operations of turning the steering wheel is two or more, the route in the second section Z 2  of the present embodiment can be set every time the subject vehicle V 1  is turned around. For example, traveling scenes illustrated in  FIGS. 9A to 9D  are the same as the traveling scenes illustrated in  FIGS. 7 and 8 , except that the width W 1  of the passage in which the subject vehicle V 1  can travel is narrower than that in  FIG. 8 . In this case, the control device  11  of the present embodiment uses the parking route calculation function to set three positions of turning the steering wheels Pa to Pc such that the subject vehicle V 1  can move from the current position to the parking space PS and then calculate the route in the second section Z 2  of the present embodiment in each of the first and second operations of turning the steering wheel. 
     That is, in the traveling scene of  FIG. 9A , the control device  11  of the present embodiment detects the passage width W and other vehicles V 2  with the imaging device  2  and the ranging device  4 , and calculates the width W 1  of the passage in which the subject vehicle V 1  can travel to move from the current position to the parking space PS via the position of turning the steering wheel P. In the traveling scene of  FIG. 9A , since the width W 1  of the passage in which the subject vehicle V 1  can travel is narrow, the subject vehicle V 1  cannot directly move to the parking space PS by a single operation of turning the steering wheel. Therefore, the control device  11  of the present embodiment sets the second position of turning the steering wheel Pb illustrated in  FIG. 9B  after setting the first position of turning the steering wheel Pa. In the second operation of turning the steering wheel, the subject vehicle V 1  moves backward to move to the position of turning the steering wheel Pb. In this case, since no other vehicle V 2  is detected as an obstacle, the control device  11  of the present embodiment calculates the passage width W as a width W 2  of the passage in which the subject vehicle can travel. Further, after setting the second position of turning the steering wheel Pb, the control device  11  of the present embodiment sets the third position of turning the steering wheel Pc illustrated in  FIG. 9C . Similar to the second operation of turning the steering wheel, since no other vehicle V 2  is detected as an obstacle even in the third operation of turning the steering wheel, the control device  11  of the present embodiment calculates the passage width W as the width W 2  of the passage in which the subject vehicle can travel. Then, the control device  11  of the present embodiment calculates a parking route along which the subject vehicle V 1  can move from the current position to the parking space PS via the positions of turning the steering wheel Pa, Pb, and Pc. 
     The control device  11  of the present embodiment calculates the parking route for enabling the subject vehicle V 1  to move from the current position to the position of turning the steering wheel Pa illustrated in  FIG. 9A . The parking route illustrated in  FIG. 9A  includes a first section Z 1   a  and a second section Z 2   a . The route in the second section Z 2   a  is a route determined considering the turning direction of the subject vehicle V 1  moving from the position of turning the steering wheel Pa to the position of turning the steering wheel Pb, and is set in such a manner that the steering direction of the subject vehicle V 1  corresponds to the turning direction at the time when the subject vehicle V 1  is stopped at the position of turning the steering wheel Pa. In this case, the control device  11  of the present embodiment determines that it is necessary to switch the steering direction from the left to the right before and after the position of turning the steering wheel Pa, and calculates the route in the second section Z 2   a  in such a manner that the orientation of the steering angle of the steering wheel of the subject vehicle V 1 , or the orientation of the front wheels of the subject vehicle V 1  facing ahead of the subject vehicle V 1 , is directed to the right, for example, when the subject vehicle V 1  is stopped at the position of turning the steering wheel Pa. 
     The control device  11  of the present embodiment calculates the parking route for enabling the subject vehicle V 1  to move from the position of turning the steering wheel Pa to the position of turning the steering wheel Pb illustrated in  FIG. 9B . The parking route illustrated in  FIG. 9B  includes a first section Z 1   b  and a second section Z 2   b . The route in the second section Z 2   b  is a route determined considering the turning direction of the subject vehicle V 1  moving from the position of turning the steering wheel Pb to the position of turning the steering wheel Pc, and is set in such a manner that the steering direction of the subject vehicle V 1  corresponds to the turning direction at the time when the subject vehicle V 1  is stopped at the position of turning the steering wheel Pb. In this case, the control device  11  of the present embodiment determines that it is necessary to switch the steering direction from the right to the left before and after the position of turning the steering wheel Pb, and calculates the route in the second section Z 2   b  in such a manner that the orientation of the steering angle of the steering wheel of the subject vehicle V 1 , or the orientation of the front wheels of the subject vehicle V 1  facing ahead of the subject vehicle V 1 , is directed to the left, for example, when the subject vehicle V 1  is stopped at the position of turning the steering wheel Pb. 
