Parking assistance device

1. A parking assistance device for assisting in parking a vehicle in a parking space that is provided on one side of a road, comprising a processor configured with:

a parking path setting function configured to set a parking path of from an initial position of the vehicle on the road to a target parking position in the parking space;

a positional deviation determination function configured to, when the vehicle has been parked along the parking path, determine whether there is a positional deviation between the vehicle and the parking space; and

a repositioning path computing function configured to, when a positional deviation is determined to be present, compute a repositioning path for correcting the positional deviation by moving the vehicle from the parking space to the road and then from the road to the target parking position in the parking space,

wherein the positional deviation determination function is configured to determine that a positional deviation is present if at least one of the following two conditions is satisfied: a distance between a parked position of the vehicle and the target parking position in the parking space is greater than or equal to a predetermined value, or an angle between a vehicle orientation of the vehicle and a parking orientation of the parking space is greater than or equal to a predetermined value, and

wherein the repositioning path computing function includes at least one of a first repositioning path computing function or a second repositioning path computing function,

the first repositioning path computing function is configured to compute a pull-out path for moving the vehicle straight from the parked position of the vehicle to a position on the road, and a pull-in path for moving the vehicle from the position on the road into the parking space while turning the vehicle to one of a right or left side, and compute a first repositioning path by connecting the pull-out path and the pull-in path, and

the second repositioning path computing function is configured to compute a pull-out path for moving the vehicle from the parked position of the vehicle to a position on the road while turning the vehicle to both right and left sides, and a pull-in path for moving the vehicle straight from the position on the road, to which the vehicle has been moved along the pull-out path, into the parking space, and compute a second repositioning path by connecting the pull-out path and the pull-in path.

2. The parking assistance device according to claim 1 ,

wherein the first repositioning path computing function is configured to compute a circle having as tangents both the vehicle orientation of the vehicle and the parking orientation of the parking space,

compute as the pull-out path a path obtained by connecting the parked position of the vehicle to a first point of tangency between the circle and the vehicle orientation of the vehicle, along the vehicle orientation of the vehicle using a straight line, and

compute as the pull-in path each of a path obtained by connecting the first point of tangency to a second point of tangency between the circle and the parking orientation of the parking space, along the circle using an arc, and a path obtained by connecting the second point of tangency to the target parking position along the parking orientation of the parking space using a straight line.

3. The parking assistance device according to claim 2 ,

wherein the first repositioning path computing function is configured to compute the first repositioning path when all of the following three computation conditions are satisfied: the second point of tangency is closer to a position outside of the parking space than to the target parking position, the vehicle does not contact an obstacle when moved along the circle, and the circle has a radius that is greater than or equal to a minimum turning radius of the vehicle.

4. The parking assistance device according to claim 1 ,

wherein the second repositioning path computing function is configured to set an intermediate target position at a position on the road that is away from the target parking position along the parking orientation of the parking space on the basis of a road width of the road,

compute a pair of circles having identical radii and having a single point of tangency therebetween, one of the circles passing through the parked position of the vehicle, the other circle passing through the intermediate target position, and computing as the pull-out each of a path obtained by connecting the target parking position to the single point of tangency along the one of the circles using an arc, and a path obtained by connecting the single point of tangency to the intermediate target position along the other circle using an arc, and

compute as the pull-in path a path obtained by connecting the intermediate target position to the target parking position along the parking orientation using a straight line.

5. The parking assistance device according to claim 4 ,

wherein the second repositioning path computing function is configured to compute the second repositioning path if both of the following two conditions are satisfied: the vehicle does not contact an obstacle when moved along the pair of circles, and each of the pair of circles has a radius that is greater than or equal to a minimum turning radius of the vehicle.

6. The parking assistance device according to claim 1 ,

wherein the repositioning path computing function is configured to, when computation of the first repositioning path by the first repositioning path computing function is not available, compute the second repositioning path with the second repositioning path computing function.