Parking assistance device
A parking assistance device includes a pair of left and right sonar devices provided in a vehicle, an obstacle detection controller for determining whether an obstacle present within a determination target distance range on a side of the vehicle is a wall or a curb by comparing a level value of a reflection wave received by one of the sonar devices with each of a first threshold value and a second threshold value that are different from each other, and an automatic parking controller for setting a guiding route for automatic parking depending on a determination result, and the automatic parking controller sets the guiding route requiring a large amount of steering of the vehicle in a case where the determination result indicates a curb, compared with a case where the determination result indicates a wall in the automatic parking in the form of parallel parking.
1. A parking assistance device comprising:
a pair of left and right sonar devices provided in a vehicle;
an obstacle detection controller configured to
calculate at least one first reflection position when a level value of a reflection wave received by one of the sonar devices is equal to or greater than a first threshold value,
calculate at least one second reflection position when the level value of the reflection wave received by one of the sonar devices is equal to or greater than a second threshold value being higher than the first threshold value,
set the at least one first reflection position and the at least one second reflection position that have been calculated, in an identical group when a distance between a plurality of reflection positions adjacent to each other indicates a value less than or equal to a predetermined value,
determine that an obstacle present within a determination target distance range on a side of the vehicle is a curb when the at least one second reflection position is not included in the reflection positions having been grouped,
determine that the obstacle present within the determination target distance range on the side of the vehicle is a wall when the at least one second reflection position is included in the reflection positions having been grouped and when a value for indicating variations in a direction indicated by normal vectors of the reflection positions having been grouped is less than a distribution threshold value,
determine that the obstacle present within the determination target distance range on the side of the vehicle is a parked vehicle when the at least one second reflection position is included in the reflection positions having been grouped and when the value for indicating variations in the direction indicated by the normal vectors of the reflection positions having been grouped is equal to or greater than the distribution threshold value; and
an automatic parking controller configured to set a guiding route for automatic parking depending on a determination result by the obstacle detection controller,
wherein the automatic parking controller calculates a parking area at least in a form of parallel parking in accordance with a position of the curb, the wall, or the parked vehicle determined by the obstacle detection controller, and when the obstacle adjacent to the parking area indicates the curb, the automatic parking controller sets the guiding route requiring a greater amount of steering of the vehicle, with respect to a case where the obstacle adjacent to the parking area indicates the wall.
2. The parking assistance device according to claim 1 , wherein the obstacle detection controller determines whether the obstacle is a pole depending on a width of the group.
3. The parking assistance device according to claim 1 , wherein the automatic parking controller sets the guiding route for parallel parking or the guiding route for double parking depending on a result of the grouping.