Parking assistance device

Abstract

The present invention provides a parking assistance device that can perform parking assistance for parking at an appropriate position corresponding to the shape of a dividing line of a parking area. The parking assistance device includes: a first detection unit that detects a dividing line substantially parallel to the long side direction of the parking area; a setting unit that sets a region of interest at a position determined based on the dividing line detected by the first detection unit, the region of interest being a region for detecting edge points indicating the boundary of the dividing line; a dividing unit that divides the region of interest into a plurality of divided regions according to a dividing line in an orthogonal direction orthogonal to the long side direction; a second detection unit that detects a front end position based on the edge points within the region of interest, the front end position indicating one end of the dividing line substantially parallel to the long side direction on the entry side where the vehicle enters the parking area; and a determination unit that determines a parking position based on the front end position.

Description

Technical Field

[0001] Embodiments of the present invention relate to a parking assistance device. Background Art

[0002] Conventionally, a parking assistance device that determines a parking position based on a detection result of a sensor and a captured image has been known. Such a parking assistance device determines a parking position by detecting a longitudinal dividing line that is substantially parallel to the long side direction of a parking area.

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2018-185589

[0004] Generally, depending on the shape of the front end portion of the dividing line, the parking position in the longitudinal direction is different. However, since the parking assistance device determines the parking position based on the longitudinal dividing line, there is a case where the parking position deviates from an appropriate position in the longitudinal direction. Therefore, parking assistance for parking at an appropriate position corresponding to the shape of the dividing line of the parking area is required. [[ID=!6]]Summary of the Invention [[ID=1!8]]

[0005] The parking assistance device according to an embodiment of the present invention includes, for example: a first detection unit that detects a dividing line that is substantially parallel to the long side direction of a parking area; a setting unit that sets a region of interest at a position determined based on the dividing line detected by the first detection unit, the region of interest being a region for detecting edge points indicating a boundary of the dividing line; a second detection unit that detects a front end position based on the edge points within the region of interest, the front end position indicating one end of the dividing line that is substantially parallel to the long side direction on the entry side where the vehicle enters the parking area; and a determination unit that determines a parking position based on the front end position. Thus, for example, the parking assistance device can perform parking assistance for parking at an appropriate position corresponding to the shape of the dividing line.

[0006] As an example, the parking assistance device according to an embodiment of the present invention further includes a dividing unit that divides the region of interest into a plurality of divided regions according to a dividing line in the orthogonal direction that is orthogonal to the long side direction, and the second detection unit detects a front end position based on the edge points within the divided regions, the front end position indicating one end of the dividing line that is substantially parallel to the long side direction on the entry side where the vehicle enters the parking area. Thus, for example, the parking assistance device can detect a front end position indicating one end of the dividing line from the region of interest.

[0007] As an example, in the parking assistance device, the second detection unit specifies the front end position based on the detection result of the dividing line and the divided regions determined based on the edge points. Thus, for example, the parking assistance device can reduce the case where the parking position deviates due to noise or the like.

[0008] As an example, in the above-described parking assist device, a determination unit is further provided. The determination unit determines whether a dividing line substantially parallel to the long side direction is a double line. When the determination unit determines that the dividing line substantially parallel to the long side direction is a double line, the setting unit sets the attention area in the first area based on the dividing line substantially parallel to the long side direction formed by the double line. The first area is within a range of a predetermined distance from the end of the dividing line. The determination unit determines the parking position based on the front end position detected from the first area. Thus, for example, the parking assist device can perform parking assist for parking at an appropriate position corresponding to the shape of the dividing line formed by the double line.

[0009] As an example, in the above-described parking assist device, when the determination unit determines that the dividing line substantially parallel to the long side direction is not a double line, the setting unit sets the attention area in the second area and the third area. The second area includes the end of the dividing line formed by a single line. The third area is located on the side of the second area and in the short side direction of the parking area. When no dividing line in the orthogonal direction orthogonal to the long side direction is detected from the third area, the determination unit determines the parking position based on the front end position detected from the second area. Thus, for example, the parking assist device can perform parking assist for parking at an appropriate position corresponding to the shape of the I-shaped dividing line.

[0010] As an example, in the above-described parking assist device, when the dividing line in the orthogonal direction is detected from the third area, the determination unit determines the parking position based on the front end position and the line width of the dividing line. Thus, for example, the parking assist device can perform parking assist for parking at an appropriate position corresponding to the shape of the T-shaped dividing line.

[0011] As an example, in the above-described parking assist device, when the distance in the orthogonal direction orthogonal to the long side direction between the dividing line substantially parallel to the long side direction and the adjacent dividing line substantially parallel to the long side direction is below a threshold value, the determination unit determines that it is a double line. Thus, for example, the parking assist device can reduce the situation where a dividing line not formed by a double line is determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is an exemplary and schematic perspective view showing a state of a part of a vehicle compartment in which an image processing device according to an embodiment is mounted.

[0013] Figure 2 is an exemplary and schematic top view of a vehicle equipped with the parking assist device of the present embodiment.

[0014] Figure 3 This is an illustrative and schematic diagram of a case where an instrument panel of a vehicle equipped with the parking assist device according to the embodiment is viewed from the rear of the vehicle.

[0015] Figure 4 This is an illustrative and schematic block diagram showing the functional configuration of a control system of a vehicle including the parking assist device according to the present embodiment.

[0016] Figure 5 This is a block diagram schematically and exemplarily showing a configuration in which the parking assistance device (parking assistance unit) according to the embodiment is realized using a CPU.

[0017] Figure 6 It is an explanatory diagram schematically and exemplarily showing a parking position in the case of a U-shaped dividing line.

[0018] Figure 7 It is an explanatory diagram schematically showing a parking position in the case of an I-shaped dividing line.

[0019] Figure 8 It is an explanatory diagram that schematically and exemplarily shows a parking position in the case of a T-shaped dividing line.

[0020] Figure 9 This is an explanatory diagram that exemplifies and schematically shows a method of specifying the shape of the front end portion when the dividing line is a double line.

[0021] Figure 10 This is an explanatory diagram schematically and exemplarily showing a method of specifying the shape of the front end portion of a dividing line when the front end portion is in an I-shape.

[0022] Figure 11 This is an explanatory diagram schematically and exemplarily showing a method of specifying the shape of the front end portion of a dividing line when the front end portion is L-shaped.

[0023] Figure 12 This is an explanatory diagram schematically and exemplarily showing a method of detecting a front end point when the dividing line is a double line.

