Parking assistance device
First Claim
1. A parking assistance device comprising:
- an emission unit configured to emit ultrasonic waves in at least an outward lateral direction of a vehicle;
a reception unit configured to receive reflection waves from an object reflecting the emitted ultrasonic waves; and
an object determination unit configured to, based on a change in a detection state of an object that exists on a far side of a target parking region in which the vehicle is to be parked, the detection state having been specified based on reflection wave data obtained using the reflection waves from the object, determine a feature relating to the height of the object as the vehicle enters the target parking region,wherein the object determination unit includes a storage unit configured to store the reflection wave data each time the vehicle moves a predetermined distance;
wherein the detection state is a detection frequency at a time when the reflection wave data stored in the storage is mapped in a two-dimensional map and the reflection wave data has been grouped based on a distribution state of the mapped reflection wave data, the detection frequency being calculated based on the grouped reflection wave data; and
the emission unit emits the ultrasonic waves in the interior of a conic surface having an angle with respect to the horizontal.
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Accused Products
Abstract
Provided is a parking assistance device that can obtain information regarding the height from a parking road surface of an object without acquiring height information of an object in advance. The parking assistance device includes: an emission unit configured to emit ultrasonic waves in at least an outward lateral direction of a vehicle; a reception unit configured to receive reflection waves from an object reflecting the emitted ultrasonic waves; and an object determination unit configured to receive the reflection waves from an object existing on a far side of a target parking region as the vehicle enters the target parking region, and determine a feature relating to the height of the object based on a change in a detection state of the object, which was specified based on the obtained reflection wave data.
8 Citations
11 Claims
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1. A parking assistance device comprising:
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an emission unit configured to emit ultrasonic waves in at least an outward lateral direction of a vehicle; a reception unit configured to receive reflection waves from an object reflecting the emitted ultrasonic waves; and an object determination unit configured to, based on a change in a detection state of an object that exists on a far side of a target parking region in which the vehicle is to be parked, the detection state having been specified based on reflection wave data obtained using the reflection waves from the object, determine a feature relating to the height of the object as the vehicle enters the target parking region, wherein the object determination unit includes a storage unit configured to store the reflection wave data each time the vehicle moves a predetermined distance; wherein the detection state is a detection frequency at a time when the reflection wave data stored in the storage is mapped in a two-dimensional map and the reflection wave data has been grouped based on a distribution state of the mapped reflection wave data, the detection frequency being calculated based on the grouped reflection wave data; and the emission unit emits the ultrasonic waves in the interior of a conic surface having an angle with respect to the horizontal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A parking assistance device comprising:
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an emission unit configured to emit ultrasonic waves in at least an outward lateral direction of a vehicle; a reception unit configured to receive reflection waves from an object reflecting the emitted ultrasonic waves; and an object determination unit configured to, based on a change in a detection state of an object that exists on a far side of a target parking region in which the vehicle is to be parked, the detection state having been specified based on reflection wave data obtained using the reflection waves from the object, determine a feature relating to the height of the object as the vehicle enters the target parking region, wherein the object determination unit includes a storage unit configured to store the reflection wave data each time the vehicle moves a predetermined distance; wherein the detection state is a detection frequency at a time when the reflection wave data stored in the storage unit is mapped in a two-dimensional map and the reflection wave data has been grouped based on a distribution state of the mapped reflection wave data, the detection frequency being calculated based on the grouped reflection wave data; and wherein the detection state is a calculation value obtained by subjecting the grouped region to linear approximation along the installation position of the target parking region, and dividing the amount of reflection wave data included in the region by the length of the line obtained by linear approximation. - View Dependent Claims (10, 11)
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Specification