PARKING ASSIST APPARATUS AND METHOD
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Accused Products
Abstract
In order to provide parking assist even in a situation where an end portion of a vehicle is predicted to come into contact with an obstacle, an available parking space is set, and a target parking position is set within the available parking space. When it is determined that the end portion of the vehicle will come into contact with an end portion of the available parking space if the vehicle travels to be parked in the target parking position, an entering angle of the vehicle with respect to the available parking space is changed so that the vehicle may travel toward a target parking space with the end portion of the vehicle spaced away from a front end point P of the available parking space, and a parking path for the vehicle to travel to a non-final target parking position is calculated.
36 Citations
18 Claims
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1-8. -8. (canceled)
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9. A parking assist apparatus comprising:
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available parking space detection means for detecting an available parking space; final target parking position setting means for setting a final target parking position in the available parking space detected by the available parking space detection means; contact determination means for determining whether or not there exists a first path for a vehicle to reach the final target parking position without coming into contact with an end portion of the available parking space; non-final target parking position calculation means for, when the contact determination means determines that the first path does not exist, calculating an entering angle and a non-final target parking position, the entering angle enabling the vehicle to enter the available parking space by moving straight without coming into contact with the end portion of the available parking space, the non-final target parking position being a position to be reached when the vehicle enters the available parking space at the entering angle; second-path calculation means for calculating a second path for the vehicle to reach the non-final target parking position calculated by the non-final target parking position calculation means by moving straight; third-path calculation means for calculating a third path for the vehicle to reach the final target parking position from the non-final target parking position; and display means for displaying the first path when the contact determination means determines that the first path exists, and for displaying the second path and the third path when the contact determination means determines that the first path does not exist. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A parking assist method, comprising:
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detecting an available parking space, and setting a final target parking position in the available parking space; determining whether or not there exists a first path for a vehicle to reach the final target parking position without coming into contact with an end portion of the available parking space; when the first path exists, displaying the first path; when the first path does not exist, calculating an entering angle and a non-final target parking position, the entering angle enabling the vehicle to enter the available parking space by moving straight without coming into contact with the end portion of the available parking space, the non-final target parking position being a position to be reached when the vehicle enters the available parking space at the entering angle, calculating a second path for the vehicle to reach the non-final target parking position by moving straight and a third path for the vehicle to reach the final target parking position from the non-final target parking position, and displaying the second path and the third path. - View Dependent Claims (18)
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Specification