Parking assistance apparatus, parking assistance method, and non-transitory computer-readable recording medium with parking assistance program recorded therein

Abstract

A parking assistance apparatus includes: an image acquirer that acquires a camera image; a feature point detector that extracts feature points from the camera image; a feature point selector that selects a feature point to be registered on a map by evaluating the feature points in learning travel and a parking route and a parking position of the vehicle are registered on the map; and a vehicle controller that parks the vehicle based on the map, in which the feature point selector varies a priority for registration of the feature points or the number of feature points for registration in accordance with a position on the parking route, or selects, at the position on the parking route, the feature point to be registered on the map, based on a position of the camera or a relative position of the feature point with respect to an optical axis direction.