Parking assistance apparatus and parking assistance method
A parking assistance apparatus includes: a processor; and a designated parking slot storage circuit that stores an area in a range based on a position away from a vehicle position by a preset distance as a designated parking slot corresponding to a parking instruction of an occupant, in which the processor detects a parking slot corresponding to the designated parking slot, and performs automatic parking of the vehicle based on information on the corresponding parking slot.
1 . A parking assistance apparatus for a vehicle, the parking assistance apparatus comprising:
an input configured to be coupled with a camera and a human-machine interface device, the camera being configured to capture an ambient image of ambient area of the vehicle, the human-machine interface device being configured to receive at least a parking instruction of an occupant of the vehicle; and
an output configured to be coupled with the human-machine interface device and a vehicle control device, the human-machine interface device being configured to output at least one of an image or a sound, the vehicle control device being configured to control at least a steering angle and a speed of the vehicle, wherein
while the parking assistance apparatus does not detect a parking slot based on the ambient image, the parking assistance apparatus outputs a guide image overlapping the ambient image using the human-machine interface device, the guide image including an indicator,
the parking assistance apparatus stores
a target parking slot corresponding to the indicator on the ambient image in response to receiving the parking instruction of the occupant using the human-machine interface device, and
the parking assistance apparatus sets the vehicle control device to perform an automatic parking of the vehicle to the target parking slot after the parking assistance apparatus detects the target parking slot based on the ambient image.
2 . The parking assistance apparatus according to claim 1 , wherein
the indicator of the guide image comprises a line overlapping the ambient image.
3 . The parking assistance apparatus according to claim 1 , wherein
the parking assistance apparatus corrects a position of the indicator in a screen of a display of the human-machine interface device, depending on a speed of the vehicle.
4 . The parking assistance apparatus according to claim 1 , wherein
the parking assistance apparatus corrects a position of the indicator in a screen of a display of the human-machine interface device, depending on an inclination of the vehicle in a front and rear direction.
5 . The parking assistance apparatus according to claim 1 , wherein
the parking assistance apparatus outputs the guide image including the indicator when a traveling speed of the vehicle is less than a predetermined speed.
6 . The parking assistance apparatus according to claim 1 , wherein
the parking assistance apparatus does not receive the parking instruction of the occupant using the human-machine interface device when a traveling speed of the vehicle is greater than a predetermined speed.
7 . The parking assistance apparatus according to claim 1 , wherein
the parking assistance apparatus starts waiting for the parking instruction of the occupant after an instruction of starting parking assistance by the occupant is detected.
8 . The parking assistance apparatus according to claim 7 , wherein
the parking assistance apparatus stops waiting for the parking instruction of the occupant when a number of times which the parking instruction is received is greater than a predetermined number.
9 . The parking assistance apparatus according to claim 7 , wherein
the parking assistance apparatus stops waiting for the parking instruction of the occupant when the vehicle travels a predetermined distance after the parking assistance apparatus starts waiting for the parking instruction of the occupant.
10 . The parking assistance apparatus according to claim 7 , wherein
the parking assistance apparatus stops waiting for the parking instruction of the occupant when a predetermined time elapses after the parking assistance apparatus starts waiting for the parking instruction of the occupant.
11 . The parking assistance apparatus according to claim 7 , wherein
the parking instruction of the occupant is an operation of a direction indicator by the occupant.
12 . The parking assistance apparatus according to claim 11 , wherein
the parking assistance apparatus determines whether the operation of the direction indicator is a first operation indicating the parking instruction or a second operation involving a right or left turn of the vehicle.
13 . The parking assistance apparatus according to claim 1 , wherein
the human-machine interface device includes a screen of a display, the screen being configured to display the guide image overlapping the ambient image.
14 . A parking assistance apparatus for a vehicle, the parking assistance apparatus comprising:
an input configured to be coupled with a camera and a human-machine interface device, the camera being configured to capture an ambient image of ambient area of the vehicle, the human-machine interface device being configured to receive at least a parking instruction of an occupant of the vehicle; and
an output configured to be coupled with the human-machine interface device and a vehicle control device, the human-machine interface device being configured to output at least one of an image or a sound, the vehicle control device being configured to control at least a steering angle and a speed of the vehicle, wherein
while the parking assistance apparatus does not detect a parking slot based on the ambient image, the parking assistance apparatus outputs a guide image using the human-machine interface device, the guide image including an indicator,
the parking assistance apparatus stores a target parking slot corresponding to the indicator in response to receiving the parking instruction of the occupant using the human-machine interface device, and
the parking assistance apparatus sets the vehicle control device to perform an automatic parking of the vehicle to the target parking slot after the parking assistance apparatus detects the target parking slot based on the ambient image.
15 . The parking assistance apparatus according to claim 14 , wherein
the parking assistance apparatus projects the guide image including the indicator on a road surface in front of the vehicle.
16 . The parking assistance apparatus according to claim 15 , wherein
the parking assistance apparatus outputs the guide image including the indicator using a head-up display of the vehicle.
17 . The parking assistance apparatus according to claim 15 , wherein
the parking assistance apparatus outputs the guide image including the indicator when a traveling speed of the vehicle is less than a predetermined speed.
18 . A parking assistance apparatus for a vehicle, the parking assistance apparatus comprising:
an input configured to be coupled with a camera and a human-machine interface device, the camera being configured to capture an ambient image of ambient area of the vehicle, the human-machine interface device being configured to receive at least a parking instruction of an occupant of the vehicle; and
an output configured to be coupled with a vehicle control device, the vehicle control device being configured to control at least a steering angle and a speed of the vehicle, wherein
while the parking assistance apparatus does not detect a parking slot based on the ambient image, the parking assistance apparatus stores a target parking slot corresponding to an indicator in response to receiving the parking instruction of the occupant using the human-machine interface device, and
the parking assistance apparatus sets the vehicle control device to perform an automatic parking of the vehicle to the target parking slot after the parking assistance apparatus detects the target parking slot based on the ambient image.
19 . The parking assistance apparatus according to claim 18 , wherein
the vehicle comprises the indicator as a part of a body of the vehicle.