     The control device  11  of the present embodiment calculates the parking route for enabling the subject vehicle V 1  to move from the position of turning the steering wheel Pb to the position of turning the steering wheel Pc illustrated in  FIG. 9C . The parking route illustrated in  FIG. 9C  is composed of a first section Z 1   c . In this case, the subject vehicle V 1  can move from the position of turning the steering wheel Pb to the position of turning the steering wheel Pc at a constant steering angle, and no steering at the position of turning the steering wheel Pc is required. Accordingly, it is unnecessary to set the second section Z 2  of the present embodiment. Subsequently, the control device  11  of the present embodiment calculates the parking route for enabling the subject vehicle V 1  to move backward and straight from the position of turning the steering wheel Pc to the parking space PS illustrated in  FIG. 9D . The parking route illustrated in  FIG. 9D  is composed of the third section Z 3 . 
     Further, the control device  11  of the present embodiment can perform parking assist even in tandem parking. For example, even in a traveling scene illustrated in  FIG. 10  in which the subject vehicle V 1  is about to be tandem-parked in the parking space PS between other vehicles V 2   g  and V 2   h , the control device  11  of the present embodiment uses the parking route calculation function to calculate a parking route. That is, the control device  11  of the present embodiment detects the passage width W and other vehicles V 2   g  and V 2   h  with the imaging device  2  and the ranging device  4 , and calculates the width W 1  of the passage in which the subject vehicle V 1  can travel to move from the current position to the parking space PS via the position of turning the steering wheel P. In  FIG. 10 , the width W 1  of the passage in which the subject vehicle V 1  can travel is equal to the detected passage width W. 
     Next, the control device  11  of the present embodiment sets the number of required operations of turning the steering wheel, sets the positions of turning the steering wheel P, and calculates the parking route along which the subject vehicle V 1  moves from the current position to the parking space PS via the position of turning the steering wheel P. In the traveling scene of tandem parking illustrated in  FIG. 10 , the control device  11  of the present embodiment sets one position of turning the steering wheel P. Then, the control device  11  of the present embodiment calculates the parking route for the movement from the current position to the parking space PS via the position of turning the steering wheel P. The parking route for tandem parking illustrated in  FIG. 10  includes the first section Z 1 , the second section Z 2 , and the third section Z 3 . In this tandem parking, the steering direction of the subject vehicle V 1  is switched from the left to the right before and after the position of turning the steering wheel P. Therefore, the control device  11  calculates the route in the second section Z 2  in such a manner that the steering direction of the subject vehicle V 1  is changed to the right when the subject vehicle V 1  is stopped at the position of turning the steering wheel P. 
     The traveling motion planning function of the control device  11  of the present embodiment is a function of planning the traveling motion that enables the subject vehicle V 1  to be parked in the parking space PS along the parking route calculated by the parking route calculation function. The control device  11  of the present embodiment uses the traveling motion planning function to plan the control of the vehicle speed and steering angle of the subject vehicle V 1  such that the subject vehicle V 1  moves to the parking space PS along the parking route. 
       FIGS. 11A  and B are timing diagrams illustrating the traveling motion plan in the case where the subject vehicle V 1  moves from the current position to the parking space PS, for example, along the parking route according to the comparative example of the present invention illustrated in  FIG. 6 .  FIG. 11A  is a timing diagram of vehicle speed, and  FIG. 11B  is a timing diagram of steering angle. In  FIG. 11A , the horizontal axis represents time and the vertical axis represents vehicle speed. When the vehicle speed is a positive value, the subject vehicle V 1  is moving forward. When the vehicle speed is a negative value, the subject vehicle V 1  is moving backward. The horizontal axis of  FIG. 11B  represents time and corresponds to the horizontal axis of  FIG. 11A . The vertical axis of  FIG. 11B  represents steering angle. When the steering angle is a positive value, the subject vehicle V 1  is turning to the left. When the steering angle is a negative value, the subject vehicle V 1  is turning to the right. 
