US Patent 7358864 Parking assist control apparatus

In a parking assist control apparatus for assisting a driver with parking a vehicle, when a brake control ECU detects that a door is open based on a detection signal from a door open/close sensor during parking assist control, the brake control ECU determines whether the open door is a door other than the driver side door. If the open door is a door other than the driver side door, the vehicle is automatically stopped, thus enabling occupant safety to be ensured.