Parking assistance device
A parking assistance device includes: a situation information acquisition unit acquiring, when a vehicle is repeatedly parked at a parking target position, peripheral situation information; a storage control unit storing first situation information indicating the peripheral situation information and a movement route for the parking target position; an information updating unit updating, when new information is included in second situation information acquired when newly parking at the parking target position and a region specified by the new information does not interfere with a region where the movement route exists, the first situation information by the second situation information; a current position estimation unit estimating a current position by comparing the first and second situation information; and a guidance control unit guiding the vehicle to the parking target position according to the estimated current position and the movement route.
1. A parking assistance device comprising:
a situation information acquisition unit configured to, when a vehicle is repeatedly parked at a same parking target position, acquire peripheral situation information of a peripheral region including the parking target position detected by a detection unit provided in the vehicle;
a storage control unit configured to store first situation information indicating the peripheral situation information and a movement route for reaching the parking target position, which are acquired when the vehicle completes the parking at the parking target position;
an information updating unit configured to compare the first situation information with second situation information which indicates the peripheral situation information acquired when the vehicle newly parks at the parking target position, to determine, based on said comparison, whether new information which is not included in the first situation information is included in the second situation information and whether a region specified by the new information does not interfere with a region where the movement route exists, and to, in a case where the region specified by the new information does not interfere with a region where the movement route exists, update the first situation information stored in the storage control unit with the second situation information which includes the new information;
a current position estimation unit configured to estimate a current position of the vehicle by comparing the first situation information with the second situation information; and
a guidance control unit configured to guide the vehicle to the parking target position according to the estimated current position and the movement route.
2. The parking assistance device according to claim 1 , wherein
the information updating unit extracts an object boundary line which is regarded as a boundary line between a road surface and an object included in the first situation information and the second situation information, and compares the first situation information with the second situation information.
3. The parking assistance device according to claim 1 , wherein
the information updating unit extracts difference information between the first situation information and the second situation information, and updates the first situation information by the difference information.