     The parking route illustrated in  FIG. 6  includes the section Z-A in which the subject vehicle V 1  moves from the current position to the position of turning the steering wheel P, the position of turning the steering wheel P at which the subject vehicle V 1  performs static steering, and the section Z-B in which the subject vehicle V 1  moves from the position of turning the steering wheel P to the parking space PS. In  FIGS. 11A  and B, the vehicle speed and the steering angle in the section T-A, the vehicle speed and the steering angle in the section T-B, and the vehicle speed and the steering angle in the section T-C correspond to the traveling motion of the subject vehicle V 1  in the section Z-A, the static steering of the subject vehicle V 1  at the position of turning the steering wheel P, and the traveling motion of the subject vehicle V 1  in the section Z-B, respectively. In the parking route according to the comparative example of the present invention, because of the static steering performed in the section T-B, the subject vehicle V 1  is kept in a stopped state while the steering direction is oriented toward the turning direction. Accordingly, it takes time to complete the traveling motion. The static steering operation causes wear of the wheels and heat generation at the steering actuator, which imposes a burden on the subject vehicle V 1 . 
     To the contrary, the control device  11  of the present embodiment creates the traveling motion plan illustrated in the timing diagram of  FIGS. 12A  and B, for example, when the subject vehicle V 1  moves from the current position to the parking space PS along the parking route of the present embodiment illustrated in  FIG. 7 . The notation method for the vehicle speed of  FIG. 12A  and the steering angle of  FIG. 12B  conforms to that in  FIG. 11A  and  FIG. 11B . 
     The parking route illustrated in  FIG. 7  includes the first section Z 1 , the second section Z 2 , and the third section Z 3 . In  FIGS. 12A  and B, the vehicle speed and the steering angle in a section T 1 , the vehicle speed and the steering angle in a section T 2 , and the vehicle speed and the steering angle in a section T 3  correspond to the traveling motion of the subject vehicle V 1  in the first section Z 1  illustrated in  FIG. 7 , the traveling motion of the subject vehicle V 1  in the second section Z 2  illustrated in  FIG. 7 , and the traveling motion of the subject vehicle V 1  in the third section Z 3  illustrated in  FIG. 7 , respectively. In the parking route illustrated in  FIG. 7 , turning from the left to the right is taken place before the vehicle speed becomes 0 at the position of turning the steering wheel P, that is, before the subject vehicle V 1  is stopped. Therefore, it is unnecessary to perform static steering required in the parking route according to the comparative example of the present invention. The subject vehicle V 1  can quickly start moving backward after stopping at the position of turning the steering wheel P. This can shorten the time required for parking. Further, since no turning is required when accelerating in the section T 3  of  FIGS. 12A  and B, accelerating at a greater level than that in  FIGS. 11A  and B is feasible in the section T 3 . Thus, the time required for parking can be shortened. 
     Further, the control device  11  of the present embodiment creates the traveling motion plan illustrated in the timing diagram of  FIGS. 13A and 13B , for example, when the subject vehicle V 1  moves from the current position to the parking space PS along the parking route of the present embodiment illustrated in  FIG. 8 . The notation method for the vehicle speed of  FIG. 13A  and the steering angle of  FIG. 13B  conforms to that in  FIG. 11A  and  FIG. 11B . 
