JP2011230549A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support device for outputting a parking procedure not bringing about a state that an occupant becomes difficult to get off from a one's own vehicle after parking.SOLUTION: The parking support device 100 includes: an HDD 103b for storing vehicle data 103b including a vehicle width and a door length of the one's own vehicle and parking area map data 103a including a frame width of a parking frame; a parking start detecting part 101a for detecting a parking start of the one's own vehicle into the parking frame; an obstacle detecting part 101b for detecting the existence of a parking obstacle adjacent to the parking frame; an angle calculating part 101c for calculating an openable/closable angle of a hinge door based on the door length, the frame width and the existence of the parking obstacle according to detection by the parking start detecting part 101a; a getting-off difficulty determining part 101d for determining whether or not to be difficult for getting off from the one's own vehicle after parking into the parking frame based on the openable/closable angle; and a parking procedure output part 101e for outputting a parking procedure signal of expressing a procedure on the parking into the parking frame when it is determined that the getting-off from the one's own vehicle is difficult by the getting-off difficulty determining part 101d.

Description

  The present invention relates to a parking assistance device.

  2. Description of the Related Art Conventionally, there is an apparatus that assists in parking a vehicle in a specific parking space. For example, Patent Literature 1 displays an image around the host vehicle, an icon representing the current position of the host vehicle on the image, and a position where the direction of the host vehicle coincides with the parking direction in the parking space. A parking assistance device that displays an icon is described.

JP 2009-248765 A

  When the vehicle is parked in the correct posture in the parking space according to the display of the device disclosed in Patent Document 1, it may be difficult for an occupant to get off the vehicle after parking due to a vehicle parked adjacently. .

  The invention according to claim 1 includes vehicle information acquisition means for acquiring the vehicle width of the host vehicle and the door length of the hinge door of the host vehicle, and parking start detection means for detecting the start of parking of the host vehicle in the parking frame. A parking frame width acquisition means for acquiring the frame width of the parking frame, an obstacle detection means for detecting the presence or absence of a parking obstacle adjacent to the parking frame, and a door length and a frame width according to detection by the parking start detection means. And an angle calculating means for calculating an opening / closing angle of the hinge door based on the presence / absence of a parking obstacle, and determining whether it is difficult to get off from the own vehicle after parking in the parking frame based on the opening / closing angle. A parking unit comprising: a determination unit; and an output unit that outputs a parking procedure signal indicating a procedure related to parking in the parking frame when the determination unit determines that it is difficult to get off from the host vehicle. It is a support device.

  ADVANTAGE OF THE INVENTION According to this invention, it can avoid that it becomes difficult for a passenger | crew to get off from the own vehicle after parking.

It is a block diagram which shows the whole structure of the parking assistance apparatus which concerns on the 1st Embodiment of this invention. It is a top view of the road 203 and the parking lot 201 facing this. It is a top view of the own vehicle and a parking frame showing a mode that parking start is detected. It is a figure which shows the angle calculation process by the angle calculation part 101c. 5 is a flowchart of parking support processing by the parking support device 100. It is a block diagram which shows the whole structure of the parking assistance apparatus which concerns on 2nd Embodiment. It is a block diagram which shows the whole structure of the parking assistance apparatus which concerns on 3rd Embodiment.

(First embodiment)
FIG. 1 is a block diagram showing the overall configuration of the parking assistance apparatus according to the first embodiment of the present invention. The parking assistance device 100 is a vehicle-mounted device mounted on a vehicle. In the following description, a vehicle on which the parking assistance device 100 is mounted is called a host vehicle.

  The parking assistance apparatus 100 includes a control circuit 101 including a CPU, a main storage device, peripheral circuits, and the like. A flash memory 102 that is a nonvolatile storage medium is connected to the control circuit 101. The control circuit 101 reads and executes a predetermined control program stored in the flash memory 102, thereby performing a control process of each part constituting the parking support apparatus 100 and a parking support process described later.

  A hard disk drive (HDD) 103, which is a large-capacity fixed storage device, is connected to the control circuit 101. The HDD 103 stores parking map data 103a and vehicle data 103b to be used for parking support processing by the control circuit 101. The parking lot map data 103a is data relating to parking lots in various places, and the vehicle data 103b is data relating to the dimensions of the host vehicle. These data will be described in detail later.

  A current location detection device 104 is connected to the control circuit 101. The current location detection device 104 is a device that detects the current location of the host vehicle and outputs the detected current location to the control circuit 101. The current location detection device 104 includes a vibration gyro 104a, a speed sensor 104b, an acceleration sensor 104c, and a GPS (Global Positioning System) sensor 104d. The vibration gyro 104a detects the angular velocity of the host vehicle. The speed sensor 104b detects the speed of the host vehicle. The acceleration sensor 104c detects the acceleration of the host vehicle. The GPS sensor 104d detects a GPS signal transmitted from a GPS satellite. The current location detection device 104 detects the current location of the host vehicle from each piece of information detected by these sensors and outputs it to the control circuit 101.

  In addition, the control circuit 101 can also acquire each information detected by each sensor with which the present location detection apparatus 104 is provided independently. For example, the control circuit 101 can acquire the angular velocity of the host vehicle detected by the vibration gyro 104a.

