Parking assistance device

1. A parking assistance device comprising:

a ground object detection unit configured to detect a ground object that defines a parking stall in a predetermined detection region set in advance on a lateral side of a vehicle;

a parking stall calculation unit configured to, based on the ground object detected by the ground object detection unit, calculate a parking stall that exists in the detection region; and

a target parking stall setting unit configured to, among a plurality of adjacent parking stalls calculated by the parking stall calculation unit, set a parking stall in a width direction of the vehicle in a view from a driver's seat of the vehicle as a target parking stall.

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

when garage parking the vehicle, among the parking stalls calculated by the parking stall calculation unit, the target parking stall setting unit sets a parking stall in which the ground object is present on both sides in the width direction of the parking stall as the target parking stall.

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

if no parking stall is present in the width direction of the vehicle in a view from the driver's seat, the target parking stall setting unit sets, as the target parking stall, the parking stall at a position having the shortest distance in the length direction of the vehicle from the width-direction position of the driver's seat of the vehicle.

4. A parking assistance device according to claim 3 , wherein

if a plurality of parking stalls are present in the width direction of the vehicle as viewed from the driver's seat, the target parking stall setting unit sets, as the target parking stall, the parking stall located behind the vehicle in the vehicle length direction.

5. A parking assistance device according to claim 4 , wherein

the target parking stall setting unit automatically re-sets the target parking stall according to movement of the detection region accompanying movement of the vehicle.

6. A parking assistance device according to claim 3 , wherein

the target parking stall setting unit automatically re-sets the target parking stall according to movement of the detection region accompanying movement of the vehicle.

7. A parking assistance device according to claim 2 , wherein

if a plurality of parking stalls are present in the width direction of the vehicle as viewed from the driver's seat, the target parking stall setting unit sets, as the target parking stall, the parking stall located behind the vehicle in the vehicle length direction.

8. A parking assistance device according to claim 7 , wherein

the target parking stall setting unit automatically re-sets the target parking stall according to movement of the detection region accompanying movement of the vehicle.

9. A parking assistance device according to claim 2 , wherein

the target parking stall setting unit automatically re-sets the target parking stall according to movement of the detection region accompanying movement of the vehicle.

10. A parking assistance device according to claim 1 , wherein

if no parking stall is present in the width direction of the vehicle in a view from the driver's seat, the target parking stall setting unit sets, as the target parking stall, the parking stall at a position having the shortest distance in the length direction of the vehicle from the width-direction position of the driver's seat of the vehicle.

11. A parking assistance device according to claim 10 , wherein

if a plurality of parking stalls are present in the width direction of the vehicle as viewed from the driver's seat, the target parking stall setting unit sets, as the target parking stall, the parking stall located behind the vehicle in the vehicle length direction.

12. A parking assistance device according to claim 11 , wherein

the target parking stall setting unit automatically re-sets the target parking stall according to movement of the detection region accompanying movement of the vehicle.

13. A parking assistance device according to claim 10 , wherein

the target parking stall setting unit automatically re-sets the target parking stall according to movement of the detection region accompanying movement of the vehicle.

14. A parking assistance device according to claim 1 , wherein

if a plurality of parking stalls are present in the width direction of the vehicle as viewed from the driver's seat, the target parking stall setting unit sets, as the target parking stall, the parking stall located behind the vehicle in the vehicle length direction.

15. A parking assistance device according to claim 14 , wherein

the target parking stall setting unit automatically re-sets the target parking stall according to movement of the detection region accompanying movement of the vehicle.

16. A parking assistance device according to claim 1 , wherein

the target parking stall setting unit automatically re-sets the target parking stall according to movement of the detection region accompanying movement of the vehicle.

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

the target parking stall setting unit sets, from among the parking stalls calculated by the parking stall calculation unit, a parking stall in which the ground object is present on both sides in the width direction of the parking stall as the target parking stall, and

when the ground object is present in the width direction of the vehicle in a view from the driver's seat, the target parking stall setting unit sets, as the target parking stall, a parking stall at a position having the shortest distance in the length direction of the vehicle from the width-direction position of the driver's seat of the vehicle.