Parking assistance apparatus, on-vehicle camera, vehicle, and parking assistance method
A parking assistance apparatus includes a processor and a memory. The processor extracts a parking space from a surrounding image of a vehicle and generates an image in which a target parking position is in overlap with the parking space, the surrounding image being captured by an imaging apparatus provided in the vehicle. The memory stores history information associating a parking position of the vehicle with the parking space. The processor adjusts a position of the target parking position in the image on the basis of the history information.
1. A parking assistance apparatus comprising:
a processor configured to extract a parking space from a surrounding image of a vehicle and to generate an image including a target parking position in overlap with the parking space, the surrounding image being captured by an imaging apparatus provided in the vehicle; and
a memory configured to store history information associating a past parking position of the vehicle with the parking space,
wherein the processor adjusts a position of the target parking position in the image based on a difference between a deviation rate of the target parking position and a deviation rate of the past parking position.
2. The parking assistance apparatus of claim 1 , wherein the memory stores a plurality of pieces of the history information divided into predetermined categories.
3. The parking assistance apparatus of claim 2 , wherein the predetermined categories are based on positions of the vehicle.
4. The parking assistance apparatus of claim 2 , wherein the predetermined categories are based on types of parking.
5. The parking assistance apparatus of claim 1 , wherein the processor further adjusts the position of the target parking position in the image on the basis of information related to a passenger of the vehicle.
6. The parking assistance apparatus of claim 5 , wherein the information related to the passenger of the vehicle is a seating position of the passenger of the vehicle.
7. The parking assistance apparatus of claim 1 , wherein each deviation rate is calculated by an equation R=DR/DL, where R is the deviation rate, DR is a distance between the vehicle and a right boundary of the parking space with reference to a forward direction of the vehicle and DL is a distance between the vehicle and a left boundary of the parking space with reference to the forward direction of the vehicle.
8. An on-vehicle camera comprising a parking assistance apparatus,
wherein the parking assistance apparatus comprises:
a processor configured to extract a parking space from a surrounding image of a vehicle and to generate an image including a target parking position in overlap with the parking space, the surrounding image being captured by an imaging apparatus provided in the vehicle; and
a memory configured to store history information associating a past parking position of the vehicle with the parking space; and
wherein the processor adjusts a position of the target parking position in the image based on a difference between a deviation rate of the target parking position and a deviation rate of the past parking position.
9. The on-vehicle camera of claim 8 , wherein each deviation rate is calculated by an equation R=DR/DL, where R is the deviation rate, DR is a distance between the vehicle and a right boundary of the parking space with reference to a forward direction of the vehicle and DL is a distance between the vehicle and a left boundary of the parking space with reference to the forward direction of the vehicle.
10. A vehicle comprising a parking assistance apparatus,
wherein the parking assistance apparatus comprises:
a processor configured to extract a parking space from a surrounding image of the vehicle and to generate an image including a target parking position in overlap with the parking space, the surrounding image being captured by an imaging apparatus provided in the vehicle; and
a memory configured to store history information associating a past parking position of the vehicle with the parking space; and
wherein the processor adjusts a position of the target parking position in the image based on a difference between a deviation rate of the target parking position and a deviation rate of the past parking position.
11. The vehicle of claim 10 , wherein each deviation rate is calculated by an equation R=DR/DL, where R is the deviation rate, DR is a distance between the vehicle and a right boundary of the parking space with reference to a forward direction of the vehicle and DL is a distance between the vehicle and a left boundary of the parking space with reference to the forward direction of the vehicle.
12. A parking assistance method executed by a parking assistance apparatus comprising a processor and a memory, the parking assistance method comprising:
extracting, using the processor, a parking space from a surrounding image of a vehicle, the surrounding image being captured by an imaging apparatus provided in the vehicle;
generating, using the processor, an image including a target parking position in overlap with the parking space;
storing, using the memory, history information associating a past parking position of the vehicle with the parking space; and
adjusting, using the processor, a position of the target parking position in the image based on a difference between a deviation rate of the target parking position and a deviation rate of the past parking position.
13. The parking assistance method of claim 12 , wherein each deviation rate is calculated by an equation R=DR/DL, where R is the deviation rate, DR is a distance between the vehicle and a right boundary of the parking space with reference to a forward direction of the vehicle and DL is a distance between the vehicle and a left boundary of the parking space with reference to the forward direction of the vehicle.