[0024] Figure 13 It is an explanatory diagram that exemplarily and schematically shows an imaging area when the vehicle is parked.

[0025] Figure 14 This is an explanatory diagram schematically illustrating a method of determining whether a dividing line substantially parallel to the longitudinal direction is a double line.

[0026] Figure 15 This is a flowchart showing an example of a procedure of a parking assistance process executed by the parking assistance unit.

[0027] Figure 16 It is a flowchart showing an example of the sequence of detection processing based on the parking assistance unit.

[0028] Figure 17 It is a flowchart showing an example of the sequence of determination processing based on the parking assistance unit.

[0029] Explanation of reference numerals: 1... vehicle; 2c... end; 8... display device; 9... sound output device; 10... operation input unit; 11... monitor device; 12... display device; 14... ECU; 14a... CPU; 15, 15a, 15b, 15c, 15d... imaging unit; 16, 17... distance measurement unit; 140... parking assistance unit; 141... data acquisition unit; 142... vertical line detection unit; 143... region of interest setting unit; 144... edge detection unit; 145... region of interest segmentation unit; 146... front end point detection unit; 147... double line determination unit; 148... parking position determination unit; P1... edge point; P11... black and white edge point; P12... white and black edge point; P2... front end point; R1... region of interest; A1... imaging region. Detailed implementation manners

[0030] Hereinafter, exemplary implementation manners of the present invention are disclosed. The structure of the implementation manners shown below and the functions, results, and effects brought by this structure are an example. The present invention can also be implemented by structures other than the structures disclosed in the following implementation manners, and can obtain at least one of various effects and derived effects based on the basic structure.

[0031] Figure 1 It is an exemplary and schematic perspective view showing a state of a part of the passenger compartment 2a of the vehicle 1 equipped with the image processing device of the implementation manner. The vehicle 1 equipped with the parking assistance device of the present implementation manner can be an automobile (internal combustion engine vehicle) with an internal combustion engine (engine) as a drive source, can be an automobile (electric vehicle, fuel cell vehicle, etc.) with an electric motor (motor) as a drive source, or can be an automobile (hybrid vehicle) with both of them as drive sources. In addition, the vehicle 1 can be equipped with various transmission devices and various devices (systems, components, etc.) required for driving an internal combustion engine or an electric motor. In addition, various settings can be made for the type, number, layout, etc. of the devices related to the drive of the wheels 3 in the vehicle 1.

[0032] As Figure 1As illustrated, the vehicle body 2 of the vehicle 1 forms a passenger compartment 2a for passengers not shown. Inside the passenger compartment 2a, a steering control unit 4, an acceleration operation unit 5, a braking operation unit 6, a transmission operation unit 7, etc. are provided in a state facing the seat 2b of the driver as a passenger. The steering control unit 4 is, for example, a steering wheel protruding from the instrument panel 24. The acceleration operation unit 5 is, for example, an acceleration pedal located under the driver's feet. The braking operation unit 6 is, for example, a brake pedal located under the driver's feet. The transmission operation unit 7 is, for example, a gear lever protruding from the center console.

[0033] In addition, a display device 8 (display unit) and a sound output device 9 as a sound output unit are provided inside the passenger compartment 2a. The display device 8 is, for example, an LCD (Liquid Crystal Display), an OELD (Organic Electroluminescent Display), etc. The sound output device 9 is, for example, a speaker. In addition, the display device 8 is covered by a transparent operation input unit 10 such as a touch panel. A passenger (user) can visually confirm an image on the display screen of the display device 8 via the operation input unit 10. In addition, a passenger (driver, etc.) can perform operation input by touching, pressing, or moving the operation input unit 10 at a position corresponding to the image on the display screen of the display device 8 using a finger or the like. These display device 8, sound output device 9, operation input unit 10, etc. are provided, for example, in a monitor device 11 located at the center in the vehicle width direction, i.e., the left - right direction, of the instrument panel 24. The monitor device 11 can have operation input units not shown such as switches, dials, joysticks, buttons, etc. In addition, a sound output device not shown can be provided at other positions inside the passenger compartment 2a different from the monitor device 11, and sound can be output from the sound output device 9 of the monitor device 11 and the other sound output device. In addition, the monitor device 11 can, for example, also serve as a navigation system or an audio system.

[0034] Figure 3 This is an exemplary and schematic view when looking at the instrument panel of the vehicle 1 equipped with the parking assist device of the embodiment from the rear of the vehicle. In addition, a display device 12 different from the display device 8 is provided inside the passenger compartment 2a. As Figure 3 illustrated, the display device 12 is provided, for example, in the instrument panel portion 25 of the instrument panel 24, and is located between the speed display portion 25a and the tachometer display portion 25b at approximately the center of the instrument panel portion 25. The size of the screen 12a of the display device 12 is smaller than the screen 8a of the display device Figure 3) The size of. On the display device 12, an image that mainly displays information related to the parking assistance of the vehicle 1 (such as text information or display information based on an indicator) can be displayed. The amount of information displayed by the display device 12 can also be less than the amount of information displayed by the display device 8. The display device 12 is, for example, an LCD, an OELD, etc. In addition, the information displayed by the display device 12 can also be displayed on the display device 8.

[0035] Figure 2 is an exemplary and schematic top view of the vehicle 1 equipped with the parking assistance device of the present embodiment. As Figure 1 and Figure 2 shown, the vehicle 1 is a four-wheel vehicle or the like, and has two left and right front wheels 3F and two left and right rear wheels 3R. All or part of the four wheels 3 can be steered.

[0036] On the vehicle body 2, for example, four imaging units 15a to 15d are provided as the plurality of imaging units 15. The imaging unit 15 is, for example, a digital camera incorporating an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor). The imaging unit 15 can output video data at a prescribed frame rate. Each of the imaging units 15 has a wide-angle lens or a fish-eye lens, and can image a range of, for example, 140° to 220° in the horizontal direction. In addition, the optical axis of the imaging unit 15 is set to face obliquely downward. Thereby, the imaging unit 15 sequentially images the external environment around the vehicle body 2 including the road surface on which the vehicle 1 can move or the area where the vehicle 1 can park, and outputs it as captured image data.

