Parking Assistance Method and Parking Assistance Device
AssigneeNissan Motor Co., Ltd.
InventorsYusuke Musha, Yasuhiro Suzuki
Life of this patent
Estimating the term…
Abstract
A parking assistance method, when a restriction factor is present at a time of registering learned target object data in a storage device, does not register the learned target object data in the storage device and also displays, when an environmental factor dependent on an environment of an own vehicle is present as the restriction factor, the environmental factor on a display device and, when a user factor dependent on a user is present as the restriction factor, the user factor on the display device.
Claims8
A parking assistance method for assisting parking of an own vehicle at a target parking position, the parking assistance method comprising:
- detecting a target object existing in surroundings of the target parking position in advance and registering data representing a relative positional relationship between the detected target object and the target parking position in a storage device as learned target object data;
- detecting, at a time of causing the own vehicle to move to the target parking position after registering the learned target object data in the storage device, a position of a surrounding target object, the surrounding target object being a target object existing in surroundings of the own vehicle;
- calculating a relative positional relationship between the target parking position and a current position of the own vehicle, based on the learned target object data and a position of the surrounding target object;
- calculating a travel trajectory starting from a current position of the own vehicle and reaching the target parking position, based on the calculated relative positional relationship;
- and
- assisting parking of the own vehicle at the target parking position, based on the travel trajectory,
- wherein when a restriction factor is present at a time of registering the learned target object data in a storage device, the parking assistance method does not register the learned target object data in the storage device and also displays, when an environmental factor dependent on an environment of the own vehicle is present as the restriction factor, the environmental factor on a display device and, when a user factor dependent on a user is present as the restriction factor, the user factor on the display device.
A parking assistance device configured to assist parking of an own vehicle at a target parking position, the parking assistance device comprising:
- a sensor configured to detect a target object in surroundings of the own vehicle;
- a storage device;
- a display device;
- and
- a controller configured to:
- detect a target object existing in surroundings of the target parking position in advance and register data representing a relative positional relationship between the detected target object and the target parking position in the storage device as learned target object data;
- detect, at a time of causing the own vehicle to move to the target parking position after registering the learned target object data in the storage device, a position of a surrounding target object, the surrounding target object being a target object existing in surroundings of the own vehicle;
- calculate a relative positional relationship between the target parking position and a current position of the own vehicle, based on the learned target object data and a position of the surrounding target object;
- calculate a travel trajectory starting from a current position of the own vehicle and reaching the target parking position, based on the calculated relative positional relationship;
- and
- assist parking of the own vehicle at the target parking position, based on the travel trajectory, wherein the controller
- when a restriction factor is present at a time of registering the learned target object data in a storage device, does not register the learned target object data in the storage device and also displays, when an environmental factor dependent on an environment of the own vehicle is present as the restriction factor, the environmental factor on a display device and, when a user factor dependent on a user is present as the restriction factor, the user factor on the display device.
Dependencies are inferred from the claim text.