Parking assistance device and parking assistance method
The integration of TOF and triangulation methods in parking assistance devices ensures accurate detection of parking spaces by determining obstacle presence and generating reliable coordinate information, addressing the issue of unstable wave reception from low-height obstacles.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- PANASONIC AUTOMOTIVE SYST CO LTD
- Filing Date
- 2024-11-05
- Publication Date
- 2026-05-19
AI Technical Summary
Existing parking assistance devices struggle to accurately detect parking frames due to unstable reception of reflected waves from low-height or low-reflectivity obstacles, leading to inaccurate coordinate generation and parking space detection during automatic parking.
The device uses the Time of Flight (TOF) method to determine the presence or absence of obstacles using distance information from sensors mounted on the vehicle, complemented by triangulation for coordinate generation, ensuring accurate detection of parking spaces.
This approach allows for precise detection of parking spaces, even in the presence of low-height or low-reflectivity obstacles, enhancing the accuracy of automatic parking systems.
Smart Images
Figure 2026081572000001_ABST
Abstract
Description
Technical Field
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[0001] The present disclosure relates to a parking assistance device and a parking assistance method.
Background Art
[0002] There is known a parking assistance device that supports automatic parking for automatically parking a vehicle in a parking space. For example, Patent Document 1 discloses a device that sets a guiding path according to whether an obstacle is a curb or a wall when performing automatic parking by parallel parking. In such an existing technique, ultrasonic waves are transmitted from a sensor such as a sonar, the reflected waves reflected by an obstacle are received, and the parking frame in automatic parking is detected using the coordinate information of the obstacle generated based on the principle of triangulation.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] However, for example, if an obstacle in the parking space is a low-height object such as a curb or an object that causes the reflected waves to be disturbed, the reception of the reflected waves by the vehicle may become unstable, and it may not be possible to accurately generate the coordinate information of the obstacle based on the principle of triangulation. As a result, it may be difficult to accurately detect the parking frame in automatic parking.
[0005] The non-limiting embodiments of the present disclosure contribute to providing a parking assistance device and a parking assistance method capable of accurately detecting a parking frame in automatic parking.
Means for Solving the Problems
[0006] The parking assistance device according to the present disclosure is During automatic parking, while the vehicle is in motion, a determination unit acquires distance information from surrounding objects using the Time of Flight (TOF) method from sensors mounted on the vehicle, and determines the presence or absence of obstacles located in the space opposite the side of the vehicle based on the distance information. A detection unit detects a parking space in the automatic parking system within the space based on the determination result of the determination unit, It is equipped with.
[0007] The parking assistance method related to this disclosure is: During automatic parking, while the vehicle is in motion, distance information to surrounding objects is acquired from sensors mounted on the vehicle using the Time of Flight (TOF) method. Based on the distance information, the presence or absence of an obstacle located in the space opposite the side of the vehicle is determined. Based on the aforementioned determination result, a parking space for the automatic parking system is detected within the designated space. [Effects of the Invention]
[0008] According to this disclosure, it is possible to accurately detect parking spaces in automated parking systems. [Brief explanation of the drawing]
[0009] [Figure 1] This is a block diagram showing an example configuration of a vehicle to which the parking assist device according to this embodiment is applied. [Figure 2] This is a diagram illustrating the detection of parking spaces during parallel parking. [Figure 3] This is a diagram illustrating the detection of parking spaces during parallel parking using existing technology. [Figure 4] This diagram illustrates the detection of parking spaces during parallel parking in this embodiment. [Figure 5] This flowchart shows an example of the operation of parking space detection control in a parking assistance system. [Figure 6] This flowchart shows an example of the operation of the coordinate generation process in a parking assistance system. [Figure 7]This flowchart shows an example of the operation of the parallel parking detection process in a parking assistance system. [Figure 8] This flowchart shows an example of the operation of the parallel parking detection process in a parking assistance system. [Figure 9] This is a block diagram showing an example configuration of a vehicle to which a modified parking assist system is applied. [Modes for carrying out the invention]
[0010] (Embodiment) The embodiments of this disclosure will now be described in detail with reference to the drawings. Figure 1 is a block diagram showing an example configuration of a vehicle 1 to which the parking assist device 100 according to this embodiment is applied.