[0037] The imaging unit 15a is, for example, located at the rear end 2e of the vehicle body 2, provided on the wall portion below the door 2h of the trunk, and images the condition of the rear area of the vehicle 1. The imaging unit 15b is, for example, located at the right end 2f of the vehicle body 2, provided on the right rearview mirror 2g, and images the condition of the area including the right front, right side, and right rear of the vehicle 1. The imaging unit 15c is, for example, located at the front side of the vehicle body 2, that is, the front end 2c in the vehicle front-rear direction, provided on the front bumper or the like, and images the condition of the front area of the vehicle 1. The imaging unit 15d is, for example, located on the left side of the vehicle body 2, that is, the left end 2d in the vehicle width direction, provided on the rearview mirror 2g as the left protrusion, and images the condition of the area including the left front, left side, and left rear of the vehicle 1. The ECU 14 (refer to Figure 4 ) constituting the image processing device can perform arithmetic processing or image processing based on the captured image data obtained by the plurality of imaging units 15, and generate an image with a wider viewing angle, or generate a virtual bird's-eye view image of the vehicle 1 observed from above (directly above or obliquely above).

[0038] In addition, the vehicle 1 has a plurality of ranging units 16 and 17 that can measure the distance to an object existing outside the vehicle 1. The ranging unit 16 is, for example, a millimeter-wave radar or the like and can measure the distance to an object in the traveling direction of the vehicle 1 (the direction the vehicle 1 is facing). In the present embodiment, the vehicle 1 has a plurality of ranging units 16a to 16d. The ranging unit 16a is provided, for example, at the left end of the rear bumper of the vehicle 1 and can measure the distance to an object existing in the left rear of the vehicle 1. In addition, the ranging unit 16b is provided at the right end of the rear bumper of the vehicle 1 and can measure the distance to an object existing in the right rear of the vehicle 1. The ranging unit 16c is provided at the right end of the front bumper of the vehicle 1 and can measure the distance to an object existing in the right front of the vehicle 1. In addition, the ranging unit 16d is provided at the left end of the front bumper of the vehicle 1 and can measure the distance to an object existing in the left front of the vehicle 1. The ranging unit 16 can be used for detecting relatively long-distance objects.

[0039] In addition, the vehicle 1 has a ranging unit 17 that can measure the distance to an object existing outside the vehicle 1 at a relatively short distance from the vehicle 1. The ranging unit 17 is, for example, a sonar that emits ultrasonic waves and captures the reflected waves. In the present embodiment, the vehicle 1 has a plurality of ranging units 17a to 17h. The ranging units 17a to 17d are provided on the rear bumper of the vehicle 1 and can measure the distance to an object existing behind the vehicle 1. The ranging units 17e to 17h are provided on the front bumper of the vehicle 1 and can measure the distance to an object existing in front of the vehicle 1.

[0040] In this embodiment, the distance measurement unit 16 can, for example, detect an obstacle (such as an adjacent vehicle or a wall) alongside the vehicle 1 or an obstacle (such as a curb, a step, a wall, a guardrail, etc.) inside the space for parking when the vehicle 1 is parked, and measure the distance to the obstacle. Additionally, for example, when an obstacle (object) approaches the vehicle 1 beyond a specified distance (e.g., 0.3 m), the distance measurement unit 17 can detect the approaching obstacle (object) and measure the distance to the obstacle. In particular, the distance measurement units 17a and 17d arranged on both sides of the rear of the vehicle 1 function as sensors (gap sonars) for measuring the distance between the rear corner of the vehicle 1 and an obstacle (such as an adjacent vehicle) when the vehicle 1 reverses into the parking space and further measuring the distance between the rear corner and an obstacle such as a wall after entering. The ECU 14 can determine the presence or absence of an object such as an obstacle around the vehicle 1 and measure the distance to the object based on the detection results of the distance measurement units 16 and 17. That is, the distance measurement units 16 and 17 detect objects (stationary objects or moving objects) present around the vehicle 1. As stationary objects, there are parked vehicles, walls, curbs, street trees, etc., and as moving objects, there are traveling vehicles, bicycles, pedestrians, animals, etc.

[0041] Figure 4 is an exemplary and schematic block diagram showing the functional structure of the control system of the vehicle 1 including the parking assist device according to this embodiment. As Figure 4 illustrated, in the control system, in addition to the ECU 14, the monitor device 11, the distance measurement units 16 and 17, etc., there are also the steering system 13, the braking system 18, the steering angle sensor 19, the acceleration sensor 20, the shift sensor 21, the wheel speed sensor 22, the drive system 23, etc. electrically connected via the in-vehicle network 26 which is an electrical communication line. The in-vehicle network 26 is configured as, for example, a CAN (Controller Area Network). The ECU 14 can control the steering system 13, the braking system 18, the drive system 23, etc. by sending control signals via the in-vehicle network 26.

[0042] In addition, the ECU 14 can receive the detection results of the torque sensor 13b, the brake sensor 18b, the steering angle sensor 19, the distance measurement units 16 and 17, the acceleration sensor 20, the shift sensor 21, the wheel speed sensor 22, etc., and the operation signals of the operation input unit 10 via the in-vehicle network 26.

[0043] The steering control system 13 is an electric power steering system, an SBW (Steer By Wire) system, or the like. The steering control system 13 has an actuator 13a and a torque sensor 13b. Further, the steering control system 13 is electrically controlled by an ECU 14 or the like to operate the actuator 13a, and to apply torque to the steering control section (such as a steering wheel) to supplement the steering force, thereby steering the wheels 3. The torque sensor 13b detects the torque applied by the driver to the steering control section 4, and transmits the detection result to the ECU 14.

[0044] The braking system 18 includes an ABS (Anti-lock Brake System) that controls wheel lock-up of the brakes of the vehicle 1, an anti-skid device (ESC: Electronic Stability Control) that suppresses skidding of the vehicle 1 during turning, an electric braking system that enhances braking force to assist braking, and a BBW (Brake By Wire) system. The braking system 18 has an actuator 18a and a brake sensor 18b. The braking system 18 is electrically controlled by an ECU 14 or the like to apply braking force to the wheels 3 via the actuator 18a. The braking system 18 detects signs of wheel lock-up, wheel spin, and skidding of the brakes, etc., based on the rotational difference between the left and right wheels 3, etc., and executes control to suppress wheel lock-up, wheel spin, and skidding of the brakes. The brake sensor 18b is a displacement sensor that detects the position of the brake pedal, which is a movable part of the braking operation section 6, and transmits the detection result of the position of the brake pedal to the ECU 14.

