Target position setting device and parking assist device with the same
First Claim
1. A target position setting device comprising:
- a distance meter that measures a distance to an object around a vehicle;
an imager that takes an image of an environment around the vehicle;
a first calculating portion that calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter;
a second calculating portion that calculates a second candidate of the target position of the vehicle according to an imaging result of the imager;
a determination portion that determines whether a relationship between the first candidate of the target position and the second candidate of the target position meets a given condition; and
a setting portion that sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition,wherein the given condition is a case in which a distance between the first candidate of the target position and the second candidate of the target position is smaller than a first given value for more than a first given time or a case where a difference between a first inclination of a center line of the vehicle passing through the first candidate of the target position and a second inclination of the center line of the vehicle passing through the second candidate of the target position is smaller than a second given value for more than a second given time.
1 Assignment
0 Petitions
Accused Products
Abstract
A target position setting device includes a distance meter, an imager, first and second calculating portions, a determination portion, and a setting portion. The distance meter measures a distance to an object around a vehicle. The imager takes an image of an environment around the vehicle. The first calculating portion calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter. The second calculating portion calculates a second candidate of the target position of the vehicle according to an imaging result of the imager. The determination portion determines whether a relationship between the first candidate and the second candidate meets a given condition. The setting portion sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate and the second candidate meets the given condition.
35 Citations
16 Claims
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1. A target position setting device comprising:
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a distance meter that measures a distance to an object around a vehicle; an imager that takes an image of an environment around the vehicle; a first calculating portion that calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter; a second calculating portion that calculates a second candidate of the target position of the vehicle according to an imaging result of the imager; a determination portion that determines whether a relationship between the first candidate of the target position and the second candidate of the target position meets a given condition; and a setting portion that sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition, wherein the given condition is a case in which a distance between the first candidate of the target position and the second candidate of the target position is smaller than a first given value for more than a first given time or a case where a difference between a first inclination of a center line of the vehicle passing through the first candidate of the target position and a second inclination of the center line of the vehicle passing through the second candidate of the target position is smaller than a second given value for more than a second given time. - View Dependent Claims (2, 3)
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4. A target position setting device comprising:
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a distance meter that measures a distance to an object around a vehicle; an imager that takes an image of an environment around the vehicle; a first calculating portion that calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter; a second calculating portion that calculates a second candidate of the target position of the vehicle according to an imaging result of the imager; a determination portion that determines whether a relationship between the first candidate of the target position and the second candidate of the target position meets a given condition; a setting portion that sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition; and provisional setting portion that sets the target position according to the first candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position does not meet the given condition, wherein the setting portion sets the target position again according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition after the provisional setting portion sets the target position according to the first candidate of the target position. - View Dependent Claims (5, 6, 7)
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8. A parking assistance device comprising:
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a target position setting device including a distance meter, an imager, a first calculating portion, a second calculating portion, a determination portion, and a setting portion, the distance meter measuring a distance to an object around a vehicle, the imager taking an image of an environment around the vehicle, the first calculating portion calculating a first candidate of a target position of the vehicle according to a measuring result of the distance meter, the second calculating portion calculating a second candidate of the target position of the vehicle according to an imaging result of the imager, the determination portion determining whether a relationship between the first candidate of the target position and the second candidate of the target position meets a given condition, the setting portion setting the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition; and a steering assistance portion that starts a steering assistance by an automatic steering when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition, wherein the given condition is a case in which a distance between the first candidate of the target position and the second candidate of the target position is smaller than a first given value for more than a first given time or a case where a difference between a first inclination of a center line of the vehicle passing through the first candidate of the target position and a second inclination of the center line of the vehicle passing through the second candidate of the target position is smaller than a second given value for more than a second given time. - View Dependent Claims (9, 10, 11, 12)
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13. A parking assistance device comprising:
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a target position setting device including a distance meter, an imager, a first calculating portion, a second calculating portion, a determination portion, and a setting portion, the distance meter measures a distance to an object around a vehicle, the imager takes an image of an environment around the vehicle, the first calculating portion calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter, the second calculating portion calculates a second candidate of the target position of the vehicle according to an imaging result of the imager, the determination portion determines whether a relationship between the first candidate of the target position and the second candidate of the target position meets a given condition, the setting portion sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition; and a steering assistance portion that starts a steering assistance by an automatic steering when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition, wherein the target position setting device further includes a provisional setting portion that sets the target position according to the first candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position does not meet the given condition, and the setting portion sets the target position again according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition after the provisional setting portion sets the target position according to the first candidate of the target position. - View Dependent Claims (14, 15, 16)
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Specification