Parking assist device
First Claim
1. A parking assist device for assisting a vehicle to travel to a parking target position comprising:
- a vehicle movement detector which detects movement of the vehicle;
a storage device which stores the movement detected by the vehicle movement detector as a vehicle moving trajectory stored at the storage device;
a temporary parking target position estimator which estimates a temporary parking target position based on variations of the vehicle moving trajectory; and
a parking stall line searching area setting device which sets a parking stall line searching area within which the parking stall line is searched on the basis of the temporary parking target position which is estimated;
a parking stall line detecting device which detects the parking stall line within the parking stall line searching area by an image recognition from an image captured by an imaging device; and
a parking target position setting device which sets the parking target position on the basis of the parking stall line;
wherein the parking stall line searching area setting device 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;
the left parking stall line searching area and the right parking stall line searching area are set so as to be wider than a size of the parking stall line and so as not to include three parking stall lines or more.
1 Assignment
0 Petitions
Accused Products
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.
105 Citations
10 Claims
-
1. A parking assist device for assisting a vehicle to travel to a parking target position comprising:
-
a vehicle movement detector which detects movement of the vehicle; a storage device which stores the movement detected by the vehicle movement detector as a vehicle moving trajectory stored at the storage device; a temporary parking target position estimator which estimates a temporary parking target position based on variations of the vehicle moving trajectory; and a parking stall line searching area setting device which sets a parking stall line searching area within which the parking stall line is searched on the basis of the temporary parking target position which is estimated; a parking stall line detecting device which detects the parking stall line within the parking stall line searching area by an image recognition from an image captured by an imaging device; and a parking target position setting device which sets the parking target position on the basis of the parking stall line; wherein the parking stall line searching area setting device 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; the left parking stall line searching area and the right parking stall line searching area are set so as to be wider than a size of the parking stall line and so as not to include three parking stall lines or more. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
Specification