[0045] The steering angle sensor 19 is a sensor that detects the steering operation amount of the steering control section 4 such as a steering wheel. The steering angle sensor 19 is composed of a Hall element or the like, detects the rotation angle of the rotating part of the steering control section 4 as the steering operation amount, and transmits the detection result to the ECU 14. The acceleration sensor 20 is a displacement sensor that detects the position of the accelerator pedal, which is a movable part of the acceleration operation section 5, and transmits the detection result to the ECU 14.

[0046] The shift sensor 21 is a sensor that detects the position of the movable part (lever, arm, button, etc.) of the shift operation section 7, and transmits the detection result to the ECU 14. The wheel speed sensor 22 has a Hall element or the like, and is a sensor that detects the rotation amount of the wheels 3 and the number of rotations of the wheels 3 per unit time, and transmits the detection result to the ECU 14.

[0047] The drive system 23 is an internal combustion engine (engine) system or a motor system as a drive source. The drive system 23 controls the fuel injection amount of the engine, the intake air amount control, and the output value of the motor according to the requested operation amount (e.g., the depression amount of the accelerator pedal) of the driver (user) detected by the acceleration sensor 20. In addition, regardless of the user's operation, the output values of the engine and the motor can be controlled in cooperation with the control of the steering system 13 and the braking system 18 according to the driving state of the vehicle 1. For example, normal driving assistance including parking assistance can be performed.

[0048] In addition, the structures, configurations, electrical connection methods, etc. of the above various sensors and actuators are an example, and various settings (changes) can be made.

[0049] The ECU 14 is composed of a computer or the like, and cooperates with hardware and software to be responsible for the overall control of the vehicle 1. Specifically, the ECU 14 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a display control unit 14d, a sound control unit 14e, and an SSD (Solid State Drive) 14f. The CPU 14a, the ROM 14b, and the RAM 14c may be provided in the same circuit board.

[0050] The CPU 14a can read the programs installed and stored in non-volatile storage devices such as the ROM 14b and perform arithmetic processing according to these programs. The CPU 14a can, for example, perform processing to recognize the conditions around the vehicle 1 and the parking space (parking position) based on the surrounding information obtained by the imaging unit 15, the distance measuring units 16 and 17, etc. In addition, the CPU 14a can perform processing to extract changes in the surrounding conditions based on the surrounding information of the vehicle 1 obtained at different timings, processing to estimate the current position of the vehicle 1 based on the surrounding information, storage processing of information reflecting changes in the surrounding information, processing utilizing the stored information, and processing to guide the vehicle 1 to the parking position. In addition, when displaying the image captured by the imaging unit 15 on the display device 8, the CPU 14a can perform distortion correction processing to perform arithmetic processing and image processing on the captured image (curved image) of the wide-angle image obtained by the imaging unit 15 to correct distortion, or generate, for example, an aerial image (surrounding image) that displays a vehicle image (own vehicle icon) representing the vehicle 1 at the center position based on the captured image captured by the imaging unit 15. In addition, when generating an aerial image, the CPU 14a can change the position of the virtual viewpoint and generate an aerial image facing the vehicle image from directly above or an aerial image facing the vehicle image from an inclined direction.

[0051] The ROM 14b stores various programs and parameters required for the execution of such programs. The RAM 14c temporarily stores various data used in the operations of the CPU 14a. The display control unit 14d mainly performs image processing on the captured image data acquired from the imaging unit 15 and output to the CPU 14a in the arithmetic processing of the ECU 14, and conversion of the image data for display to the display devices 8 and 12 for displaying the image data acquired from the CPU 14a. The sound control unit 14e mainly performs processing of the sound acquired from the CPU 14a and output by the sound output device 9 in the arithmetic processing of the ECU 14. The SSD 14f is a rewritable non-volatile storage unit, and continues to store the data acquired from the CPU 14a even when the power supply of the ECU 14 is disconnected. In addition, the CPU 14a, ROM 14b, RAM 14c, etc. can be integrated in the same package. Additionally, the ECU 14 can also be configured to use other logical operation processors such as DSP (Digital Signal Processor), logical circuits, etc. instead of the CPU 14a. Further, an HDD (Hard Disk Drive) can be provided instead of the SSD 14f, or the SSD 14f and HDD can be provided separately from the ECU 14.

[0052] Figure 5 is a block diagram illustratively and schematically showing the structure in the case where the parking assist device (parking assist unit 140) of the embodiment is implemented using the CPU 14a. The CPU 14a realizes the data acquisition unit 141, vertical line detection unit 142, region of interest setting unit 14, edge detection unit 144, region of interest segmentation unit 145, front end point detection unit 146, double line determination unit 147, and parking position determination unit 148 by executing the parking assist program read from the ROM 14b. As Figure 5 shown, some or all of the data acquisition unit 141, vertical line detection unit 142, region of interest setting unit 143, edge detection unit 144, region of interest segmentation unit 145, front end point detection unit 146, double line determination unit 147, and parking position determination unit 148 can also be constituted by hardware such as circuits. Additionally, in Figure 5 it is omitted from the illustration, but the CPU 14a can also realize various modules required for the running of the vehicle 1. Additionally, in Figure 5 it mainly shows the CPU 14a that executes the parking assist process, but it can also include a CPU for realizing various modules required for the running of the vehicle 1, or can include an ECU different from the ECU 14.

[0053] The data acquisition unit 141 acquires the captured image data captured by the imaging unit 15.

[0054] The vertical line detection unit 142 detects a dividing line that is substantially parallel to the long side direction of the parking area among the dividing lines indicating the parking position based on the captured image data acquired by the data acquisition unit 141. That is, the vertical line detection unit 142 detects a vertical dividing line that is substantially parallel to the long side direction of the parking area. More specifically, the vertical line detection unit 142 applies a filter that scans in the horizontal direction orthogonal to the vertical direction and detects the luminance difference between pixels to the captured image data. Thereby, the vertical line detection unit 142 detects a black-and-white edge point P11 that changes from black to white. Similarly, the vertical line detection unit 142 detects a white-and-black edge point P12 that changes from white to black based on the captured image data. In addition, without distinguishing between the black-and-white edge point P11 and the white-and-black edge point P12, it is referred to as an edge point P1.

