Parking assist apparatus and method

摘要

In order to provide parking assist even in a situation where an end portion of a vehicle is predicted to come into contact with an obstacle, an available parking space is set, and a target parking position is set within the available parking space. When it is determined that the end portion of the vehicle will come into contact with an end portion of the available parking space if the vehicle travels to be parked in the target parking position, an entering angle of the vehicle with respect to the available parking space is changed so that the vehicle may travel toward a target parking space with the end portion of the vehicle spaced away from a front end point P of the available parking space, and a parking path for the vehicle to travel to a non-final target parking position is calculated.

主权项

1. A parking assist apparatus comprising:
an available parking space detector configured to detect an available parking space; a final target parking position setter configured to set a final target parking position in the available parking space detected by the available parking space detector; a contact determination device configured to determine whether or not there exists a first path for a vehicle to reach the final target parking position without coming into contact with an end portion of the available parking space; a non-final target parking position calculator configured to calculate, when the contact determination device determines that the first path does not exist, a first entering angle, a second entering angle and a non-final target parking position, the first entering angle enabling the vehicle to enter the available parking space by moving straight without coming into contact with the end portion of the available parking space, the second entering angle being smaller than the first entering angle and enabling the vehicle to enter the available parking space by turning without coming into contact with the end portion of the available parking space, the non-final target parking position being a position to be reached when the vehicle enters the available parking space at the first entering angle or the second entering angle; a second-path calculator configured to calculate a plurality of second paths, including a path for the vehicle to move to the non-final target parking position calculated by the non-final target parking position calculator by turning and a path for the vehicle to move straight to the non-final target parking position; a third-path calculator configured to calculate a third path for the vehicle to reach the final target parking position from the non-final target parking position; and a display device configured to display the first path when the contact determination device determines that the first path exists, and to display the second paths and the third path when the contact determination device determines that the first path does not exist.