To certainly execute a measure capable of minimizing the sliding down of a vehicle when parking the vehicle on a slope, and to further improve performance.
When the vehicle is parked (the determination of a step S1 is "Yes"), if an absolute value of a road surface incline is not less than a predetermined value (the determination of a step S2 is "Yes") and a side article such as a curb existing on a side of a vehicle (the determination of a step S3 is "Yes"), a steered wheel is steered (a step S6). However, if the vehicle starts to move to a trough side while the steered wheel is steered to the maximum steered angle, it is estimated which of the steered wheel or a vehicle body contacts with the side article. Only when it is estimated that the steered wheel contacts with the side article (the determination of a step S4 is "Yes"), the steered wheel is steered. At that time, the trough side of the road surface incline in the steered wheel, namely a side on which the steered wheel rolls according to the road surface incline, is turned to a shoulder of a road close to the vehicle.
COPYRIGHT: (C)2007,JPO&INPIT
NAWANO MASAAKI
MORI HIROSHI
KUBOTA MASAHIRO
HORIGUCHI NAMI
SHIOZAWA HIROKI
Yoshiaki Naito
Cui Shu Tetsu
Toru Miyasaka