[0055] When the edge point P1 is detected, the vertical line detection unit 142 removes noise based on processing such as RANSAC (Random Sample Consensus) and CONSAC (Connected Sample Consensus). Here, in RANSAC and CONSAC, two edge points P1 are randomly selected. Then, the edge points P1 in a strip-shaped area within a certain range from the line connecting the two edge points P1 are counted. By repeatedly performing this processing, the strip-shaped area where the number of specific edge points P1 is the largest is determined. Here, when the edge point P1 is detected based on the captured image data, edge points P1 that have nothing to do with the dividing line are also detected. Therefore, by performing processing such as RANSAC and CONSAC, noise is removed, and the approximate position where the vertical dividing line exists is specified. In addition, the vertical line detection unit 142 derives a straight line with the shortest distance to each edge point P1 within the strip-shaped area where the number of edge points P1 is the largest by the least squares method. The vertical line detection unit 142 detects the vertical dividing line by performing this processing on both the black-and-white edge point P11 and the white-and-black edge point P12.

[0056] In addition, the vertical line detection unit 142 detects a temporary front end point by detecting a dividing line that is substantially parallel to the long side direction of the parking area. Here, the temporary front end point refers to one end of the dividing line that is substantially parallel to the long side direction on the entry side where the vehicle 1 enters the parking area among the dividing lines detected by the vertical line detection unit 142. Moreover, the temporary front end point is tentatively set before performing the processing described later.

[0057] In addition, generally, the parking position of the vehicle 1 varies according to the shape of the front end portion of the dividing line. The front end portion refers to a part of one end of the dividing line that is substantially parallel to the long side direction of the parking area and is on the entry side where the vehicle 1 enters the parking area in the dividing line that is substantially parallel to the long side direction. The vertical line detection unit 142 detects the vertical dividing line in the dividing line indicating the parking position. That is, the vertical line detection unit 142 cannot detect parts other than the vertical dividing line. Therefore, it is sometimes impossible to specify an appropriate parking position based on the shape of the front end portion of the dividing line.

[0058] Here, Figure 6 is an explanatory diagram exemplarily and schematically showing the parking position in the case of a U-shaped dividing line. Figure 7 is an explanatory diagram exemplarily and schematically showing the parking position in the case of an I-shaped dividing line. Figure 8 is an explanatory diagram exemplarily and schematically showing the parking position in the case of a T-shaped dividing line.

[0059] As Figure 6 shown, the U-shaped dividing line L1 with a U-shaped front end portion has a straight line portion L11 with double straight lines and a U-shaped portion L12 with a U shape. In addition, in the case of the U-shaped dividing line L1, it is required to park the vehicle 1 in such a way that the front end of the vehicle reaches the front end of the U-shaped portion L12 instead of reaching the front end of the straight line portion L11. However, since the vertical line detection unit 142 detects the vertical dividing line in the dividing line, it cannot detect the U-shaped portion L12. Therefore, conventionally, the vehicle 1 has been parked in such a way that the front end of the vehicle reaches the front end of the straight line portion L11.

[0060] In addition, as Figure 7 shown, in the case of the I-shaped dividing line L2 with an I-shaped front end portion, it is required to park the vehicle 1 in such a way that the front end of the vehicle reaches the front end of the I-shaped dividing line L2. In addition, as Figure 7 shown, the T-shaped dividing line L3 with a T-shaped front end portion has a vertical line portion L31 that is substantially parallel to the long side direction of the parking area and a horizontal line portion L32 that is parallel to the direction orthogonal to the long side direction of the parking area. Moreover, in the case of the T-shaped dividing line L3, it is required to park the vehicle 1 in such a way that the front end of the vehicle reaches the position inside the horizontal line portion L32. That is, it is required to park the vehicle 1 in such a way that the front end of the vehicle reaches a position further back than in the case of the I-shaped dividing line L2.

[0061] Therefore, in order to specify the shape of the front end portion of the dividing line, the parking assistance unit 140 sets a region of interest R1 at a position determined based on the detection result of the vertical line detection unit 142 (see Figure 9 , Figure 10 , Figure 11)。In addition, the parking assistance unit 140 specifies the shape of the front end by scanning the attention area R1. Moreover, the parking assistance unit 140 determines the parking position based on the shape of the front end of the specified demarcation line.

[0062] Use Figures 9 to 10 , the process of specifying the shape of the front end based on the attention area setting unit 143, the edge detection unit 144, and the attention area division unit 145 will be described. Figure 9 FIG. is an explanatory diagram schematically showing a method for specifying the shape of the front end in the case where the demarcation line is a double line. Figure 10 FIG. is an explanatory diagram schematically showing a method for specifying the shape of the front end in the case where the front end of the demarcation line is an I-shaped. Figure 11 FIG. is an explanatory diagram schematically showing a method for specifying the shape of the front end in the case where the front end of the demarcation line is an L-shaped.

[0063] The attention area setting unit 143 sets an attention area R1, which is an area for detecting an edge point P1 representing the boundary of the demarcation line, at a position determined based on the demarcation line that is substantially parallel to the long side direction of the parking area detected by the vertical line detection unit 142. First, the case where the demarcation line determined by the double line determination unit 147 described later to be substantially parallel to the long side direction is a double line will be described. As Figure 9 shown, in the case where the demarcation line determined by the double line determination unit 147 to be substantially parallel to the long side direction is a double line, the attention area setting unit 143 sets the attention area R1 in a first area within a range of a predetermined distance from the end of the demarcation line based on the demarcation line formed by the double lines that is substantially parallel to the long side direction. That is, the attention area setting unit 143 sets the attention area R1 for the double line. In addition, the first area may be an area adjacent to the end of the demarcation line that is substantially parallel to the long side direction detected by the vertical line detection unit 142, may be an area at an arbitrary distance from the end, or may be an area including the end.

[0064] In addition, in the case where the demarcation line determined by the double line determination unit 147 to be substantially parallel to the long side direction is not a double line, the attention area setting unit 143 sets the attention area R1 in a second area including the end of the demarcation line formed by a single line and a third area on the side of the second area. More specifically, as Figure 10As shown, when the double-line determination unit 147 determines that the dividing line substantially parallel to the long side direction is not a double line, the attention area setting unit 143 sets an attention area R1 in a second area including the end of the dividing line formed by a single line. That is, the attention area setting unit 143 sets an attention area R1 for the I-shaped. Similar to the first area, the second area can also be an area adjacent to the end of the dividing line substantially parallel to the long side direction detected by the vertical line detection unit 142, an area at an arbitrary distance from the end, or an area including the end.

[0065] In addition, after detecting the front end point P2 (refer to Figure 12 ) from the second area, as Figure 11 shown, the attention area setting unit 143 sets an attention area R1 in a third area on the side of the second area and in the short side direction of the parking area. That is, the attention area setting unit 143 sets an attention area R1 for the T-shaped. Thereby, the parking assistance unit 140 detects the dividing line in the short side direction of the parking area. In addition, the third area can also be an area adjacent to the second area, an area at an arbitrary distance from the second area, or an area including the second area. Also, the third area can be areas on both sides of the side of the second area or either one of the areas.

