Parking assistance device
Unfortunately, even when a new area, which cannot be recognized from the parking start position, is detected in the surrounding area as the vehicle travels on the parking route, the new area cannot be used effectively as the parking route. In step S 304 , when there is an area for extending the parking route in the newly detected area, the route is determined to be extensible. In step S 305 , it is determined whether the vehicle can be parked with one turnabout without extending the route, and when it is determined that the vehicle cannot be parked with one turnabout, the process proceeds to step S 307 to perform the route extension process. When the posture of the vehicle at the turning point does not exceed a predetermined value in step S 306 , the process also proceeds to step S 307 . In step S 307 , route information for extending the parking route from the turning point in the route information toward the newly detected available area is generated based on the route information output in step S 302 , the surrounding area information and the own-vehicle position information output in step S 303.
1. A parking assistance device comprising:
at least one processor configured to:
recognize a surrounding area of a vehicle by acquiring external information; and
generate a parking route from a current position of the vehicle to a target parking position based on the recognized surrounding area,
wherein when the at least one processor is configured to
recognize a new area on an extension of the parking route as the vehicle travels along the parking route, the parking assistance device extends the parking route into the recognized new area,
generate an extension route when the at least one processor recognizes the new area on the extension of the parking route, the extension route being generated by extending the parking route into the recognized new area;
extend the parking route into the new area recognized on the extension of the parking route;
generate the extension route when the parking route generated by the at least one processor includes multiple times of turnabouts;
calculate a distance difference between the target parking position and a position at which vehicle orientation during backward movement along the parking route coincides with vehicle orientation at the target parking position; and
generate the extension route corresponding to a straight travel distance according to the calculated distance difference.
2. The parking assistance device according to claim 1 , wherein the at least one processor is configured to extend the parking route into the new area recognized on an extension of the parking route, and generate the extension route when the parking route generated includes one turnabout and an amount of change in vehicle orientation during backward movement of the vehicle exceeds a predetermined amount.
3. The parking assistance device according to claim 1 , wherein the at least one processor is configured to generate the extension route corresponding to a curved-line distance that forms an arc of a minimum turning radius of the vehicle when the straight travel distance cannot be added.
4. The parking assistance device according to claim 1 , wherein the at least one processor is configured to:
generate a display image to display the parking route on a display device installed in the vehicle, and
generate the display image in which an image of the extended parking route is superimposed on the parking route.
5. The parking assistance device according to claim 4 , wherein the at least one processor is configured to generate the display image in which an image of a turning outline at a turning point before extending the parking route is superimposed with or shifted to an image of a turning outline at a turning point for the extended parking route.
6. The parking assistance device according to claim 4 , wherein the at least one processor is configured to generate the display image in which an image of a turning outline at a turning point before extending the parking route is superimposed with or shifted to an image of a turning outline at turning points obtained by continuously extending the parking route.
7. The parking assistance device according to claim 4 , wherein the at least one processor is configured to generate an image of a turning outline at a final turning point for the extended parking route.
8. The parking assistance device according to claim 1 , wherein when an obstacle is detected in a direction for extending the parking route, the at least one processor is configured to cancel, suspend, or continue generation of the extension route according to a position and speed of the obstacle.
9. The parking assistance device according to claim 8 , wherein the at least one processor is configured to:
determine a speed of the vehicle for traveling on the parking route, and
change the speed of the vehicle according to the position and speed of the obstacle in the direction for extending the parking route.