Patent attributes
A parking assist apparatus includes: a map generation unit that generates an obstacle map showing a position of an obstacle existing in a surrounding of own vehicle based on a detected result of a sonar, and records data indicating existence of the obstacle on the obstacle map; a wheel-stop detection unit that divides the obstacle map generated by the map generation unit into a plurality of areas, counts a number of data pieces in each of the plurality of divided areas, and detects a position of a wheel stop based on the counted number of data pieces in each of the plurality of areas; and a parking position setting unit that sets a parking position for parking the own vehicle based on the position of the wheel stop detected by the wheel-stop detection unit.