[0066] The edge detection unit 144 detects an edge point P1 representing the boundary of the dividing line from the attention area R1. More specifically, the edge detection unit 144 detects the edge point P1 through a vertical filter scanned in the long side direction of the parking area and a horizontal filter scanned in the orthogonal direction orthogonal to the long side direction. Thereby, the edge detection unit 144 detects the edge point P1 where the color changes in two directions, namely, the long side direction and the orthogonal direction orthogonal to the long side direction. In Figures 9 to 11 , the hollow circles represent the white-black edge points P12 that change from white to black. In addition, the black circles represent the black-white edge points P11 that change from black to white.

[0067] The attention area division unit 145 divides the attention area R1 into a plurality of divided areas by a dividing line in the orthogonal direction orthogonal to the long side direction of the parking area. That is, as Figures 9 to 11 shown, the attention area R1 is divided into divided areas.

[0068] The front - end point detection unit 146 detects the front - end position of one end of a dividing line that is substantially parallel to the long - side direction and represents the entry side where the vehicle 1 enters the parking area, based on the edge point P1 in the region of interest R1. That is, the front - end point detection unit 146 detects the front - end position of one end of a dividing line that is substantially parallel to the long - side direction and represents the entry side where the vehicle 1 enters the parking area, based on the edge point P1 within the divided area segmented by the region - of - interest segmentation unit 145. For example, the front - end point detection unit 146 detects the front - end point P2 as the point representing the front - end position. The front - end point P2 is a point representing one end in the long - side direction of the dividing line in the region of interest R1. The coordinates on the region of interest R1 indicated by the front - end point P2 are applied to the coordinates on the parking area. Moreover, the parking - position determination unit 148 described later determines the parking position based on the front - end point P2. In addition, the front - end position is not limited to the front - end point P2, and can also be a line representing the front - end position, a plane representing the front - end position, or can be represented by other shapes.

[0069] More specifically, the front - end point detection unit 146 detects an edge peak, which is a line representing one end in the long - side direction of a dividing line that is substantially parallel to the long - side direction, based on the number of edge points P1 within the divided area. Specifically, as Figure 9 shown, the front - end point detection unit 146 detects the divided area with the largest number of black - and - white edge points P11. Thereby, the front - end point detection unit 146 detects one end inside the U - shaped area. In addition, the front - end point detection unit 146 detects the divided area with the largest number of white - and - black edge points P12. Thereby, the front - end point detection unit 146 detects one end outside the U - shaped area. Moreover, when the distance from one end inside the U - shaped area to one end outside the U - shaped area is approximately the same as the line width of the dividing line, the front - end point detection unit 146 determines that the U - shaped dividing line has been detected. That is, the front - end point detection unit 146 detects the edge peak from the divided area with the largest number of white - and - black edge points P12. In this way, by performing the determination of whether it is a U - shaped dividing line, the front - end point detection unit 146 can reduce the possibility of erroneously detecting edge peaks due to noise. In addition, the front - end point detection unit 146 is not limited to detecting edge peaks based on the number of edge points P1, and can also detect edge peaks according to a ratio, detect edge peaks according to density, or detect edge peaks according to other matters.

[0070] The front - end point detection unit 146 specifies the front - end position based on the detection result of the dividing line and the divided area determined based on the edge point P1. Specifically, the position where the divided area determined based on the edge point P1 intersects the center line of the outer side of the dividing line that is substantially parallel to the long - side direction is specified as the front - end point P2. That is, the front - end point detection unit 146 detects the point where the edge peak is orthogonal to the center line as the front - end point P2. Here, Figure 12 is an explanatory diagram schematically showing the method for detecting the front - end point P2 when the dividing line is a double line. AsFigure 12 As shown, in the case of the dividing line of the double line, the front-end point detection unit 146 detects the point where the center line of the outer side of the pair of opposed dividing lines is orthogonal to the edge peak as the front-end point P2.

[0071] In addition, in the case of the dividing line of the single line, the front-end point detection unit 146 detects the edge peak, which is a line indicating one end of the dividing line substantially parallel to the long side direction, based on the number of edge points P1 within the divided region. Specifically, as Figure 10 shown, the front-end point detection unit 146 detects the divided region with the largest number of white-black edge points P12. Thus, the front-end point detection unit 146 detects the I-shaped edge peak. Moreover, the front-end point detection unit 146 detects the point where the center line of the outer side of the opposed dividing lines is orthogonal to the edge peak as the front-end point P2.

[0072] In addition, the front-end point detection unit 146 detects the T-shaped dividing line. That is, the front-end point detection unit 146 detects the horizontal dividing line substantially parallel to the short side direction of the parking area. Specifically, as Figure 11 shown, the front-end point detection unit 146 detects the divided region with the largest number of black-white edge points P11. Thus, the front-end point detection unit 146 detects one end inside the dividing line in the short side direction. In addition, the front-end point detection unit 146 detects the divided region with the largest number of white-black edge points P12. Thus, the front-end point detection unit 146 detects one end outside the dividing line in the short side direction. Moreover, when the distance from the inner end to the outer end of the dividing line in the short side direction is substantially the same as the line width of the dividing line, the front-end point detection unit 146 determines that the dividing line in the short side direction is detected. In this way, by performing the determination of the dividing line in the short side direction, the front-end point detection unit 146 can reduce the possibility of erroneously detecting the edge peak due to noise. In addition, the front-end point detection unit 146 is not limited to detecting the edge peak based on the number of edge points P1, and can also detect the edge peak according to a ratio, can also detect the edge peak according to density, and can also detect the edge peak according to other matters. Moreover, the front-end point detection unit 146 changes the position of the front-end point P2 by the amount of the line width of the dividing line in the short side direction towards the inside of the parking area.

[0073] The double-line determination unit 147 determines whether the dividing line substantially parallel to the long side direction of the parking area is a double line. Here, Figure 13 is an explanatory diagram illustratively and schematically showing the shooting area A1 during parking. As Figure 13As shown, when the vehicle 1 enters the parking area, the double-line determination unit 147 also determines whether the dividing line is a double line. Moreover, when the vehicle 1 enters the parking area by stepping on the dividing line, the end of the dividing line is outside the viewing angle of the imaging unit 15. That is, the end of the dividing line is outside the range of the imaging area A1 captured by the imaging unit 15. Therefore, the vertical line detection unit 142 does not detect the end of the original dividing line, but detects the temporary front end of the dividing line from within the range of the imaging area A1. Thus, as Figure 13 shown, the line connecting the two temporary front end points is not in the short side direction of the parking area but in the inclined direction. Therefore, if the double-line determination unit 147 determines whether the dividing line substantially parallel to the long side direction is a double line based on the distance from one temporary front end point to the other temporary front end point, there may be an incorrect determination.

