Parking assistance apparatus
A parking assistance apparatus is provided that is capable of improving convenience for a driver by determining that parking is possible in a case where the local vehicle will protrude from a parking frame but safety is ensured around a prescribed position that corresponds to the parking frame. The presence/absence of an obstacle around a prescribed position that corresponds to a parking frame is also determined for a parking frame from which the local vehicle will protrude. In a case where safety is ensured around the prescribed position that corresponds to the parking frame, it is determined that parking is possible, and the location of the parking frame is presented to a driver.
1. A parking assistance apparatus configured to recognize a parking frame and assist in parking of a vehicle in a prescribed position that corresponds to the parking frame that has been recognized, wherein
the apparatus is configured to determine whether it is possible to park a local vehicle in the prescribed position based on a vacancy state around the prescribed position under a condition that the local vehicle will attempt to be parked in the prescribed position,
the apparatus configured to control an engine of the local vehicle to actuate parking of the local vehicle,
wherein the vacancy state provides a safe distance around the prescribed position,
wherein the prescribed position includes a local vehicle protrusion extending beyond the parking frame in a forward direction of the local vehicle, and
wherein, in a case where a recognition performance of a camera configured to recognize surroundings of the local vehicle has deteriorated, the parking assistance apparatus is configured to switch a standard of determining whether parking in the prescribed position is possible to a standard that is different from a normal standard.
2. The parking assistance apparatus according to claim 1 , wherein the apparatus is configured to determine whether it is possible to park the local vehicle in the prescribed position based on a presence or absence of an obstacle within a detection range that has been set around the prescribed position.
3. The parking assistance apparatus according to claim 2 , wherein the detection range is set on at least one of a front side, a rear side, and sides of the prescribed position.
4. The parking assistance apparatus according to claim 1 , wherein
the apparatus is configured to:
recognize a parking position of another vehicle that has been parked around the prescribed position, and calculate an another-vehicle differential amount of the parking position of the another vehicle with respect to the parking frame,
calculate a local-vehicle differential amount of the prescribed position of the local vehicle to be parked in the prescribed position with respect to the parking frame, and
determine whether it is possible to park the local vehicle in the prescribed position based on the another-vehicle differential amount and the local-vehicle differential amount in addition to the vacancy state around the prescribed position.
5. The parking assistance apparatus according to claim 4 , wherein, the parking assistance apparatus is configured to, when the local-vehicle differential amount exceeds an allowable amount that is calculated from the another-vehicle differential amount, determine that parking in the prescribed position is impossible.
6. The parking assistance apparatus according to claim 5 , wherein the allowable amount is stored for each parking lot provided with the parking frame in combination with positional information of the local vehicle.
7. The parking assistance apparatus according to claim 1 , wherein, the parking assistance apparatus is configured to, in determining whether parking in the prescribed position is possible, change a margin distance of the local vehicle from an obstacle around the prescribed position at a time of parking the local vehicle in the prescribed position according to a type of the obstacle.
8. The parking assistance apparatus according to claim 1 , wherein the parking assistance apparatus is configured to report to a driver a local-vehicle differential amount of the prescribed position of the local vehicle to be parked in the prescribed position with respect to the parking frame, together with the prescribed position that has been determined to be available for parking.
9. The parking assistance apparatus according to claim 1 , wherein the parking assistance apparatus is configured determine the vacancy state around the prescribed position according to a vehicle performance of the local vehicle, the vacancy state being used to determine that parking is possible.
10. The parking assistance apparatus according to claim 9 , wherein the parking assistance apparatus is configured to change a detection range that has been set around the prescribed position to a range that corresponds to the vehicle performance of the local vehicle, the detection range being used to determine that parking is possible.