[0011] As shown in Figure 1, Vehicle 1 has an automatic parking assist function that automatically parks the vehicle in a parking space, and includes a surrounding monitoring sensor unit 10, a storage unit 20, and a parking assist device 100.
[0012] The surrounding monitoring sensor unit 10 is, for example, an in-vehicle sensor such as sonar or radar, and is a sensor for monitoring objects around the vehicle 1. Multiple surrounding monitoring sensor units 10 are provided on the side of the vehicle 1, and are capable of detecting surrounding objects (obstacles) facing the side of the vehicle 1.
[0013] Specifically, the surrounding monitoring sensor unit 10 is equipped with a transmitter sensor and a receiver sensor. The detection wave transmitted from the transmitter sensor is reflected by an obstacle and received by the receiver sensor. Based on the round-trip time of this detection wave, the distance between the vehicle 1 and the obstacle can be calculated using the Time of Flight (TOF) method. Furthermore, once this distance is calculated, it becomes possible to calculate the coordinates of the position where the detection wave was reflected by the obstacle using the principle of triangulation.
[0014] The storage unit 20 can store information detected by the peripheral monitoring sensor unit 10 and the like, such as a volatile memory. Further, the storage unit 20 stores coordinate information and the like calculated based on the information detected by the peripheral monitoring sensor unit 10.
[0015] The parking assistance device 100 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an input / output circuit (not shown), and performs automatic parking control to automatically park in a parking space. Specifically, during the travel of the vehicle 1 in automatic parking, the parking assistance device 100 detects a parking frame based on the detection information of the peripheral monitoring sensor unit 10, and controls the vehicle 1 to automatically park in the parking frame.
[0016] The parking assistance device 100 includes a coordinate generation unit 110, a coordinate update unit 120, a detection unit 130, and a determination unit 140.
[0017] The coordinate generation unit 110 calculates distance information between the vehicle 1 and an obstacle based on the round-trip time of the detection wave detected by the peripheral monitoring sensor unit 10, and generates coordinate information of the obstacle based on the distance information.
[0018] The coordinate information is, for example, information in an XY coordinate system. The X coordinate is the position coordinate in the traveling direction of the vehicle 1 in automatic parking (hereinafter also referred to as the X direction). The Y coordinate is a direction orthogonal to the traveling direction and is the position coordinate in the direction perpendicular to the side surface of the vehicle 1 (hereinafter also referred to as the Y direction).
[0019] For example, the coordinate generation unit 110 generates coordinate information of an obstacle based on the principle of triangulation. The coordinate generation unit 110 stores the generated coordinate information in the storage unit 20.
[0020] The coordinate update unit 120 updates the coordinate information stored in the storage unit 20. The storage unit 20 stores a detectable amount of coordinate information for detecting a parking frame, and the coordinate update unit 120 updates the oldest coordinate information to the newly generated coordinate information each time the vehicle 1 moves forward.
[0021] The detection unit 130 detects a parking space in automatic parking based on the coordinate information generated by the coordinate generation unit 110.
[0022] For example, as shown in Figure 2, suppose there is a situation where vehicle 1 is to be parked in parallel by automatic parking in a space S between multiple other vehicles 2. Parallel parking is a type of parking where, for example, vehicle 1 is parked so that it is aligned with the direction (Y direction) perpendicular to the direction of travel of vehicle 1 (X direction) in automatic parking.
[0023] In this case, the coordinate generation unit 110 generates coordinate information for the other vehicle 2. Note that there are no obstacles in the space S between the two other vehicles 2, so coordinate information corresponding to that space is not generated. In Figure 2(a), the area indicated by the black circle is the area where the detection wave from the surrounding monitoring sensor unit 10 is reflected toward vehicle 1 (see Figure 2(a)).
