Parking assistance method and parking assistance device

Abstract

To prevent a cost of a device from increasing by suppressing an increase of a memory capacity so as to eliminate necessity of a large capacity memory.SOLUTION: A parking support method includes: detecting a position of a target existing in the periphery of a target parking position when an own vehicle is to park at the target parking position; allowing a storage section 7 to store the position of the detected target when the position of the detected target is different from a position of the target stored in the storage section 7; and deleting the position of the target which does not satisfy a predetermined condition among the positions of the target stored in the storage section 7 from the storage section 7. The predetermined condition indicates a predetermined number of times or more of coincidence between the position of the target stored in the storage section 7 and the position of the detected target from latest parking at the target parking position to past parking before a predetermined number of times.SELECTED DRAWING: Figure 3

Claims

1. A parking assistance method that assists in parking the vehicle by storing the positions of landmarks around a target parking spot where the vehicle has parked in the past in a storage unit, comparing the positions of the landmarks stored in the storage unit with the positions of landmarks detected when the vehicle parks at the target parking spot, When the vehicle parks in the target parking position, the position of a target object in the vicinity of the target parking position is detected. If the position of the detected target differs from the position of the target stored in the storage unit, the position of the detected target is stored in the storage unit. Among the locations of targets stored in the storage unit, the locations of targets that do not meet the predetermined conditions are deleted from the storage unit. The predetermined condition is that the position of the target stored in the memory unit matches the position of the detected target a predetermined number of times or more during parking from the most recent parking at the target parking position up to a predetermined number of parking times prior. If the vehicle parks in the target parking position during the nighttime, the vehicle will not be counted as one of the predetermined number of parking spaces. A parking assistance method characterized by the following features.

2. A parking assistance method that assists in parking the vehicle by storing the positions of landmarks around a target parking position where the vehicle has parked in the past in a storage unit, comparing the positions of landmarks stored in the storage unit with the positions of landmarks detected when the vehicle parks at the target parking position, When the vehicle parks in the target parking position, the position of a target object in the vicinity of the target parking position is detected. If the position of the detected target differs from the position of the target stored in the storage unit, the position of the detected target is stored in the storage unit. Among the locations of targets stored in the storage unit, the locations of targets that do not meet the predetermined conditions are deleted from the storage unit. The predetermined condition is that the position of the target stored in the memory unit matches the position of the detected target a predetermined number of times or more during parking from the most recent parking at the target parking position up to a predetermined number of parking times prior. The system compares the position of the target stored in the memory unit with the position of the detected target to calculate the relative position of the vehicle with respect to the target parking position, calculates a target driving trajectory from the vehicle's current position to the target parking position based on the calculated relative position, and assists in moving the vehicle along the calculated target driving trajectory. If the location of the target stored in the memory unit is within a range that cannot be detected from the target driving trajectory, then even if the vehicle parks at the target parking position along the target driving trajectory, it will not be counted as one of the predetermined number of parking attempts. A parking assistance method characterized by the following features.

3. The parking assistance method according to claim 1 or 2, characterized in that the predetermined condition is that the position of the target stored in the memory unit matches the position of the detected target for a predetermined number of consecutive times during parking from the most recent parking at the target parking position up to a predetermined number of parking spaces prior to that point.

4. A parking assistance device comprising a controller that stores the positions of landmarks around a target parking position where the vehicle has parked in the past in a storage unit, compares the positions of landmarks stored in the storage unit with the positions of landmarks detected when the vehicle parks at the target parking position, and assists in parking the vehicle, The aforementioned controller, When the vehicle parks in the target parking position, the position of a target object in the vicinity of the target parking position is detected. If the position of the detected target differs from the position of the target stored in the storage unit, the position of the detected target is stored in the storage unit. Among the locations of targets stored in the storage unit, the locations of targets that do not meet the predetermined conditions are deleted from the storage unit. The predetermined condition is that the position of the target stored in the memory unit matches the position of the detected target a predetermined number of times or more during parking from the most recent parking at the target parking position up to a predetermined number of parking times prior. The controller will not count the vehicle's parking at the target parking location as one of the predetermined number of parking attempts if the time period during which the vehicle parked at the target parking location was at night. A parking assistance device characterized by the following features.

5. A parking assistance device comprising a controller that stores in a memory unit the positions of objects in the vicinity of a target parking position where the vehicle has parked in the past, and compares the positions of objects stored in the memory unit with the positions of objects detected when the vehicle parks at the target parking position, thereby assisting in the parking of the vehicle, The aforementioned controller, When the vehicle parks in the target parking position, the position of a target object in the vicinity of the target parking position is detected. If the position of the detected target differs from the position of the target stored in the storage unit, the position of the detected target is stored in the storage unit. Among the locations of targets stored in the storage unit, the locations of targets that do not meet the predetermined conditions are deleted from the storage unit. The predetermined condition is that the position of the target stored in the memory unit matches the position of the detected target a predetermined number of times or more during parking from the most recent parking at the target parking position up to a predetermined number of parking times prior. The aforementioned controller, The system compares the position of the target stored in the memory unit with the position of the detected target to calculate the relative position of the vehicle with respect to the target parking position, calculates a target driving trajectory from the vehicle's current position to the target parking position based on the calculated relative position, and assists in moving the vehicle along the calculated target driving trajectory. If the location of the target stored in the memory unit is within a range that cannot be detected from the target driving trajectory, then even if the vehicle parks at the target parking position along the target driving trajectory, it will not be counted as one of the predetermined number of parking attempts. A parking assistance device characterized by the following features.

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