PARKING ASSISTANCE DEVICE

摘要

A parking assistance device includes: an obstacle detection unit detecting an obstacle; a target determination unit determining a target area; a route determination unit determining a route from a position of a vehicle to the target area when assisting a driver in parking the vehicle in the target area; and a movement control unit assisting the driver by detecting the position and an inclination angle of the vehicle and controlling the vehicle, terminating the assist when the position is within a first range, the inclination angle is within a second range, and the position is within a third range, and terminating the assist when, while the vehicle travels, the position is within the first range, the inclination angle is within the second range, the position is outside of the third range, and the approach of an obstacle is detected.

主权项

1. A parking assistance device comprising:
an obstacle detection unit that detects an obstacle; a target determination unit that determines a target area; a route determination unit that determines a route from a position of a vehicle to the target area when assisting a driver in parking the vehicle in the target area; and a movement control unit that assists the driver in parking the vehicle in the target area by detecting the position and an inclination angle of the vehicle and controlling the vehicle, terminates the assist in a case where the position of the vehicle in a rightward and leftward direction of the target area is within a first range, the inclination angle of the vehicle relative to the target area is within a second range, and the position of the vehicle in a forward and rearward direction of the target area is within a third range, and also terminates the assist in a case where, while the vehicle travels along the route, the position of the vehicle in the rightward and leftward direction of the target area is within the first range, the inclination angle of the vehicle relative to the target area is within the second range, the position of the vehicle in the forward and rearward direction of the target area is outside of the third range, and the obstacle detection unit has detected the approach of an obstacle.