[0024] The detection unit 130 detects a parking space F1 that corresponds to parallel parking if the distance between two other vehicles 2 based on coordinate information is within the range where parallel parking is possible (see Figure 2(b)). The parking assist device 100 then starts automatic parking toward the parking space F1. The method of automatic parking after the detection of the parking space F1 (such as the method of generating the path) uses known technology.
[0025] For example, as shown in Figure 3, suppose there is a situation where vehicle 1 is to be parked in parallel in a space S between several other vehicles 2 using automatic parking. Parallel parking is a type of parking where vehicle 1 is parked so that it is aligned with the direction of travel (X direction) of vehicle 1 in automatic parking. Figure 3(a) shows a case where there is an obstacle 3 parallel to the other vehicles 2 that are parked in parallel. Obstacle 3 is an obstacle located further away from the other vehicles in space S, and could be, for example, a curb, wall, or step.
[0026] In the case of parallel parking, there is an obstacle 3 located further away than the other vehicle 2 already parked. Therefore, in order to detect the parking space F2 for parallel parking, it is desirable to accurately detect obstacle 3.
[0027] However, if the obstacle 3 is a low-height object such as a curb or a step, or an object with low reflectivity, the coordinate information of the obstacle 3 may not be accurately generated. Specifically, in such cases, the detection of the round-trip time of the detection wave by the surrounding monitoring sensor unit 10 becomes unstable, so the coordinate generation unit 110 may not accurately generate the coordinates of the obstacle 3 using the principle of triangulation.
[0028] For example, even if the detection of the round-trip time of the detected wave is unstable, the distance to obstacle 3 can be detected relatively accurately. However, in triangulation, which detects the coordinates of the reflection point based on the triangle formed by the path of the detected wave before and after reflection, if the detection of the round-trip time of the detected wave becomes unstable, the error in calculating the coordinates of the reflection point at obstacle 3 on the far side increases. Specifically, many parts of obstacle 3 where coordinate detection was not possible occur, so the intervals between parts where coordinate detection was possible (parts where coordinates were generated) become longer. Considering the reliability of the generated coordinates, a density of coordinates is necessary, so long intervals between parts where coordinate detection was possible are undesirable from a reliability standpoint.
[0029] In the example shown in Figure 3, the areas indicated by black circles are where coordinate detection was accurate, and the areas indicated by white circles are where coordinate detection was not accurate.
[0030] If the coordinates of obstacle 3 are not generated accurately, it becomes difficult for the detection unit 130 to accurately detect the parking space F2. Specifically, if the coordinates in the Y direction are not available, the detection unit 130 may detect a parking space F1 for parallel parking instead of parallel parking, which may make it difficult to accurately detect the parking space in automatic parking (see Figure 3(b)).
[0031] In this embodiment, the determination unit 140 determines the presence or absence of obstacle 3, thereby solving the difficulty in detecting a parking space, as in the case of parallel parking described above. Specifically, while the vehicle 1 is moving during automatic parking, the determination unit 140 determines the presence or absence of obstacle 3 on the far side of the space on the side of the vehicle 1 based on distance information (distance information in the Y direction) between the vehicle 1 and obstacles (including multiple other vehicles 2 and obstacle 3) facing the side of the vehicle 1, obtained by the TOF method.
[0032] More specifically, the determination unit 140 acquires distance information between the obstacle and the vehicle 1 each time the vehicle 1 moves a certain distance, and determines that there is an obstacle 3 if the distance between the obstacle and the vehicle 1 at each position is within a predetermined range.
[0033] For example, a certain distance is the distance between each part when the distance corresponding to the parking space (distance in the X direction) is divided into multiple equal parts, and can be set to an appropriate distance, such as 50 mm.
