Parking assistance apparatus
A parking assistance apparatus capable of making a parking route shorter when providing parking assistance for parallel parking is obtained. The parking assistance apparatus according to the present invention is a parking assistance apparatus for assisting the parallel parking of a driver's own vehicle 21 and has a configuration that: calculates an escapable position where the driver's own vehicle 21 can be made to escape from a parking area Sp; calculates a parking-space leaving route E where the driver's own vehicle 21 can be moved from the escapable position to an initial position P 0 in a passage area Sr; and sets a parking route based on the parking-space leaving route E. The parking-space leaving route E is calculated by using a first turning circle C 1 when turning from the escapable position P 2 to a passage side, a second turning circle C 2 when turning in a direction of a target parking position P 1 at the initial position P 0 of the driver's own vehicle 21 , and a third turning circle which is a locus of a turning center when the driver's own vehicle 21 has moved along the first turning circle C 1 and turns in a direction different from the first turning circle C 1.
1. A parking assistance apparatus for assisting parallel parking of a driver's own vehicle, the parking assistance apparatus comprising:
an escapable position calculation unit configured to calculate an escapable position where the driver's own vehicle can escape from a parking area to a passage area by moving the driver's own vehicle on the basis of a target parking position;
a parking-space leaving route calculation unit configured to calculate a parking-space leaving route where the driver's own vehicle can be moved from the escapable position to an initial position in the passage area; and
a parking route setting unit configured to set a parking route for moving the driver's own vehicle from the initial position to the target parking position according to the parking-space leaving route,
wherein the parking-space leaving route calculation unit calculates the parking-space leaving route by using a first turning circle when turning from the escapable position to a passage side, a second turning circle when turning in a direction of the target parking position at the initial position of the driver's own vehicle, and a third turning circle which is a locus of a turning center when the vehicle has moved along the first turning circle and turns in a direction different from the first turning circle.
2. The parking assistance apparatus according to claim 1 ,
wherein the parking-space leaving route calculation unit:
calculates a first reference line which is a front-back direction of the driver's own vehicle and passes through a center of the second turning circle;
sets an intersection point at which the first reference line and the third turning circle intersect each other and which is an intersection point in a direction closer to the driver's own vehicle, as a first intersection point;
calculates a second intersection point at which a second reference line extending from a center of the third turning circle and passing through the escapable position intersects with the third turning circle;
calculates an angle between the first intersection point and the second intersection point on the basis of a distance between the first intersection point and the second intersection point and a radius of the third turning circle;
calculates a first turning movement amount of a first turning movement route, which is from the target parking position to the escapable position, on the basis of the angle and a preset reference distance;
calculates a second turning movement amount of a second turning movement route from the escapable position to a second turning movement position; and
calculates a straight advance movement route which connects the second turning movement route and the initial position of the driver's own vehicle, and a straight advance movement amount of the straight advance movement route.
3. The parking assistance apparatus according to claim 1 ,
wherein the escapable position calculation unit judges whether or not the driver's own vehicle can escape from the parking area to the passage area by a steering-wheel-turning-and-advance movement or a straight advance movement from the target parking position; and if the escapable position calculation unit determines that the driver's own vehicle can escape, the escapable position calculation unit sets the target parking position as the escapable position; and if the escapable position calculation unit determines that the driver's own vehicle cannot escape, the escapable position calculation unit calculates an escapable route capable of locating the driver's own vehicle at the escapable position by moving the driver's own vehicle forward or backward from the target parking position at least once and then turning a steering wheel; and wherein the parking route setting unit sets the parking route on the basis of the escapable route and the parking-space leaving route.
4. The parking assistance apparatus according to claim 1 ,
wherein when the first turning circle and the second turning circle intersect each other at two points, the parking-space leaving route calculation unit determines that the parking-space leaving route cannot be calculated.
5. The parking assistance apparatus according to claim 1 ,
wherein a minimum turning radius of the driver's own vehicle is the reference distance.