     The parking route illustrated in  FIG. 8  is similar to the parking route illustrated in  FIG. 7  in including the first section Z 1 , the second section Z 2 , and the third section Z 3 , but the second section Z 2  illustrated in  FIG. 8  is shorter than the second section Z 2  illustrated in  FIG. 7 . In  FIGS. 13A and 13B , the vehicle speed and the steering angle in a section T 4 , the vehicle speed and the steering angle in a section T 5 , and the vehicle speed and the steering angle in a section T 6  correspond to the traveling motion of the subject vehicle V 1  in the first section Z 1  illustrated in  FIG. 8 , the traveling motion of the subject vehicle V 1  in the second section Z 2  illustrated in  FIG. 8 , and the traveling motion of the subject vehicle V 1  in the third section Z 3  illustrated in  FIG. 8 , respectively. The traveling motion plan illustrated in  FIGS. 13A and 13B  is the same as the traveling motion plan of  FIGS. 12A and 12B , except for the section T 5 . In the traveling motion plan illustrated in  FIGS. 13A  and B, in order to shorten the length of the second section Z 2 , it is intended in the section T 5  to stop the subject vehicle V 1  with the acceleration larger than that in the section T 2  of  FIGS. 12A and 12B  and perform the turning at a higher steering speed. This can shorten the length of the second section Z 2  illustrated in  FIG. 8 , compared to the length of the second section Z 2  illustrated in  FIG. 7 . Since the traveling motion plan illustrated in  FIGS. 13A and 13B  includes the section T 5  that is shorter than the section T 2 , the time required for parking can be shortened, compared to the traveling motion plan illustrated in  FIGS. 12A  and B. 
     Next, parking assist processing by the control device  11  of the present embodiment will be described with reference to  FIGS. 14 to 15 .  FIG. 14  is an exemplary flowchart illustrating basic processing of the parking assist of the present embodiment.  FIG. 15  is a flowchart illustrating an exemplary subroutine of step S 6  of  FIG. 14 . The control device  11  executes travel control processing described below at predetermined time intervals. In the following description, it is assumed that the control device  11  of the present embodiment refers to the surrounding environmental relevant information in determining the traveling scene in which the subject vehicle V 1  is parked in the parking space PS, and executes the parking assist programs. 
     In step S 1  of  FIG. 14 , the control device  11  of the present embodiment uses the environmental information acquisition function to image the surroundings of the subject vehicle with the imaging device  2  and acquires image data including each obstacle existing around the subject vehicle. Further, in step S 1 , the control device  11  of the present embodiment uses the environmental information acquisition function to detect the presence of any obstacle, pedestrian, or another vehicle around the subject vehicle V 1 , the position of each object, and the distance to each object, with the ranging device  4 . 
     In step S 2 , the control device  11  of the present embodiment uses the parking space detection function to cause the image processing device  3  to create the bird&#39;s-eye image IM 1  from the images acquired by the imaging device  2 . In step S 3 , the control device  11  of the present embodiment uses the parking space detection function to detect a parking area from the bird&#39;s-eye image IM 1  and detect the parking spaces PS from the parking area, with the imaging device  2  and the ranging device  4 . 
     In step S 4 , the control device  11  of the present embodiment uses the parking space display function to present the parking spaces PS to a driver, by using the display  121 . In step S 5 , the control device  11  of the present embodiment determines whether or not the driver has selected any parking space PS in which the subject vehicle V 1  is to be parked from among the parking spaces PS. If the driver has not selected any parking space PS in which the subject vehicle V 1  is to be parked from among the parking spaces PS (NO in step S 5 ), the processing returns to step S 4 , in which the control device  11  of the present embodiment presents the parking spaces PS to the driver. To the contrary, when the driver has selected the parking space PS in which the subject vehicle V 1  is to be parked from among the parking spaces PS (YES in step S 5 ), the processing proceeds to step S 6 . 
     In step S 6 , the control device  11  of the present embodiment uses the parking route calculation function to calculate the parking route for enabling the subject vehicle V 1  to move from the current position to the parking space PS selected by the driver. In step S 7 , the control device  11  of the present embodiment uses the traveling motion planning function to plan the traveling motion of the subject vehicle V 1  to be parked along the calculated parking route. Then, in step S 8 , the control device  11  of the present embodiment executes parking assist for the subject vehicle V 1  so as to realize the planed traveling motion along the calculated parking route, using the vehicle controller  5 , the driving system  6 , the vehicle speed sensor  7 , and the steering angle sensor  8 . 
     Next, an exemplary subroutine of step S 6  of  FIG. 14  will be described with reference to  FIG. 15 . 
     In step S 61  of  FIG. 15 , the control device  11  of the present embodiment uses the parking route calculation function to detect the passage width W and any obstacle such as another vehicle V 2  with the imaging device  2  and the ranging device  4 . In step S 62 , the control device  11  of the present embodiment uses the parking route calculation function to calculate the width W 1  or W 2  of the passage in which the subject vehicle can travel. 
