A vehicle control apparatus is configured to perform a stop control for stopping a vehicle at a target stop position. The vehicle control apparatus is provided with: a first executor configured to perform a first stop control as the stop control such that a first vehicle is stopped at a first target stop position, which is the target stop position; a second executor configured to perform a second stop control as the stop control such that a second vehicle is stopped at a second target stop position after obtaining a difference between the first target stop position and a first actual stop position at which the vehicle is stopped in the first stop control; and a corrector configured to correct control contents of the second stop control on the basis of the difference, before the second vehicle is stopped at the second target stop position.

A vehicle is provided to automatically move according to a movement request received from a surrounding vehicle already parked when the vehicle is parked around the surrounding parked vehicle. The vehicle includes a communication unit and a sensor sensing an external surrounding. A steering device steers the vehicle wheels and a power device transmits power to the wheels. In response to receiving vehicle identification information and movement request from the surrounding parked vehicle through the communication unit, a controller determines whether the surrounding vehicle has an authority for the movement request based on the external surrounding and the vehicle identification information. The power device and the steering device are operated based on the movement request when the surrounding parked vehicle has the authority.

A route generation device includes: a steering loaded state input unit to which a steering loaded state of a vehicle is inputted; a parking slot position input unit to which a position of a parking slot near the vehicle is inputted; a vehicle position input unit to which a position of the vehicle is inputted; a number-of-times-of-static-steering upper limit calculation unit configured to calculate, on the basis of the steering loaded state, a number-of-times-of-static-steering upper limit value up to which static steering of the vehicle can be performed between the position of the vehicle and the position of the parking slot; and a guidance route generation unit configured to generate a guidance route for guiding the vehicle to the parking slot, on the basis of the position of the vehicle, the position of the parking slot, and the number-of-times-of-static-steering upper limit value.

A driving assistance device is configured to assist parking of a vehicle by automated driving along a route on which a driver of the vehicle parks the vehicle in a parking area by manual driving. The driving assistance device includes a processor. The processor is configured to: acquire a steering angle measured value during manual driving of the vehicle; acquire a steering angle control range during automated driving of the vehicle; and determine a vehicle speed command value during automated driving of the vehicle based on a limit value of the steering angle control range in a case in which the steering angle measured value falls outside the steering angle control range.

Among other things, techniques are described for forecasting occupancy of a vehicle location. This includes receiving, by at least one processor, status information of a parking location the status information representing an availability of the parking location; predicting, by the at least one processor, a future status of the parking location based on the received status information; determining, by the at least one processor, a destination based on the predicted future status of the parking location; and providing, by the at least one processor, the predicted future status to a controller of a vehicle for controlling the vehicle to drive to the destination.

A remote parking apparatus comprises an electronic control unit which executes a remote parking control to move an own vehicle and park the own vehicle in a designated parking space in response to receiving a signal transmitted wirelessly from an operation terminal. The electronic control unit is configured to set a parking space as the designated parking space even when there is an obstacle interrupting parking the own vehicle in the parking space.

Electrified vehicles are coupled together by a towing device for in-flight energy transfer. A remote-controlled parking system collects images from vehicle-mounted cameras to produce a 360° overhead live streaming image that is displayed on a smartphone linked to a vehicle controller. A user interface (UI) on the smartphone accepts a first touch from the user on the streaming image showing the vehicles at a starting position in order to specify a maneuver endpoint. The controller calculates a sequence of steering actions to create a path to the endpoint. The UI displays the calculate path as an overlay on the live image. The UI generates an activation signal in response to a second touch input on the touchscreen, and forwards the activation signal to the vehicle controller during the second touch input to move the vehicles according to the actuator commands only while the user maintains the second touch input.

A driving assistance device for a vehicle includes a traveling environment recognizer, a parking space detector, an evaluation value calculator, and a parking space setter. The traveling environment recognizer is configured to recognize traveling environment information related to an outside of the vehicle. The parking space detector is configured to, in a case where the vehicle has entered a parking lot, detect one or more parking spaces available to the vehicle based on the traveling environment information. The evaluation value calculator is configured to calculate one or more evaluation values for the one or more parking spaces, each of the one or more evaluation values including an exit hindrance factor as an evaluation item. The parking space setter is configured to select, with priority, a parking space for parking the vehicle from among the one or more parking spaces. The evaluation value of the parking space is relatively high.

Leading and trailing electrified vehicles are coupled together in a towing arrangement for in-flight transfer of an electrical charge between their battery systems. With the vehicles connected by a towing device, a parking maneuver is initiated in which the trailing vehicle leads the leading vehicle. For the parking maneuver, one of the vehicles is designated (e.g., automatically or by driver agreement) to be an active steering vehicle and the other vehicle to be a passive steering vehicle. At least the passive steering vehicle comprises an electrically-controlled steering actuator. During movement, a turning (e.g., steering angle) of the active steering vehicle is monitored. Based on the turning of the active steering vehicle, an assistive steering angle is determined for the passive steering vehicle. The electrically-controlled steering actuator is commanded according to the assistive steering angle. The parking maneuver may be reverse or forward.

A remote parking system includes: a terminal configured to transmit a ranging signal; plural reception units provided with a reception surface to receive the ranging signal and configured to detect an arrival direction of the ranging signal with respect to the reception surface; and a control device configured to acquire a distance from the terminal to a vehicle based on the arrival direction of the ranging signal and a reference posture of each of the reception units and to move the vehicle toward a parking position based on an operation input to the terminal in a case where the control device determines that the acquired distance from the terminal to the vehicle is equal to or less than a prescribed threshold. The control device is configured to cause the terminal to display an intensity of the ranging signal received by at least one of the reception units.