Parking assist apparatus and a method of controlling the parking assist apparatus

1. A parking assist apparatus comprising:

a processor including a position detection unit configured to detect a current position of a vehicle; and

a sensor provided on the vehicle, the sensor comprising a sonar and a camera configured to detect a periphery of the vehicle,

wherein the processor further includes:

a parking area detection unit configured to detect a parking area in which the vehicle can be parked based on information of the camera;

a parking path computing unit configured to calculate a path along which the vehicle is to be moved from the current position to the parking area based on the parking area detected by the parking area detection unit and a current position of the vehicle,

an obstacle detection unit configured to detect obstacles at a side of the vehicle according to information from the sonar;

a virtual obstacle setting unit configured to set a virtual obstacle at a position adjacent to a parking lot, which is a lot in the parking area;

a virtual obstacle moving unit configured to move the virtual obstacle in parallel in a passing direction of the vehicle by a movement amount corresponding to a separation distance between the parking lot and the vehicle when the vehicle is passing through the parking lot, wherein

the parking path computing unit is configured to

calculate a parking path along which the vehicle is to move from a current position to be parked in the parking lot, based on a current position of the vehicle and each position of an obstacle detected by the sonar, the virtual obstacle, and the parking lot.

2. The parking assist apparatus according to claim 1 , wherein

the virtual obstacle is configured to:

set to a size based on another vehicle that can be parked next to the parking lot; and

set in parallel to the parking lot.

3. The parking assist apparatus according to claim 1 , wherein

the obstacle detection unit is configured to

use information detected in a predetermined range among pieces of information from the sonar.

4. The parking assist apparatus according to claim 1 , wherein the processor further includes:

a peripheral information obtaining unit configured to obtain peripheral information based on an output of the sensor;

a parking frame setting unit configured to set a parking frame, in which the vehicle is to be parked, in the parking area;

a relative position determination unit configured to determine whether the vehicle is beyond a set position being set farther than the parking frame when viewed from a position frontward beyond the parking frame based on a current position of the vehicle;

a forward path setting unit configured to set a forward path along which the vehicle is to be moved to the set position when the vehicle is not beyond the set position; and

an automatic travel control unit configured to move the vehicle to the set position based on the forward path, wherein

the parking path computing unit is configured to

calculate a parking path for moving the vehicle from the set position to the parking frame based on the peripheral information when the vehicle moves to the set position.

5. The parking assist apparatus according to claim 4 , wherein

the set position is configured to be a position in which the vehicle can be moved to the parking frame without including back-and-forth maneuvering which is a repeated operation of forward and reverse advances.

6. The parking assist apparatus according to claim 5 , wherein

the set position is configured to be a position based on a position separated by a minimum turning radius of the vehicle or more in a forward advance direction of the vehicle from a center of the parking frame.

7. A method of controlling a parking assist apparatus comprising a processor including a position detection unit configured to detect a current position of a vehicle, wherein the method of controlling is configured to:

detect a parking area in which the vehicle can be parked based on information of a sensor that is provided to the vehicle and that comprises a sonar and a camera so as to move the vehicle from a current position to the parking area based on positions of the detected parking area and a current position of the vehicle,

wherein the processor further includes an obstacle detection unit configured to detect obstacles at a side of the vehicle according to information from the sonar, the method of controlling configured to comprise:

a first step of setting a virtual obstacle at a position adjacent to a parking lot, which is a lot in the parking area;

a second step of moving the virtual obstacle in parallel in a passing direction of the vehicle by a movement amount corresponding to a separation distance between the parking lot and the vehicle when the vehicle is passing through the parking lot; and

a third step of calculating a parking path along which the vehicle is to move from a current position to park in the parking lot, based on a current position of the vehicle and each position of an obstacle detected by the sonar, the virtual obstacle, and the parking lot.

8. The method of controlling a parking assist apparatus according to claim 7 , wherein

the processor further includes a peripheral information obtaining unit configured to obtain peripheral information based on an output of the sensor, the method of controlling configured to comprise:

a first step of setting a parking frame, in which the vehicle is to be parked, in the parking area;

a second step of determining whether the vehicle is beyond a set position being set farther than the parking frame when viewed from a position frontward beyond the parking frame based on a current position of the vehicle;

a third step of setting a forward path along which the vehicle is to be moved to the set position when the vehicle is not beyond the set position;

a fourth step of moving the vehicle to the set position based on the forward path; and

a fifth step of calculating a parking path along which the vehicle is to be moved from the set position to the parking frame based on the peripheral information when the vehicle moves to the set position.