Parking assistance device and parking assistance method

1. A parking assistance device comprising:

a processor;

an input-output interface connected to an external device; and

a memory,

wherein the processor includes:

a condition obtaining unit configured to obtain a surrounding condition around a vehicle via the input-output interface, the surrounding condition being detected by a detection device;

a parking-position determination unit configured to determine a parking position at which the vehicle is to be parked, based on the obtained surrounding condition around the vehicle;

a route generation unit configured to generate a parking route along which the vehicle is to be moved to the parking position;

a range setting unit configured to calculate a movement range of the vehicle for a case in which the vehicle is moved along the parking route, in terms of a first direction and a second direction orthogonal to the first direction and that sets a search range for searching for an obstacle, based on the calculated movement range in the first direction and the second direction; and

a judgment unit configured

to detect an object that has a possibility of interfering with the movement of the vehicle, based on the obtained surrounding condition around the vehicle,

in a case in which the detected object is positioned within the search range, to judge whether the detected object is an obstacle that interferes with the movement of the vehicle along the parking route, and,

in a case in which the detected object is positioned outside the search range, not to make judgment whether the detected object is the obstacle.

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

the range setting unit sets a vehicle-width direction of the vehicle in a state in which the vehicle is at the parking position as the first direction and sets a vehicle-longitudinal direction of the vehicle in the state in which the vehicle is at the parking position as the second direction, and

the range setting unit sets, as the search range, a range defined by the movement range of the vehicle in the first direction and the movement range of the vehicle in the second direction.

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

the range setting unit sets a plurality of division points at intervals of a specified distance on the parking route,

the range setting unit calculates the coordinate values indicating the range of the vehicle in terms of the first direction and the second direction, assuming a case in which the vehicle is at each of the current position of the vehicle, the positions of the plurality of set division points, and the parking position, and

the range setting unit sets, as the search range, a rectangular range defined by the maximum value and minimum value of the coordinates of the first direction and the maximum value and minimum value of the coordinates of the second direction, out of the coordinate values calculated at all the positions.

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

in a case in which the judgment unit judges that the object is an obstacle that interferes with the movement of the vehicle along the parking route, the route generation unit generates again a parking route along which the vehicle is to be moved to the parking position, avoiding coming into contact with the obstacle.

5. The parking assistance device according to claim 1 , wherein the processor further includes

a display control unit configured to make a display device display an image, the display device being connected to the parking assistance device via the input-output interface, wherein

the range setting unit sets a notification range on the outside of the search range, and

in a case in which the detected object is positioned outside the search range and within the notification range, the display control unit makes the display device display a guidance display indicating that the detected object does not interfere with the movement of the vehicle.

6. A parking assistance method performed by a parking assistance device including a processor; an input-output interface connected to an external device; and a memory, the parking assistance method comprising the steps of:

obtaining a detected surrounding condition around a vehicle;

determining a parking position at which the vehicle is to be parked, based on the obtained surrounding condition around the vehicle;

generating a parking route along which the vehicle is to be moved to the parking position;

calculating a movement range of the vehicle for a case in which the vehicle is moved along the parking route, in terms of a first direction and a second direction orthogonal to the first direction, and setting a search range for searching for an obstacle based on the calculated movement range in the first direction and the second direction;

detecting an object that has a possibility of interfering with the movement of the vehicle, based on the obtained surrounding condition around the vehicle; and

in a case in which the detected object is positioned within the search range, judging whether the detected object is an obstacle that interferes with the movement of the vehicle along the parking route, and in a case in which the detected object is positioned outside the search range, not making judgment whether the detected object is the obstacle.