[0034] The specified range corresponds to the width of the parking space (distance in the Y direction) in parallel parking, and can be set to an appropriate range, such as 4 to 5 meters.
[0035] "The distance being within a predetermined range" means that all distances between vehicle 1 and obstacles acquired each time vehicle 1 moves a certain distance are within a predetermined range. Furthermore, it is acceptable for some distances based on acquired distance information to be included in the "distance being within a predetermined range" condition, even if some distances were not acquired as distance information, or if some distance information exceeds the predetermined range. Distances not acquired as distance information include, for example, the part of the obstacle 3 along the parking space where no object exists, such as the space between curbs. Distances exceeding the predetermined range include, for example, the distance when an object located further back than the obstacle is detected as distance information.
[0036] The determination unit 140 acquires distance information if there is one or more distances within a predetermined range based on distance information while traveling a certain distance, and acquires this distance information each time the vehicle travels a certain distance. For example, in Figure 4(a), when vehicle 1 passes through the space S between two other vehicles 2, the determination unit acquires distance information between vehicle 1 and the part of obstacle 3 indicated by X each time vehicle 1 travels a certain distance. The part indicated by X is the part of obstacle 3 that faces the side of vehicle 1 that reflects the detection wave from the surrounding monitoring sensor unit 10.
[0037] The determination unit 140 then determines that the obstacle is obstacle 3 if the difference between the maximum and minimum distances based on all distance information acquired each time a certain distance is traveled is within a predetermined threshold (which can be set arbitrarily).
[0038] The detection unit 130 detects a parking space based on the determination result of the determination unit 140. Specifically, if the determination unit 140 determines that there is an obstacle 3, the detection unit 130 detects a parking space that corresponds to parallel parking.
[0039] In this case, the detection of a parking space corresponding to parallel parking may be performed, for example, by coordinate information generated based on distance information acquired by the TOF method. In this case, the coordinate generation unit 110 generates simplified coordinate information using position information in the Y direction based on distance information and position information in the X direction when distance information is acquired at regular intervals. Specifically, the coordinate generation unit 110 generates coordinate information of the obstacle 3 using the position of vehicle 1 when vehicle 1 moves a certain distance and the distance information acquired at that position. Then, the detection unit 130 detects the parking space F2 using this simplified coordinate information (first coordinate information).
[0040] By doing so, it becomes easier to accurately obtain information about obstacle 3 during parallel parking, thus enabling accurate detection of parking spaces in automatic parking.
[0041] Furthermore, since the coordinate generation unit 110 generates coordinate information (second coordinate information) based on the principle of triangulation in addition to the first coordinate information described above, the determination unit 140 does not determine the presence or absence of obstacle 3 based on distance information if all of the second coordinate information has been generated. However, if at least a portion of the coordinate information based on the principle of triangulation has not been generated, the determination unit 140 determines the presence or absence of obstacle 3 based on distance information.
[0042] Since coordinate information based on the principle of triangulation is more accurate than the simplified coordinate information based on distance information described above, if at least a portion of the coordinate information based on the principle of triangulation is not generated, the presence or absence of obstacle 3 will be determined based on distance information. This will enable more accurate detection of parking spaces in automatic parking.
[0043] In Figure 4(a), the size (width and length) of the two other vehicles 2 is assumed to be similar to that of vehicle 1. However, Figure 4(b) describes the case where the size of the two other vehicles 2 is larger than that of vehicle 1, and Figure 4(c) describes the case where the size of the two other vehicles 2 is smaller than that of vehicle 1.
[0044] In Figure 4(b), the width of vehicle 1 is smaller than the widths of the other two vehicles 2, and vehicle 1 is parked at a predetermined distance d2 from obstacle 3. Therefore, the distances d3-1, d3-2, and d3-3 from obstacle 3 to the sides of each vehicle are different. Note that the predetermined distance d2 takes into account the opening and closing of the doors of obstacle 3 and vehicle 1, and changes depending on the size of vehicle 1.