[0074] Here, Figure 14 is an explanatory diagram exemplarily and schematically showing a method for determining whether a dividing line substantially parallel to the long side direction is a double line. As Figure 14 shown, the double-line determination unit 147 decomposes into a longitudinal distance and a lateral distance. Moreover, the double-line determination unit 147 determines whether it is a double line based on whether the lateral distance is below a threshold value. That is, when the distance in the orthogonal direction between the dividing line substantially parallel to the long side direction and the dividing line substantially parallel to the long side direction adjacent to the dividing line is below the threshold value, the double-line determination unit 147 determines that it is a double line.

[0075] The parking position determination unit 148 determines the parking position based on the front end point P2. More specifically, the parking position determination unit 148 determines the position where the position indicated by the front end point P2 detected by the front end point detection unit 146 coincides with the front end of the vehicle 1 as the parking position. In addition, when the dividing line is U-shaped, the parking position determination unit 148 determines the parking position based on the front end point P2 detected from the first area where the attention area R1 is set. In addition, when the dividing line is I-shaped, the parking position determination unit 148 determines the parking position based on the front end point P2 detected from the second area when no peak edge is detected from the third area where the attention area R1 is set. That is, the parking position determination unit 148 determines the parking position based on the front end point P2 detected from the second area when no dividing line in the orthogonal direction orthogonal to the long side direction is detected from the third area. In addition, when the dividing line is T-shaped, the parking position determination unit 148 determines the parking position based on the front end point P2 and the line width of the dividing line when a dividing line in the orthogonal direction orthogonal to the long side direction is detected from the third area. That is, the parking position determination unit 148 determines the position obtained by changing the position of the front end point P2 detected from the second area by the amount of the line width of the dividing line in the short side direction to the inside of the parking area as the parking position.

[0076] Next, an example of the parking assistance process performed by the parking assistance unit 140 will be described. Figure 15 FIG. is a flowchart showing an example of the sequence of the parking assistance process performed by the parking assistance unit 140.

[0077] The data acquisition unit 141 acquires input data such as information on the vehicle 1 and captured image data (step S1).

[0078] The parking assistance unit 140 identifies the dividing line (step S2). That is, the parking assistance unit 140 identifies the dividing line through the processes shown in Figure 16 and Figure 17 FIG.

[0079] The parking assistance unit 140 manages the identified dividing line (step S3). For example, the parking assistance unit 140 performs updates of the positions of the detected dividing lines, etc.

[0080] The parking assistance unit 140 calculates the parking position using the detected front end point P2, etc. obtained through dividing line identification, etc. (step S4).

[0081] The parking assistance unit 140 outputs information indicating the parking position, etc. to the ECU 14 of the display system, control system, etc. (step S5).

[0082] Based on the above, the parking assistance unit 140 ends the parking assistance process.

[0083] Next, an example of the detection process for detecting the front end point P2 by the parking assistance unit 140 will be described. Figure 16 FIG. is a flowchart showing an example of the sequence of the detection process based on the parking assistance unit 140.

[0084] The vertical line detection unit 142 detects a straight line based on the captured image data acquired by the data acquisition unit 141 (step S11). That is, the vertical line detection unit 142 detects a longitudinal dividing line that is substantially parallel to the long side direction of the parking area.

[0085] The vertical line detection unit 142 detects a straight line paired with the detected straight line (step S12). That is, the vertical line detection unit 142 detects a dividing line opposed to the detected dividing line.

[0086] The double line determination unit 147 determines whether a double line is formed by the two detected dividing lines (step S13).

[0087] When the dividing line is a double line (step S14: Yes), the attention area setting unit 143 sets an attention area R1 for the double line at the end of the dividing line formed by the double line (step S15). The front end point detection unit 146 detects the front end point P2 of the U-shaped dividing line from the area where the attention area R1 is set (step S16). Then, the parking assistance unit 140 ends the detection process.

[0088] When the dividing line is a single line (step S14; No), the attention area setting unit 143 sets an attention area R1 for the I-shaped at the end of the dividing line formed by the single line (step S17). The front end point detection unit 146 detects the front end point P2 of the I-shaped dividing line from the area where the attention area R1 is set (step S18).

[0089] The attention area setting unit 143 sets an attention area R1 for the T-shaped in the area on the side of the area where the attention area R1 is set in step S17 (step S19).

[0090] The front end point detection unit 146 determines whether an edge peak substantially parallel to the short side direction of the parking area is detected from the area where the attention area R1 for the T-shaped is set (step S20). That is, the front end point detection unit 146 determines whether an edge peak based on the column of the black-and-white edge point P11 and an edge peak based on the column of the white-and-black edge point P12 are detected. When no edge peak is detected (step S20; No), the detection process based on the parking assistance unit 140 ends.

[0091] When an edge peak is detected (step S20: Yes), the front end point detection unit 146 determines whether the width between the edge peaks is substantially the same as the line width of the dividing line (step S21).

[0092] When the width between the edge peaks is substantially the same as the line width of the dividing line, the front end point detection unit 146 changes the position of the front end point P2 by the amount of the line width of the dividing line in the short side direction toward the inside of the parking area (step S22).

[0093] Based on the above, the parking assistance unit 140 ends the detection process. The parking assistance unit 140 sets the position indicated by the front end point P2 detected by the detection process as the parking position, thereby enabling the vehicle 1 to park at an appropriate position corresponding to the shape of the dividing line. <00002]]

[0094] Next, an example of the determination process for determining whether the dividing line is a double line performed by the parking assistance unit 140 will be described. Figure 17 is a flowchart showing an example of the order of the determination process based on the parking assistance unit 140.

[0095] The double - line determination unit 147 calculates the horizontal distance from the temporarily detected front end point to the temporarily detected front end point based on the captured image data (step S31). That is, as Figure 14 shown, it calculates the distance in the short - side direction from the temporarily detected front end point of the dividing line that is substantially parallel to the long - side direction to the dividing line that is substantially parallel to the long - side direction where another temporarily detected front end point is detected.

