Patent ID: 8055429

Claim:
A parking support control apparatus for executing a parking support control operation in which a target parking position at which a vehicle is to be stopped and a trajectory along which the vehicle is to be moved toward the target parking position are calculated so as to move the vehicle along the trajectory, and for executing a vehicle stop control operation when arrival of the vehicle at a vehicle stop control start position is detected during the parking support control operation, the parking support control apparatus comprising a processor configured to: detect a current position of the vehicle traveling along the trajectory; calculate a displacement magnitude of the vehicle to be moved from the current position to the target parking position; determine a target speed, on the basis of a reference displacement magnitude that is set as the displacement magnitude of the vehicle that is considered to bring the vehicle to the target parking position, such that a speed of the vehicle becomes lower as the displacement magnitude of the vehicle at the current position becomes closer to the reference displacement magnitude; output a brake request so that the vehicle travels at the target speed and so that the vehicle stops when the displacement magnitude becomes equal to the reference displacement magnitude; obtain a vehicle speed of the vehicle; determine an initial displacement magnitude equivalent to an initial value of the displacement magnitude and determine a vehicle-stop-control start position at which the vehicle stop control operation is to be started upon the arrival thereto of the vehicle traveling along the calculated trajectory in accordance with the initial displacement magnitude; and output a vehicle speed set request so that the vehicle speed is set to the vehicle speed obtained when the displacement magnitude becomes equal to the initial displacement magnitude as an initial vehicle speed, wherein, when the detected current position matches the determined vehicle-stop-control start position, the processor is further configured to determine the target speed as a value obtained by multiplying a ratio of the displacement magnitude to the initial displacement magnitude by the initial vehicle speed.