Parking assistance method and parking assistance device
A parking assistance method includes: detecting, from an image of surroundings of a vehicle, a first target object position; detecting a first image capturing situation when the image is captured; with respect to a second target object position of a target object detected from a past image of surroundings of a target parking position in a past, retrieving one or more combinations of a relative positional relationship between the second target object position and the target parking position and a second image capturing situation when the past image is captured; selecting, the relative positional relationship combined with the second image capturing situation having a difference from the first image capturing situation less than or equal to a predetermined difference; and calculating, based on the selected relative positional relationship and the first target object position, a relative position between a current position of the vehicle and the target parking position.
1. A parking assistance method comprising:
detecting, from an image acquired by capturing surroundings of an own vehicle, a first target object position, the first target object position being a position of a target object around the own vehicle;
detecting a first image capturing situation, the first image capturing situation being an image capturing situation when the image is captured;
with respect to a second target object position, the second target object position being a target object position of a target object detected from a past image, the past image being an image acquired by capturing surroundings of a target parking position in a past, retrieving, from a predetermined storage device in which one or more combinations of a relative positional relationship between the second target object position and the target parking position and a second image capturing situation, the second image capturing situation being an image capturing situation when the past image is captured, are stored, one or more combinations of the relative positional relationship and the second image capturing situation;
selecting, among retrieved relative positional relationships, the relative positional relationship stored in combination with the second image capturing situation having a difference from the first image capturing situation less than or equal to a predetermined difference; and
calculating, based on a selected relative positional relationship and the first target object position, a relative position between a current position of the own vehicle and the target parking position and performing parking assistance of the own vehicle at the target parking position.
2. The parking assistance method according to claim 1 , further comprising selecting, among the retrieved relative positional relationships, the relative positional relationship stored in combination with the second image capturing situation having a smallest difference from the first image capturing situation as the selected relative positional relationship.
3. The parking assistance method according to claim 1 , wherein the first image capturing situation and the second image capturing situation include at least one of brightness or weather at an image capturing point, an image capturing time, an image capturing date and time, and a solar position at a time of image capturing.
4. The parking assistance method according to claim 1 , further comprising:
calculating, based on a relative positional relationship between a current position of the own vehicle and the target parking position, a target travel trajectory from a current position of the own vehicle to the target parking position; and
controlling the own vehicle to travel along the target travel trajectory from a current position of the own vehicle to the target parking position.
5. The parking assistance method according to claim 1 , further comprising:
calculating, based on a relative positional relationship between a current position of the own vehicle and the target parking position, a target travel trajectory from a current position of the own vehicle to the target parking position; and
displaying the target travel trajectory and a position of the own vehicle on a display device, the display device being visually recognizable by a passenger.
6. A parking assistance device comprising:
an image capturing device configured to capture surroundings of an own vehicle; and
a controller configured to:
detect a first target object position, the first target object position being a position of a target object around the own vehicle, from an image generated by the image capturing device;
detect a first image capturing situation, the first image capturing situation being an image capturing situation when the image is captured;
with respect to a second target object position, the second target object position being a target object position of a target object detected from a past image, the past image being an image acquired by capturing surroundings of a target parking position in a past, retrieve, from a predetermined storage device in which one or more combinations of a relative positional relationship between the second target object position and the target parking position and a second image capturing situation, the second image capturing situation being image capturing situation when the past image is captured, are stored, one or more combinations of the relative positional relationship and the second image capturing situation;
select, among retrieved relative positional relationships, the relative positional relationship stored in combination with the second image capturing situation having a difference from the first image capturing situation less than or equal to a predetermined difference;
calculate, based on a selected relative positional relationship and the first target object position, a relative position between a current position of the own vehicle and the target parking position; and
perform parking assistance of the own vehicle at the target parking position.