[0045] In Figure 4(c), the width of vehicle 1 is greater than the widths of the two other vehicles 2, and vehicle 1 is parked at a predetermined distance d2 from obstacle 3. Therefore, the distances d3-1, d3-2, and d3-3 from obstacle 3 to the sides of each vehicle are different.
[0046] If triangulation is used to detect obstacle 3, as in existing technologies, the detection of obstacle 3 may be insufficient due to the presence of two other vehicles 2. Therefore, if vehicle 1 is parked according to distances d3-2 and d3-3, it may become difficult to secure the predetermined distance d2, which may interfere with opening and closing the doors.
[0047] However, as disclosed herein, when triangulation is used to detect the two other vehicles 2 and time-of-flight (TOF) is used to detect the obstacle 3, the obstacle 3 can be sufficiently detected even if the two other vehicles 2 are present. Therefore, even if the widths of the two other vehicles 2 are different, the doors of vehicle 1 can be opened and closed easily by parallel parking vehicle 1 based on a predetermined distance d2 from the obstacle 3.
[0048] Next, an example of the operation of the parking assistance device 100 of this disclosure will be described. Figure 5 is a flowchart showing an example of the operation of the parking space detection control in the parking assistance device 100. This control is executed as appropriate, for example, when automatic parking is started by user operation.
[0049] As shown in Figure 5, the parking assistance device 100 performs coordinate generation processing (step S101). Details of the coordinate generation processing will be described later. After step S101, the parking assistance device 100 determines whether parallel parking and perpendicular parking are possible (step S102). Whether parallel parking and perpendicular parking are possible is determined based on information about the width of the parking space, information about the presence of an obstacle 3 at the rear, etc.
[0050] If the determination results in neither parallel nor perpendicular parking being possible (step S102, NO), the parking assist device 100 determines whether parallel parking is possible (step S104). On the other hand, if both parallel and perpendicular parking are possible (step S102, YES), the parking assist device 100 performs a detection process for parallel and perpendicular parking spaces (step S103). Details of each detection process will be described later.
[0051] Furthermore, if the determination is that parallel parking is not possible (step S104, NO), the parking assistance device 100 determines whether parallel parking is possible (step S106). On the other hand, if parallel parking is possible (step S104, YES), the parking assistance device 100 performs a parallel parking space detection process (step S105). Details of each detection process will be described later.
[0052] Furthermore, if the determination is that parallel parking is not possible (step S106, NO), the parking assistance device 100 returns to step S101. On the other hand, if parallel parking is possible (step S106, YES), the parking assistance device 100 performs the parallel parking space detection process (step S107). Details of each detection process will be described later. Note that in Figure 5, the determination of whether or not parallel parking is possible was made before the determination of whether or not parallel parking is possible, but the determination of parallel parking may be made after the determination of parallel parking.
[0053] After step S103, step S105, or step S107, the parking assist device 100 determines whether or not it has detected a parking space (step S108). If the determination shows that it has not detected a parking space (step S108, NO), the process returns to step S101. On the other hand, if it has detected a parking space (step S108, YES), this control ends.
[0054] Next, an example of the coordinate generation process in step S101 of Figure 5 will be described. Figure 6 is a flowchart showing an example of the coordinate generation process in the parking assistance device 100.
[0055] This coordinate generation process is the generation process for the first coordinate information described above, based on distance information acquired by the determination unit 140 (based on the TOF method). In parallel with this generation process, a second coordinate information generation process is also performed using distance information corresponding to the principle of triangulation. The distance information corresponding to the principle of triangulation is, for example, the distance information obtained from the reflected wave transmitted by the first sensor and received by the second sensor when multiple sensors are used, and the distance information obtained using the reflected wave received by the sensor after the vehicle moves following the transmission when the sensor is used. Since known techniques can be applied to this second coordinate information generation process based on the principle of triangulation, a detailed explanation is omitted.
