PARKING SUPPORT DEVICE

To provide a parking support device enabling a vehicle to be highly accurately parked in a parking area.SOLUTION: A parking support device 3 automatically parking a vehicle in a parking area is provided having: a parking area analysis unit 32 identifying a position of a parking target point of a parking area and a vehicle entry position; a vehicle position analysis unit 33 identifying a position of a vehicle reference point of the vehicle and the travel direction of the vehicle; a speed pattern determination unit 34 determining speed of the vehicle at each time based on the position of the parking target point and the position of the vehicle reference point; an optimization calculation unit 35 calculating a decision variable by solving an optimization problem using a speed of the vehicle in each of the times of and using a linear time change equation with a curvature of the travel direction of the vehicle as a decision variable; a steering angle calculation unit 36 calculating a steering angle of the vehicle based on the decision variable; and a vehicle control signal generation unit 37 causing the vehicle to park in the parking area by controlling the vehicle based on the steering angle of the vehicle.SELECTED DRAWING: Figure 1 【課題】高精度に車両を駐車領域に駐車させることができる駐車支援装置を提供する。【解決手段】車両を駐車領域に自動で駐車させる駐車支援装置３であって、駐車領域の駐車目標地点の位置と車両進入方向を特定する駐車領域解析部３２と、車両の車両基準点の位置と車両の進行方向を特定する車両位置解析部３３と、駐車目標地点の位置及び車両基準点の位置に基づいて、各時間における車両の速度を決定する、速度パターン決定部３４と、各時間における車両の速度を用い、車両の進行方向の曲率を決定変数とした、線形時変状態方程式を用いた最適化問題を解くことで、決定変数を算出する、最適化計算部３５と、決定変数に基づいて、車両のステアリング角度を算出する、ステアリング角度算出部３６と、車両のステアリング角度に基づいて、車両を制御し、車両を駐車領域に駐車させる車両制御信号生成部３７と、を有する。【選択図】図１