Parking assist device

• US 20060136109A1
• Filed: 12/21/2005
• Published: 06/22/2006
• Est. Priority Date: 12/21/2004
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Inventors: Kakinami, Toshiaki, Tanaka, Yu
• Granted Patent: US 7,706,944 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B62D 15/0275 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically

Abstract

A parking assist device detecting a parking stall line from an image, which is captured by a capturing portion; setting a parking target position on the basis of the parking stall line; and assisting the vehicle to travel to the parking target position; the parking assist device includes a vehicle detecting portion for detecting a movement of the vehicle, a memorizing portion for memorizing the movement detected by the vehicle detecting portion, as a vehicle moving trajectory, a temporary parking target position estimating portion for assuming a temporary parking target position on the basis of variations of the vehicle moving trajectory, which has been memorized by the memorizing portion, and a parking stall line searching area setting portion for setting a parking stall line searching area, within which a parking stall line is searched on the basis of the temporary parking target position.

Claims

1. A parking assist device detecting a parking stall line, which indicates a parking stall within a parking space, from an image, which is captured by a capturing means;

setting a parking target position on the basis of the parking stall line; and

assisting the vehicle to travel to the parking target position;

the parking assist device comprising;

a vehicle detecting means for detecting a movement of the vehicle;

a memorizing means for memorizing the movement detected by the vehicle detecting means, as a vehicle moving trajectory;

a temporary parking target position estimating means for assuming a temporary parking target position on the basis of variations of the vehicle moving trajectory; and

a parking stall line searching area setting means for setting a parking stall line searching area, within which a parking stall line is searched on the basis of the temporary parking target position, which is assumed by the temporary parking target position estimating means.

2. The parking assist device according to claim 1, wherein the temporary parking target position estimating means calculates a deflection angle of the vehicle on the basis of the vehicle moving trajectory and sets the temporary parking target position on the basis of the deflection angle.

3. The parking assist device according to claim 1, wherein the temporary parking target position estimating means calculates a vehicle temporary stopping position, a vehicle deflection angle relative to the vehicle temporary stopping position and a vehicle moving distance, and on the basis of the vehicle temporary stopping position, the vehicle deflection angle and the vehicle moving distance, a temporary parking target position is set.

4. The parking assist device according to claim 1 further includes a parking assist instruction switch for outputting a parking assist instruction, and when the parking assist instruction is input into the temporary parking target position estimating means, the temporary parking target position estimating means assumes the temporary parking target position

5. The parking assist device according to claim 1, wherein the parking stall line searching area setting means sets the parking stall line searching area so as to include a right parking stall line searching area in which a right parking stall line is detected, and a left parking stall line searching area in which a left parking stall line is detected.

6. The parking assist device according to claim 1, wherein the parking assist device further includes a guide route calculating means, an steering wheel operation amount calculating means and a steering wheel controlling means, the guide route calculating means calculating a guide route by which the vehicle is guided to the parking target position, the steering wheel operation amount calculating means calculating a steering wheel operation amount of the vehicle on the basis of the guide route, which is calculated by the guide route calculating means, and the steering wheel controlling means automatically controlling the steering wheel operation of the vehicle on the basis of the steering wheel operation amount, which is calculated by the steering wheel operation amount calculating means.

7. The parking assist device according to claim 3, wherein the parking assist device further includes a parking target position estimating means for setting the parking target position when a shift lever positioned to a reversed mode.

8. The parking assist device according to claim 5, wherein each of the right parking stall line searching area and the left parking stall line searching area is set to be larger than each of the right parking stall line and the left parking stall line.

9. The parking assist device according to claim 5, wherein the parking stall line searching area setting means sets a single parking stall line searching area so as to include the left parking stall line and the right parking stall line.

10. The parking assist device according to claim 9, wherein the parking stall line searching area setting means sets the parking stall line searching area so as to be larger than an area of the parking stall.