Parking assistance device and parking assistance method

• US 10,239,520 B2
• Filed: 09/10/2015
• Issued: 03/26/2019
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Tomozawa, Motokatsu, Kato, Masaya, Tachibana, Hiroyuki, Imai, Norio, Yamashita, Tomohisa, Hoshino, Tsuyoshi, Fukukawa, Shogi, Asai, Takatomo, Obayashi, Motonari, Ishijima, Hironobu, Takahashi, Kiyoshi
• Primary Examiner(s): Hilgendorf, Dale W
• Application Number:
  US15/509,956
• Publication Number:
  US 20170259812A1
• Time in Patent Office: 1,293 Days
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

A parking assistance device according to an embodiment includes a determination unit that determines, when the parallel parking of a vehicle in a parking area is assisted, whether the parking space length of a frontage that the vehicle enters in the parking area is the sum of the full length of the vehicle and a certain length or more and a control unit that performs parking assistance for the vehicle along a route in which stationary steering control is not performed at a turning position of the vehicle when the parking space length is the sum of the full length of the vehicle and the certain length or more.

Claims

1. A parking assistance device comprising:

an electronic control unit comprising at least one processor, the electronic control unit configured as;

a determination unit that determines, when parallel parking of a vehicle in a parking area is assisted, whether a parking space length of an open side of the parking area that the vehicle enters is a sum of a full length of the vehicle and a certain length or more; and

a control unit that performs parking assistance for the vehicle;

on a first route on which stationary steering control is not performed at a turning position when the parking space length is the sum of the full length of the vehicle and the certain length or more, and

on a second route on which stationary steering control is performed at the turning position when the parking space length is less than the sum of the full length of the vehicle and the certain length, wherein

the turning position is a position at which a traveling direction of the vehicle is changed between forward and rearward on the first route or the second route to the parking area.

2. The parking assistance device according to claim 1, wherein the control unit further determines whether stationary steering control is performed based on a deflection angle or a travelable distance of the vehicle at the turning position.

3. The parking assistance device according to claim 1, further comprising a temperature sensor that detects a temperature of an electric power steering system, wherein

the control unit further determines whether stationary steering control is performed based on the detected temperature of the electric power steering system.

6. The parking assistance device according to claim 1, wherein the control unit recalculates the first route or the second route when the determining unit determines that the vehicle has not stopped at the turning position.

4. A parking assistance method comprising:

determining, when parallel parking of a vehicle in a parking area is assisted, whether a parking space length of an open side of the parking area that the vehicle enters is a sum of a full length of the vehicle and a certain length or more; and

performing parking assistance for the vehicle;

on a first route on which stationary steering control is not performed at a turning position when the parking space length is the sum of the full length of the vehicle and the certain length or more, and

on a second route on which stationary steering control is performed at the turning position when the parking space length is less than the sum of the full length of the vehicle and the certain length, wherein

the turning position is a position at which a traveling direction of the vehicle is changed between forward and rearward on the first route or the second route to the parking area.

5. A parking assistance device comprising:

an electronic control unit comprising at least one processor, the electronic control unit configured as;

a determination unit that determines, when parking of a vehicle in a parking area is assisted, whether a length of an open side of the parking area that the vehicle enters is a sum of a full length of the vehicle and a certain length or more; and

a control unit that performs parking assistance for the vehicle;

on a first route drawn based on a clothoid curve at a turning position when the control unit determines that the length of the open side of the parking area is the sum of the full length of the vehicle and the certain length or more, stationary steering control not being performed on the first route, and

on a second route on which stationary steering control is performed at the turning position when the parking space length is less than the sum of the full length of the vehicle and the certain length, wherein

the turning position is a position at which a traveling direction of the vehicle is changed between forward and rearward on the first route or the second route to the parking area.