     In step S 63 , the control device  11  of the present embodiment uses the parking route calculation function to set the number of operations of turning the steering wheel using at least one of the width W 1  of the passage in which the subject vehicle V 1  can travel, the minimum turning radius of the subject vehicle V 1 , the steering speed of the subject vehicle V 1 , and the vehicle speed of the subject vehicle V 1 . Further, in step S 64 , the control device  11  of the present embodiment uses the parking route calculation function to set each position of turning the steering wheel P with reference to the number of operations of turning the steering wheel having been set. 
     In step S 65 , the control device  11  of the present embodiment uses the parking route calculation function to determine the turning direction at the position of turning the steering wheel. In step S 66 , the control device  11  of the present embodiment uses the parking route calculation function to calculate the route from the current position to the position of turning the steering wheel P, in which the steering direction of the subject vehicle V 1  corresponds to the turning direction, based on the set position of turning the steering wheel P and the determined turning direction. If two or more positions of turning the steering wheel are set, then in step S 67 , the control device  11  of the present embodiment uses the parking route calculation function to calculate the route from the position of turning the steering wheel to the next position of turning the steering wheel, in which the steering direction of the subject vehicle V 1  corresponds to the turning direction. In  FIG. 15 , step S 67  is indicated by a dotted line because it is an arbitrary step. Then, in step S 68 , the control device  11  of the present embodiment uses the parking route calculation function to calculate the route from the position of turning the steering wheel to the parking space. 
     In step S 69 , the control device  11  of the present embodiment determines whether or not the parking route for enabling the subject vehicle V 1  to move from the current position to the parking space PS has been calculated by the parking route calculation function. If the parking route for enabling the subject vehicle V 1  to move from the current position to the parking space PS has been calculated (YES in step S 69 ), the processing proceeds to step S 7  of  FIG. 14 , in which the control device  11  of the present embodiment uses traveling motion planning function to plan the traveling motion of the subject vehicle V 1  so as to be parked along the calculated parking route. To the contrary, when the parking route for enabling the subject vehicle V 1  to move from the current position to the parking space PS has not been calculated (NO in step S 69 ), the processing returns to step S 63 , in which the control device  11  of the present embodiment uses the parking route calculation function to set the number of operations of turning the steering wheel again. 
     As described above, in the parking assist apparatus  1  and the parking assist method according to the present embodiment, the parking space PS for parking the subject vehicle V 1  is detected, the position of turning the steering wheel, the steering wheel being turned at the position of turning the steering wheel P, is set, the parking route for reaching from the current position of the subject vehicle V 1  to the parking space PS via the position of turning the steering wheel P is generated, and the subject vehicle V 1  is controlled so as to autonomously travel along the parking route. The parking route includes the route from the current position of the subject vehicle V 1  to the position of turning the steering wheel P, which is determined considering the turning direction to which the subject vehicle V 1  turns in the route for traveling from the position of turning the steering wheel P to the parking space PS and is set in such a manner that the steering direction of the subject vehicle V 1  corresponds to the turning direction at the time when the subject vehicle V 1  is stopped at the position of turning the steering wheel P. Accordingly, the steering direction is oriented toward the turning direction when the subject vehicle V 1  decreases the vehicle speed to stop. This can suppress the sense of incongruity imposed on the occupant by the traveling motion of the subject vehicle V 1 . In addition, it is possible to suppress the static steering amount when the subject vehicle V 1  turns, shorten the time required for turning, and shorten the time required for parking. Further, the steering direction of the subject vehicle V 1  is already oriented to the turning direction at the time when the subject vehicle V 1  is stopped for turning the steering wheel (cutting the wheel). Therefore, the amount of turning required after reaching the position of turning the steering wheel can be suppressed. Moreover, suppressing the amount of turning required after reaching the position of turning the steering wheel can shorten the time during which the vehicle speed of the subject vehicle V 1  is suppressed and accordingly shorten the time required for parking. 