[0096] The double - line determination unit 147 calculates the vertical distance from the temporarily detected front end point to the temporarily detected front end point based on the captured image data (step S32). That is, as Figure 14 shown, it calculates the distance in the long - side direction from the temporarily detected front end point to another temporarily detected front end point.

[0097] The double - line determination unit 147 determines whether a double - line has been registered for the dividing line to be determined (step S33). Here, when passing in front of the dividing line, the double - line determination unit 147 also determines whether the dividing line is a double - line. Also, when the vehicle is stopped, the double - line determination unit 147 also determines whether the dividing line is a double - line. Depending on the distance between the vehicle 1 and the dividing line, the accuracy of grasping the positional relationship is different. Therefore, the double - line determination unit 147 improves the accuracy by making determinations intermittently.

[0098] When a double - line has been registered for the dividing line to be determined (step S33; yes), the double - line determination unit 147 determines whether the horizontal distance from the temporarily detected front end point to the temporarily detected front end point is less than a threshold value (step S34).

[0099] When the horizontal distance from the temporarily detected front end point to the temporarily detected front end point is less than the threshold value (step S34: yes), the double - line determination unit 147 determines that the dividing line is a double - line (step S35). Then, the parking assistance unit 140 ends the determination process.

[0100] When the horizontal distance from the temporarily detected front end point to the temporarily detected front end point is not less than the threshold value (step S34; no), the double - line determination unit 147 determines that the dividing line is a single - line (step S36). Then, the parking assistance unit 140 ends the determination process.

[0101] When a double - line has not been registered for the dividing line to be determined (step S33; no), the double - line determination unit 147 determines whether the horizontal distance from the temporarily detected front end point to the temporarily detected front end point is less than the threshold value and whether the vertical distance from the temporarily detected front end point to the temporarily detected front end point is less than the threshold value (step S37). In addition, the threshold value of the vertical distance is a very small value compared to the threshold value of the horizontal distance. Here, when passing in front of the dividing line, the double - line determination unit 147 also determines whether the dividing line is a double - line. That is, for the case where a double - line is not registered, it is assumed that the dividing line is detected when passing in front of the dividing line. Thus, as Figure 13As shown, vehicle 1 does not step on the demarcation line. Therefore, there is almost no difference in the longitudinal distance required.

[0102] When the conditions that the lateral distance is less than the threshold value and the longitudinal distance is less than the threshold value are satisfied (step S37: Yes), the double-line determination unit 147 determines that the demarcation line is a double line (step S38). Then, the parking assistance unit 140 ends the determination process.

[0103] When the conditions that the lateral distance is less than the threshold value and the longitudinal distance is less than the threshold value are not satisfied (step S37: No), the double-line determination unit 147 determines that the demarcation line is a single line (step S39). Then, the parking assistance unit 140 ends the determination process.

[0104] As described above, the parking assistance unit 140 of the present embodiment sets a region of interest R1 for detecting the edge point P1 indicating the boundary of the demarcation line at the front end of the demarcation line when detecting the demarcation line in the longitudinal direction, which is the long side direction of the parking area. Moreover, the parking assistance unit 140 determines the parking position based on the front end point P2 detected from the region where the region of interest R1 is set. Thus, the parking assistance unit 140 can realize parking assistance towards an appropriate position corresponding to the demarcation line. In addition, by setting the region of interest R1, the parking assistance unit 140 can limit the search range for exploring the shape of the demarcation line. That is, the parking assistance unit 140 can narrow the search range, so it can suppress an increase in the processing load. And when there is no edge peak, the parking assistance unit 140 indicates that there is no front end, so it can be determined that it is not a demarcation line. Thus, the parking assistance unit 140 can reduce the situation of misidentifying a part that is not a demarcation line as a demarcation line.

[0105] As described above, embodiments of the present invention are illustrated, but the above embodiments and modification examples are merely examples and are not intended to limit the scope of the invention. The above embodiments and modification examples can be implemented in various other ways, and various omissions, substitutions, combinations, and changes can be made without departing from the gist of the invention. In addition, the structures and shapes of each embodiment and each modification example can also be implemented by locally replacing them.

Claims

1. A parking assist device comprising: a first detection unit for detecting a dividing line substantially parallel to a long side of the parking area; a setting unit configured to set a region of interest at a position determined based on the dividing line detected by the first detection unit, the region of interest being a region where edge points indicating a boundary of the dividing line are detected; a second detection unit configured to detect a front end position based on the edge point within the target area, the front end position indicating one end of the dividing line substantially parallel to the longitudinal direction on the vehicle's entry side into the parking area; a determination unit that determines a parking position based on the front end position; as well as a determination unit for determining whether the dividing line substantially parallel to the longitudinal direction is a double line, When the determination unit determines that the dividing line substantially parallel to the longitudinal direction is a double line, the setting unit sets the target region in a first area based on the dividing line substantially parallel to the longitudinal direction formed by the double line, the first area being located within a range of a predetermined distance from an end of the dividing line. The determination unit determines the parking position based on the front end position detected from the first area.

2. The parking assist device according to claim 1, wherein: The parking assist device further includes a dividing unit configured to divide the target region into a plurality of divided regions based on a dividing line in a direction perpendicular to the longitudinal direction. The second detection unit detects a front end position indicating one end of the dividing line substantially parallel to the longitudinal direction on the vehicle's entry side into the parking area based on the edge point within the divided area.

3. The parking assist device according to claim 2, wherein: The second detection unit specifies the front end position based on a detection result of a dividing line and the divided area determined based on the edge point.

4. The parking assist device according to claim 1, wherein: When the determination unit determines that the dividing line substantially parallel to the long side direction is not a double line, the setting unit sets the target area in a second area and a third area, the second area including an end portion of the dividing line formed by a single line, and the third area being located to the side of the second area and in the short side direction of the parking area. When a dividing line in a direction perpendicular to the longitudinal direction is not detected from the third area, the determination unit determines the parking position based on the front end position detected from the second area.

5. The parking assist device according to claim 4, wherein: When the dividing line in the orthogonal direction is detected from the third area, the determination unit determines the parking position based on the front end position and the width of the dividing line.

6. The parking assist device according to any one of claims 1 to 5, wherein: The determination unit determines that the line is a double line when a distance in a direction perpendicular to the longitudinal direction between a dividing line substantially parallel to the longitudinal direction and an adjacent dividing line substantially parallel to the longitudinal direction is equal to or smaller than a threshold.

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