PARKING ASSISTANCE DEVICE, PARKING ASSISTANCE METHOD, AND VEHICLE

1 . A parking assistance device configured to assist parking of a vehicle, the parking assistance device comprising:

a communication interface;

a processor; and

a memory storing instructions that, when executed by the processor, cause the parking assistance device to perform operations, the operations comprising:

obtaining an image of a parking frame through the communication interface, the image being captured by an image capturing device provided in the vehicle; and

determining, based on a number of one or more occupants in the vehicle, a correction value of a position of each of at least one end point of the parking frame detected from the image.

2 . The parking assistance device according to claim 1 ,

wherein the correction value increases as the number of one or more occupants increases.

3 . The parking assistance device according to claim 1 ,

wherein the correction value is determined based on a seating position of each of the one or more occupants in the vehicle.

4 . The parking assistance device according to claim 1 ,

wherein the correction value is determined based on a position of the image capturing device relative to each of the at least one end point.

5 . The parking assistance device according to claim 4 ,

wherein the at least one end point includes a first end point and a second end point respectively corresponding to two lines defining the parking frame, and

wherein the determining the correction value comprises determining a first correction value of a position of the first end point and a second correction value of a position of the second end point.

6 . The parking assistance device according to claim 5 ,

wherein the first end point and the second end point are end points at an entrance of the parking frame.

7 . The parking assistance device according to claim 6 ,

wherein the position of the image capturing device relative to each of the at least one end point is a position of the image capturing device relative to each of the at least one end point in a width direction of the entrance of the parking frame.

8 . The parking assistance device according to claim 7 ,

wherein the position of the image capturing device relative to each of the at least one end point is a range in which the image capturing device is located relative to each of the at least one end point, the range being of a plurality of ranges divided along the width direction of the entrance of the parking frame.

9 . The parking assistance device according to claim 8 ,

wherein at least one of the first correction value and the second correction value increases as the number of the one or more occupants increases.

10 . The parking assistance device according to claim 9 ,

wherein at least one of the first correction value and the second correction value corrects a width of the entrance of the parking frame to be larger as the number of the one or more occupants increases.

11 . The parking assistance device according to claim 1 ,

wherein the at least one end point includes a first end point and a second end point respectively corresponding to two lines defining the parking frame, and

wherein the determining the correction value comprises determining a first correction value of a position of the first end point and a second correction value of a position of the second end point.

12 . The parking assistance device according to claim 11 ,

wherein at least one of the first correction value and the second correction value increases as the number of the one or more occupants increases.

13 . The parking assistance device according to claim 12 ,

wherein the first end point and the second end point are end points at an entrance of the parking frame.

14 . The parking assistance device according to claim 13 ,

wherein at least one of the first correction value and the second correction value corrects a width of the entrance of the parking frame to be larger as the number of the one or more occupants increases.

15 . The parking assistance device according to claim 1 ,

wherein the correction value is determined based on an actual distance between two lines defining the parking frame.

16 . The parking assistance device according to claim 15 ,

wherein the correction value increases as the number of the one or more occupants increases.

17 . The parking assistance device according to claim 16 ,

wherein the two lines define an entrance of the parking frame.

18 . The parking assistance device according to claim 17 ,

wherein the correction value corrects a width of the entrance of the parking frame to be larger as the number of the one or more occupants increases.

19 . A parking assistance method for assisting parking of a vehicle, the parking assistance method comprising:

obtaining an image of a parking frame captured by an image capturing device provided in the vehicle; and

determining, based on a number of one or more occupants in the vehicle, a correction value of a position of an end point of the parking frame detected from the image.

20 . A vehicle comprising:

an image capturing device;

a detection device;

at least one processor; and

at least one memory storing instructions that, when executed by the at least one processor, cause the vehicle to perform operations, the operations comprising:

obtaining an image of a parking frame captured by the image capturing device;

determining, based on detection information detected by the detection device indicating a number of one or more occupants in the vehicle, a correction value of a position of an end point of the parking frame detected from the image;

specifying a path for parking the vehicle in the parking frame corrected by using the correction value; and

controlling movement of the vehicle based on the path.