[0056] As shown in Figure 6, the parking assist device 100 acquires information on the distance between an obstacle and the vehicle 1 at each position at regular intervals (step S1011). After step S1011, the parking assist device 100 determines whether the distance acquired in step S1011 is within a predetermined range (step S1012).
[0057] If the determination result indicates that the distance is not within a predetermined range (step S1012, NO), the parking assist device 100 determines that there is no obstacle 3 (step S1013). On the other hand, if the distance is within a predetermined range (step S1012, YES), the parking assist device 100 determines that there is an obstacle 3 and generates coordinate information (step S1014).
[0058] After step S1013 or step S1014, the parking assist device 100 updates the coordinate information (step S1015). In step S1015, in addition to the coordinate information generated in step S1014, the coordinate information generated by the coordinate information generation process based on the principle of triangulation is also updated.
[0059] After step S1015, this control ends and the process transitions to step S102 in Figure 5.
[0060] Next, we will describe an example of the operation of the parallel parking detection process. Figure 7 is a flowchart showing an example of the operation of the parallel parking detection process in the parking assistance device 100.
[0061] As shown in Figure 7, the parking assist device 100 determines whether the width of the parking space is sufficient for parallel parking (step S1031). If the determination is that the width of the parking space is not sufficient (step S1031, NO), this control is terminated.
[0062] On the other hand, if the width of the parking space is sufficient (step S1031, YES), the parking assist device 100 detects a parallel parking space (step S1032). After step S1032, this control ends. After the end of this control, the process transitions to step S105 in Figure 5.
[0063] Next, we will describe an example of the operation of the parallel parking detection process. Figure 8 is a flowchart showing an example of the operation of the parallel parking detection process in the parking assistance device 100.
[0064] As shown in Figure 8, the parking assist device 100 determines whether the width of the parking space is sufficient for parallel parking (step S1041). If the determination is that the width of the parking space is not sufficient (step S1041, NO), this control is terminated.
[0065] On the other hand, if the width of the parking space is sufficient (step S1041, YES), the parking assist device 100 detects a parallel parking space (step S1042). After step S1042, this control ends. After the end of this control, the process transitions to step S105 in Figure 5.
[0066] According to this embodiment configured as described above, the presence or absence of an obstacle 3 is determined based on the distance information from the surrounding monitoring sensor unit 10, and a parking space in automatic parking is detected based on the determination result. Specifically, the determination unit 140 determines that there is an obstacle 3 if the distance between the obstacle and the vehicle 1 at each position is within a predetermined range each time the vehicle 1 moves a certain distance.
[0067] This makes it easy to determine the presence or absence of obstacle 3. For example, even if obstacle 3 is difficult to generate coordinate information for based on the principle of triangulation, its presence can be easily determined. As a result, parking spaces can be accurately detected in automatic parking.
[0068] Furthermore, since the coordinate information of obstacle 3 is generated using the position of vehicle 1 when vehicle 1 moves a certain distance and the distance information acquired at that position, the coordinate information of obstacle 3 can be generated in a simple manner.
[0069] In the above embodiment, either a parallel parking space or a tandem parking space was detected, but this disclosure is not limited to this, and both parallel parking spaces and tandem parking spaces may be detectable.
[0070] In this case, as shown in Figure 9, the parking assistance device 100 may further include a selection unit 150 that selects either a parallel parking space or a tandem parking space.
[0071] The selection unit 150 may present the user with both parallel parking spaces and tandem parking spaces, and allow the user to select one of the two parking spaces.
[0072] Furthermore, the selection unit 150 may select either a parallel parking space or a tandem parking space based on past parking history information.
[0073] By incorporating a function to select between parallel parking and perpendicular parking, flexible automatic parking becomes possible.
[0074] Furthermore, in the above embodiment, if it was determined that there was an obstacle 3, the parallel parking space was not detected, but this disclosure is not limited to this. For example, even if an obstacle 3 is present, if there is space where parallel parking is possible, such as when the distance based on distance information exceeds a predetermined range, the parallel parking space may be detected.
