Parking assistance device and parking assistance method

1. A parking assistance device, comprising:

a surrounding detection circuitry detecting surrounding information of a vehicle which is to be parked to detect a parking space where the vehicle is to be parked;

a parking route generation circuitry generating a traveling route from a current position of the vehicle to the parking space detected by the surrounding detection circuitry;

a travel controlling circuitry making the vehicle travel to the parking space along the traveling route;

an obstacle detection circuitry detecting an obstacle around the vehicle; and

a parking route regeneration circuitry generating a new traveling route to avoid a collision between the vehicle and the obstacle and park the vehicle in the parking space when the obstacle detection circuitry detects the obstacle on the traveling route in a case where the travel controlling circuitry makes the vehicle travel to the parking space along the traveling route, wherein

the travel controlling circuitry makes the vehicle travel along the new traveling route when the new traveling route is generated, and

the parking route regeneration circuitry generates the new traveling route based on the surrounding information detected by the surrounding detection circuitry after an elapse of a predetermined period of time after the obstacle detection circuitry detects the obstacle and the vehicle stops.

2. A parking assistance device, comprising:

a surrounding detection circuitry detecting surrounding information of a vehicle which is to be parked to detect a parking space where the vehicle is to be parked;

a parking route generation circuitry generating a traveling route from a current position of the vehicle to the parking space detected by the surrounding detection circuitry;

a travel controlling circuitry making the vehicle travel to the parking space along the traveling route;

an obstacle detection circuitry detecting an obstacle around the vehicle; and

a parking route regeneration circuitry generating a new traveling route to avoid a collision between the vehicle and the obstacle and park the vehicle in the parking space when the obstacle detection circuitry detects the obstacle on the traveling route in a case where the travel controlling circuitry makes the vehicle travel to the parking space along the traveling route, wherein

when the surrounding detection circuitry detects a plurality of parking spaces or detects a wide parking space available for a plurality of vehicles, and

when the obstacle detection circuitry detects the obstacle on the traveling route in a case where the travel controlling circuitry makes the vehicle travel to the parking space along the traveling route,

the parking route regeneration circuitry generates a plurality of traveling routes to avoid a collision between the vehicle and the obstacle and park the vehicle in the plurality of parking spaces or the wide parking space, and the parking assistance device further comprises

a parking route determination circuitry provided between the parking route regeneration circuitry and the travel controlling circuitry to determine the new traveling route from the plurality of traveling routes generated by the parking route regeneration circuitry.

3. The parking assistance device according to claim 2 , wherein

each of the plurality of traveling routes is generated as a traveling route having a small target steering angle and avoiding a stationary steering on the plurality of parking spaces or the wide parking space while avoiding a collision between the vehicle and the obstacle, and

the parking route determination circuitry selects a traveling route having a smallest target steering angle from the plurality of traveling routes, thereby determining the new traveling route.

4. The parking assistance device according to claim 1 , wherein

the travel controlling circuitry stops the vehicle before the obstacle when the obstacle detection circuitry detects the obstacle.

5. The parking assistance device according to claim 2 , wherein

the parking route regeneration circuitry generates the plurality of traveling routes based on the surrounding information detected by the surrounding detection circuitry after an elapse of a predetermined period of time after the obstacle detection circuitry detects the obstacle and the vehicle stops.

6. The parking assistance device according to claim 1 , further comprising

a display circuitry displaying the traveling route generated by the parking route generation circuitry and the new traveling route generated by the parking route regeneration circuitry.

7. The parking assistance device according to claim 2 , further comprising

a display circuitry displaying the traveling route generated by the parking route generation circuitry and the new traveling route determined by the parking route determination circuitry.

8. The parking assistance device according to claim 6 , wherein

the display circuitry is configured to allow a user to select whether or not to adopt the traveling route which is displayed.

9. The parking assistance device according to claim 7 , wherein

the display circuitry is configured to allow a user to select whether or not to adopt the traveling route which is displayed.

10. The parking assistance device according to claim 1 , further comprising

a parking position input circuitry configured to select a parking space when the surrounding detection circuitry detects a plurality of parking spaces or detects a wide parking space available for a plurality of vehicles.

11. The parking assistance device according to claim 2 , further comprising

a parking position input circuitry configured to select a parking space when the surrounding detection circuitry detects a plurality of parking spaces or detects the wide parking space.

12. The parking assistance device according to claim 1 , wherein

the obstacle detection circuitry detects how the obstacle is located on a road surface based on a distance from the vehicle to the obstacle using a two-dimensional grid type map.

13. A parking assistance method, comprising:

a process (a) of detecting surrounding information of a vehicle to detect a parking space where the vehicle is to be parked;

a process (b) of generating a traveling route from a current position of the vehicle to the parking space detected in the process (a);

a process (c) of making the vehicle travel to the parking space along the traveling route;

a process (d) of confirming whether or not an obstacle is detected on the traveling route when the vehicle travels to the parking space along the traveling route;

a process (e) of generating a new traveling route to avoid a collision between the vehicle and the obstacle and park the vehicle in the parking space when the obstacle is detected on the traveling route in the process (d); and

a process (f) of making the vehicle travel along the new traveling route when the new traveling route is generated, wherein

the process (e) includes a process of generating the new traveling route based on the surrounding information after an elapse of a predetermined period of time after the obstacle is detected and the vehicle stops.

14. A parking assistance method, comprising:

a process (a) of detecting surrounding information of a vehicle to detect a parking space where the vehicle is to be parked;

a process (b) of generating a traveling route from a current position of the vehicle to the parking space detected in the process (a);

a process (c) of making the vehicle travel to the parking space along the traveling route;

a process (d) of confirming whether or not an obstacle is detected on the traveling route when the vehicle travels to the parking space along the traveling route;

a process (e) of generating a new traveling route to avoid a collision between the vehicle and the obstacle and park the vehicle in the parking space when the obstacle is detected on the traveling route in the process (d); and

a process (f) of making the vehicle travel along the new traveling route when the new traveling route is generated, wherein

when a plurality of parking spaces or a wide parking space available for a plurality of vehicles is detected in the process (a), and

when the obstacle is detected on the traveling route in the process (d),

the process (e) includes a process (e-1) of generating a plurality of traveling routes to avoid a collision between the vehicle and the obstacle and park the vehicle in the plurality of parking spaces or the wide parking space, and the parking assistance method further comprises

a process (g) of determining the new traveling route from the plurality of traveling routes after the process (e) and before the process (f).

15. The parking assistance method according to claim 14 , wherein

the process (e-1) includes a process of generating each of the plurality of traveling routes as a traveling route having a small target steering angle and avoiding a stationary steering on the plurality of parking spaces or the wide parking space while avoiding a collision between the vehicle and the obstacle, and

the process (g) includes a process of selecting a traveling route having a smallest target steering angle from the plurality of traveling routes, thereby determining the new traveling route.