Hitachi Automotive Systems, Ltd.

Hitachi Astemo Ltd.

Koji Takahashi

Masato Imai

Satoru Okubo

Munetoshi Tsuge

Sara Suda

In a method of detecting a parkable space using only a sonar installed on a side of a vehicle, automatic parking assistance cannot be implemented at an early stage, and an environment in which automatic parking assistance is possible is limited. In a parking assistance device including a parkable space setting unit that sets a parkable space existing ahead of the vehicle based on information from a front detector, the parkable space setting unit corrects the parkable space based on information on the parkable space acquired by a side detector when the vehicle passes by the parkable space.

Parking assistance device

In a tilt parking mode, 'a target parking position' can be accurately determined without changing a camera tilt angle and an HMI display range, and can be notified to a driver, so that the usability can be improved. A parking support device includes an external field recognition unit such as a camera and a sonar, which recognizes an external field, an information holding unit which holds information of a parking frame line recognized by the external field recognition unit, a parking region extraction unit which extracts a parking region from information of the parking frame line, a parking position determination unit which determines a target parking position from the parking region, and a path calculation unit which calculates a parking path from a current position of an own vehicle up to the target parking position. In a case where part of the parking frame line is not recognized by the camera, the target parking position is defined on the basis of lines connecting an end point of the parking frame line on a rear side of the own vehicle, a virtually extending line of the parking frame line on a front side of the own vehicle, and a point intersecting with the virtual line on a front side of the vehicle from the end point of the parking frame line on the rear side of the own vehicle.

Parking support device

A parking frame for which a parking route cannot be generated is excluded from selection objects by a simple determination. The parking assistance device acquires information on an entrance width of a frame entrance of the parking frame and information on a passage width of a passage, and calculates a minimum projection amount wm in a passage width direction of a vehiclefrom the parking frameto the passagewhen a vehicle corner on a front side of the vehicle in an approach direction to the parking frame and on a first side in a vehicle width direction is located at the entrance end on the first side of the parking frame in the frame width direction, and when the vehicle is disposed at a position where the vehicle side part on a second side of the vehicle in the vehicle width direction is in contact with the entrance end on the second side of the parking frame in the frame width direction. This minimum projection amount wm is a minimum passage width required for rotating the vehicle from a direction at a start of parking to a direction at a completion of parking without considering a turning radius in a space configured by the parking frame and the passage. The passage width wr is compared with the minimum projection amount wm, and when the passage width is smaller than the minimum projection amount, it is determined that the vehicle cannot be parked in the parking frame.

Parking a vehicle at a location where parking is possible even when an obstacle is falsely detected. In a parking assistance device, an external environment recognition unitrecognizes road surface environment around an own vehicle on the basis of information detected by an external environment sensorinstalled in the own vehicle. The display control unitperforms screen display using the HMI deviceto present, to an occupant of the own vehicle, road surface information indicating the presence of an obstacle on the road surface around the own vehicle on the basis of the road surface environment recognized by the external environment recognition unit. The road surface information correction unitcorrects the road surface information and invalidates the obstacle. The parking route calculation unitcalculates a parking route for parking the own vehicle on the basis of the road surface information corrected by the road surface information correction unit

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Hitachinaka, Japan

Koji Takahashi