     In addition, in the parking assist apparatus  1  and the parking assist method according to the present embodiment, the steering angle of the subject vehicle V 1  at the time when the subject vehicle V 1  is stopped at the position of turning the steering wheel P is set to be equal to the steering angle when the subject vehicle V 1  starts traveling toward the parking space PS from the position of turning the steering wheel P. This can shorten the time required for parking, because it is unnecessary to switch the steering direction when the subject vehicle V 1  starts accelerating form the stopped state, and it is unnecessary to suppress the vehicle speed of the subject vehicle V 1  until the turning is completed. Further, even when the subject vehicle V 1  is stopped at a position beyond the position of turning the steering wheel P, since the subject vehicle V 1  exists on the route of the third section Z 3 , it is unnecessary to switch the steering direction when the subject vehicle V 1  starts accelerating from the stopped state. 
     In addition, in the parking assist apparatus  1  and the parking assist method according to the present embodiment, the parking route includes at least the first section Z 1  that is the section from the current position of the subject vehicle V 1  to the position before the position of turning the steering wheel P, in which the subject vehicle moves at the constant steering angle, the second section Z 2  that is the section following the first section Z 1  and preceding the position of turning the steering wheel P, in which the position of turning the steering wheel P is included, and the third section Z 3  that is the section following the second section Z 2 , in which the subject vehicle V 1  is turned toward the direction of moving to the parking space PS. This can suppress the sense of incongruity imposed on the occupant and shorten the time required for parking, and therefore the parking route can be appropriately calculated. 
     In addition, in the parking assist apparatus  1  and the parking assist method according to the present embodiment, the length of the second section Z 2  is set to be relatively shorter, when the width W 1  of the passage enabling the subject vehicle V 1  to travel for moving from the current position of the subject vehicle to the parking space PS via the position of turning the steering wheel P is narrow, compared to a case where the passage width W 1  is wide. Thus, even when the passage width W 1  is narrow, it is possible to suppress the static steering amount when the subject vehicle V 1  turns, shorten the time required for turning, and shorten the time required for parking. Further, even when the passage width W 1  is narrow, it is possible to suppress the amount of turning required after reaching the position of turning the steering wheel, shorten the time during which the vehicle speed of the subject vehicle V 1  is suppressed, and shorten the time required for parking. 
     In addition, in the parking assist apparatus  1  and the parking assist method according to the present embodiment, the length of the second section Z 2  is set to be relatively shorter, when the width W 1  of the passage in which the subject vehicle V 1  can travel to move from the current position to the parking space PS via the position of turning the steering wheel P is less than a predetermined value, compared to a case where the passage width W 1  is equal to or greater than the predetermined value. Thus, even when the passage width W 1  is narrow, it is possible to suppress the static steering amount when the subject vehicle V 1  turns, shorten the time required for turning, and shorten the time required for parking. Further, even when the passage width W 1  is narrow, it is possible to suppress the amount of turning required after reaching the position of turning the steering wheel, shorten the time during which the vehicle speed of the subject vehicle V 1  is suppressed, and shorten the time required for parking. The predetermined value to be set in advance for the passage width W 1  can be set to an appropriate value using the minimum turning radius, the entire length, and the entire width of the subject vehicle V 1  or the like. 
     In addition, in the parking assist apparatus  1  and the parking assist method according to the present embodiment, the narrower the width W 1  of the passage in which the subject vehicle V 1  can travel to move from the current position to the parking space PS via the position of turning the steering wheel P, the shorter the set length of the second section Z 2 . This can suppress the static steering amount when the subject vehicle V 1  turns, shorten the time required for turning, and shorten the time required for parking, even when the passage width W 1  is narrow. Further, this can suppress the amount of turning required after reaching the position of turning the steering wheel, shorten the time during which the vehicle speed of the subject vehicle V 1  is suppressed, and shorten the time required for parking, even when the passage width W 1  is narrow. 
     In addition, in the parking assist apparatus  1  and the parking assist method according to the present embodiment, the steering speed of the subject vehicle V 1  is set to be relatively higher and/or the vehicle speed of the subject vehicle V 1  is set to be relatively lower, in the case of setting the length of the second section Z 2  to be relatively shorter. This can suppress the static steering amount when the subject vehicle V 1  turns, shorten the time required for turning, and shorten the time required for parking, even when the passage width W 1  is narrow. Further, this can suppress the amount of turning required after reaching the position of turning the steering wheel, shorten the time during which the vehicle speed of the subject vehicle V 1  is suppressed, and shorten the time required for parking, even when the passage width W 1  is narrow. 
