PARKING ASSISTANCE DEVICE

• Main Authors: HASEJIMA Noriyasu, TAGAWA Shinya, ISHINODA Makoto
• Format: Patent
• Language: English; French; German
• Published: 06.01.2021
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; GYROSCOPIC INSTRUMENTS; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; MOTOR VEHICLES; NAVIGATION; PERFORMING OPERATIONS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS; TRAILERS; TRANSPORTING; VEHICLES IN GENERAL

An object of the present invention is to provide a parking assistance device that can, when assisting in angle parking, park a vehicle at a position intended by a driver and in a correct vehicle attitude. A parking assistance device (1) of the present invention includes a pull-out path computing unit (11) that computes a pull-out path (51) for pulling a vehicle (V) out of a parking space (20) based on information on the parking space and constraint conditions regarding vehicle behavior, a candidate connection position setting unit (12) that sets a plurality of candidate connection positions (Pn) on the pull-out path (51), a reachable path computing unit (13) that computes a reachable path (52) that allows the vehicle (V) to reach one of the plurality of candidate connection positions (Pn) from the initial position (P0) thereof, and a parking path setting unit that sets a parking path by connecting the pull-out path (51) and the reachable path (52). The pull-out path computing unit (11) computes, when angle parking is assisted, the pull-out path (51) based on the angle of inclination (θ1) between the road orientation (25) and the parking orientation (26).