PARKING SUPPORT DEVICE

PURPOSE: To provide a parking support device that can prevent a body (an exterior component) of a vehicle from interfering with a wheel stopper.SOLUTION: A parking support device detects a parking-possible area A0 which is an area where an own vehicle can be parked, on the basis of target information; controls a driving device 20, a braking device 30 and a steering device 50 so that the own vehicle is moved from an initial position P0 which is a position of an own vehicle at the time when the parking possible area A0 is detected into the parking-possible area A0; and when detecting that a wheel stopper ST is installed in the parking-possible area A0 on the basis of the target information, stops the own vehicle so that a position and an attitude of the own vehicle with respect to the wheel stopper ST match a predetermined position and a predetermined attitude. The parking support device stops the own vehicle in a state where a distance between a predetermined first reference point of the own vehicle and the wheel stopper matches a first predetermined value so that the own vehicle is parked facing forward in a state where a front end at a site lower than the wheel stopper ST in a front part of the own vehicle is away from the wheel stopper ST.SELECTED DRAWING: Figure 5 【目的】車両のボディ（外装部品）が輪留めに干渉することを防止できる駐車支援装置を提供する。【解決手段】 駐車支援制御装置は、物標情報に基づいて自車両を駐車可能な領域である駐車可能領域Ａ０を検出し、駆動装置２０、制動装置３０及びステアリング装置５０を制御して、駐車可能領域Ａ０を検出した時点の自車両の位置である初期位置Ｐ０から駐車可能領域Ａ０内まで自車両を移動させ、物標情報に基づいて駐車可能領域Ａ０内に輪留めＳＴが設置されていることを検出した場合、輪留めＳＴに対する自車両の位置及び姿勢が所定の位置及び姿勢に一致した状態にて自車両を停止させる。駐車支援制御装置は、自車両の前部における輪留めＳＴより低い部位の前端と輪留めＳＴとが離間した状態で自車両が前向き駐車されるように、自車両の所定の第１基準点と前記輪留めとの距離が第１所定値に一致した状態にて自車両を停止させる。【選択図】 図５