[0075] Furthermore, the embodiments described above are merely examples of how this disclosure may be implemented, and the technical scope of this disclosure should not be limited by them. Therefore, this disclosure can be implemented in various ways without departing from its essence or its main features. [Industrial applicability]
[0076] The parking assistance device of this disclosure is useful as a parking assistance device and parking assistance method capable of accurately detecting parking spaces in automatic parking. [Explanation of Symbols]
[0077] 1 vehicle 10 Peripheral monitoring sensor unit 20 Memory section 100 Parking assist system 110 Coordinate generator 120 Coordinate update section 130 Detection unit 140 Judgment section 150 Selection Section
Claims
1. During the vehicle's movement in automatic parking, a determination unit acquires distance information from surrounding objects using a Time of Flight (TOF) method from sensors mounted on the vehicle, and determines the presence or absence of obstacles located in the space opposite the side of the vehicle based on the distance information. A detection unit detects a parking space in the automatic parking system within the space based on the determination result of the determination unit, A parking assist device equipped with the following features.
2. The determination unit determines that there is an obstacle if the distance information acquired each time the vehicle moves a certain distance is within a predetermined range. The parking assistance device according to claim 1.
3. The system further includes a coordinate generation unit that generates coordinate information of the obstacle using a certain distance traveled by the vehicle and first distance information corresponding to the certain distance from the distance information. The detection unit detects the parking space within the space based on the coordinate information. The parking assistance device according to claim 1.
4. The coordinate generation unit generates first coordinate information using the vehicle's fixed distance and first distance information corresponding to the fixed distance from the distance information, and generates second coordinate information using second distance information corresponding to the principle of triangulation from the distance information. If at least a portion of the second coordinate information is not generated, the determination unit uses the first coordinate information to determine whether or not the obstacle is present. The parking assistance device according to claim 3.
5. The detection unit is If it is determined that the aforementioned obstacle is not within the predetermined range, the parallel parking space is detected. If it is determined that the obstacle is within the predetermined range, the system detects the parking space for parallel parking. The parking assistance device according to claim 2.
6. If the detection unit detects both parallel parking spaces and parallel parking spaces, the system further includes a selection unit that selects at least one of the parallel parking spaces and the parallel parking spaces. The parking assistance device according to claim 1.
7. During the vehicle's movement in automatic parking, distance information to surrounding objects is acquired from sensors mounted on the vehicle using the Time of Flight (TOF) method. Based on the distance information, the presence or absence of an obstacle located in the space opposite the side of the vehicle is determined. Based on the result of the above determination, a parking space in the automatic parking system is detected within the space. Parking assistance methods.
8. If the distance information acquired each time the vehicle travels a certain distance falls within a predetermined range, it is determined that there is an obstacle. The parking assistance method according to claim 7.
9. Using the fixed distance traveled by the vehicle and the first distance information corresponding to the fixed distance, the coordinate information of the obstacle is generated. The aforementioned parking space is detected within the space based on the coordinate information. The parking assistance method according to claim 8.
10. This includes generating first coordinate information using the fixed distance traveled by the vehicle and first distance information corresponding to the fixed distance from the distance information, and generating second coordinate information using second distance information corresponding to the principle of triangulation from the distance information, If, in the process of making the determination, at least a portion of the second coordinate information is not generated, the presence or absence of the obstacle is determined using the first coordinate information. The parking assistance method according to claim 8.
11. If it is determined that the aforementioned obstacle does not exist within the predetermined range, the parallel parking space is detected. If it is determined that the aforementioned obstacle is within the predetermined range, the system detects the parking space for parallel parking. The parking assistance method according to claim 8.
12. If both the parallel parking space and the tandem parking space are detected, at least one of the parallel parking space and the tandem parking space will be selected. The parking assistance method according to claim 11.