     In addition, in the parking assist apparatus  1  and the parking assist method according to the present embodiment, the steering speed of the subject vehicle V 1  is set to be relatively higher and/or the vehicle speed of the subject vehicle V 1  is set to be relatively lower, when the width W 1  of the passage in which the subject vehicle V 1  can travel to move from the current position to the parking space PS via the position of turning the steering wheel P is less than a predetermined value. This can suppress the static steering amount when the subject vehicle V 1  turns, shorten the time required for turning, and shorten the time required for parking, even when the passage width W 1  is narrow. Further, this can suppress the amount of turning required after reaching the position of turning the steering wheel, shorten the time during which the vehicle speed of the subject vehicle V 1  is suppressed, and shorten the time required for parking, even when the passage width W 1  is narrow. 
     In addition, in the parking assist apparatus  1  and the parking assist method according to the present embodiment, the narrower the width W 1  of the passage in which the subject vehicle V 1  can travel to move from the current position to the parking space PS via the position of turning the steering wheel P, the higher the set steering speed of the subject vehicle V 1  and/or the relatively lower the set vehicle speed of the subject vehicle V 1 . This can suppress the static steering amount when the subject vehicle V 1  turns, shorten the time required for turning, and shorten the time required for parking, even when the passage width W 1  is narrow. Further, this can suppress the amount of turning required after reaching the position of turning the steering wheel, shorten the time during which the vehicle speed of the subject vehicle V 1  is suppressed, and shorten the time required for parking, even when the passage width W 1  is narrow. 
     In addition, in the parking assist apparatus  1  and the parking assist method according to the present embodiment, the length of the second section Z 2  is set using, at least, the passage width W 1 , the minimum turning radius of the subject vehicle V 1 , the steering speed of the subject vehicle V 1 , and the vehicle speed of the subject vehicle V 1 . This can shorten the time required for turning and can shorten the time required for parking, and therefore the length of the second section Z 2  can be appropriately calculated. 
     DESCRIPTION OF REFERENCE NUMERALS 
     
         
           1000  Parking assist system 
           1  Parking assist device 
         Control device 
           111  ROM 
           112  CPU 
           113  RAM 
           12  Output device 
           121  Display 
           2  Imaging device 
           2   a  Imaging device arranged on front grill part of vehicle 
           2   b  Imaging device arranged beneath left door mirror of vehicle 
           2   c  Imaging device arranged beneath right door mirror of vehicle 
           2   d  Imaging device arranged near rear bumper of vehicle 
           3  Image processing device 
           4  Ranging device 
           4   a  Front ranging device 
           4   b  Side ranging device 
           4   c  Rear ranging device 
           5  Vehicle controller 
           6  Driving system 
           7  Vehicle speed sensor 
           8  Steering angle sensor 
         V 1  Subject vehicle 
         V 2 , V 2   a , V 2   b , V 2   c , V 2   d , V 2   e , V 2   f , V 2   g , V 2   h  Another vehicle 
         VP Virtual viewpoint 
         IM 1  Bird&#39;s-eye image 
         IM 2  Monitoring image 
         PS, PS 1 , PS 2 , PS 3  Parking space 
         L 1 , L 2 , L 3 , L 4 , L 5 , L 6 , L 7 , L 8 , L 9 , L 10  Line 
         P, P, Pa, Pb, Pc Position of turning steering wheel 
         W Passage width 
         W 1 , W 2  Width of passage in which subject vehicle can travel 
         Z 1 , Z 1   a , Z 1   b , Z 1   c  First section 
         Z 2 , Z 2   a , Z 2   b  Second section 
         Z 3  Third section 
         T 1 , T 4  Section corresponding to first section 
         T 2 , T 5  Section corresponding to second section 
         T 3 , T 6  Section corresponding to third section 
         Z-A Section for causing subject vehicle to move from current position to position of turning steering wheel P at constant steering angle 
         Z-B Section for causing subject vehicle V 1  to move from position of turning steering wheel P to parking space PS 
         T-A Section corresponding to section Z-A 
         T-B Section corresponding to subject vehicle&#39;s static steering at position of turning steering wheel P 
         T-C Section corresponding to section Z-B