  An occupant detection device 105 is further connected to the control circuit 101. The occupant detection device 105 is a device that detects the presence or absence of an occupant other than the driver of the host vehicle using a known technique. The occupant detection device 105 can further detect the seat of each occupant.

  The parking assist device 100 includes a display device 106 and a speaker 107. The display device 106 is, for example, a liquid crystal display or the like, and displays an image or a character string on the screen based on an image signal output from the control circuit 101. The speaker 107 plays a sound to the driver based on the sound signal output from the control circuit 101.

  The parking assistance device 100 includes a communication device 108 that can communicate with an external server device (not shown) using an electric communication line such as a mobile phone network. Specific contents of communication with the server device will be described in detail later.

  The control circuit 101 includes a parking start detection unit 101a, an obstacle detection unit 101b, an angle calculation unit 101c, a getting-off difficulty determination unit 101d, and a parking procedure output unit 101e in order to execute a parking support process described later. Each of these functional units is realized by software when the control circuit 101 executes a control program stored in the flash memory 102. Each of these functional units will be described later.

(Description of parking lot map data 103a)
The parking lot map data 103a is data representing the parking lot sites in various places by longitude and latitude. That is, it is possible to determine whether or not the current location is a parking lot from the current location detected by the current location detection device 104 and the parking lot map data 103a. The parking lot map data 103a further includes the arrangement of parking frames and the size of the parking frames in the parking lot sites in various places.

  FIG. 2 is a top view of the road 203 and the parking lot 201 facing the road 203. In the parking lot map data 103a, the site of the parking lot 201 indicated by a solid line in FIG. 2 is stored by longitude and latitude. By referring to the parking lot map data 103a, for example, when the host vehicle 200 exists at the position shown in FIG. 2, it can be known that the host vehicle 200 is in the parking lot 201. The parking lot map data 103a further includes data of the parking frame 204 indicated by a one-dot chain line in FIG. Specifically, the position and size of each parking frame 204 are included in the parking lot map data 103a.

(Explanation of vehicle data 103b)
The vehicle data 103b is data representing the dimensions of the host vehicle. Specifically, the position of the driver's seat in the host vehicle, the vehicle width and length of the host vehicle, and the position and length of the hinge door of the host vehicle are included.

(Description of parking start detection unit 101a)
The parking start detection part 101a performs the parking start detection process which detects that the parking to the specific parking frame by the own vehicle was started. Prior to the parking start detection process, the parking start detection unit 101a detects that the current location output from the current location detection device 104 is within the parking lot by referring to the parking lot map data 103a. When it is detected that the vehicle is inside the parking lot, the parking start detection unit 101a starts executing the parking start detection process, and detects that the host vehicle has started parking in a specific parking frame.

  FIG. 3 is a top view of the host vehicle and the parking frame showing how parking is started. In the parking start detection process, the parking start detection unit 101a assumes that the current position detected by the current position detection device 104 is the center position 209 of the host vehicle 200. Then, a rectangle 206 centered on the center position 209 is calculated from the vehicle width CW and the vehicle length CL of the host vehicle 200 included in the vehicle data 103b. Note that the direction of the rectangle 206 is considered to be the same as the direction of the host vehicle 200 obtained from the angular velocity detected by the vibration gyro 104a.

  The parking start detection process is a process of detecting that the rectangle 206 representing the outer shape of the host vehicle 200 calculated in this way has come into contact with a specific parking frame. In FIG. 3, the rectangle 206 is in contact with the parking frame 204 b of the three parking frames 204 a, 204 b, 204 c divided by the white line 205. The parking start detection unit 101a detects that the rectangle 206 has come into contact with the parking frame 204b, and considers that the host vehicle 200 has started parking on the parking frame 204b. Hereinafter, the parking frame in which parking is started is referred to as a target parking frame.

(Description of the obstacle detection unit 101b)
The obstacle detection unit 101b executes an obstacle detection process for detecting the presence or absence of a parking obstacle adjacent to the target parking frame. In the present embodiment, a parking obstacle is a vehicle parked in a parking frame adjacent to a target parking frame (hereinafter referred to as an adjacent vehicle). That is, the obstacle detection process of the present embodiment is a process of detecting the presence or absence of an adjacent vehicle.

  The obstacle detection unit 101b receives parking state data via the communication device 108 in order to detect the presence or absence of an adjacent vehicle. In the present embodiment, it is assumed that a server device (not shown) that manages the parking situation for each parking lot exists outside the parking assistance device 100. The parking assistance device 100 can communicate with the server device via the communication device 108.

  In the obstacle detection process, the obstacle detection unit 101b first transmits a signal requesting parking status data to the server device. This signal includes information for identifying a parking lot where the host vehicle exists, such as a parking lot ID and the current location of the host vehicle. The server device that has received this signal identifies the parking lot based on the information included in the signal, and transmits a signal including parking status data corresponding to the parking lot to the parking support device 100. The parking status data includes the presence or absence of a parked vehicle for each parking frame present in the parking lot. The obstacle detection unit 101b detects the presence / absence of an adjacent vehicle by referring to the parking status data obtained in this way for the parking frame adjacent to the target parking frame.

(Description of Angle Calculation Unit 101c)
The angle calculation unit 101c executes an angle calculation process for calculating an openable / closable angle of the hinge door of the host vehicle. In the angle calculation process, the vehicle width of the host vehicle included in the vehicle data 103b, the position and length of the door, the frame width of the target parking frame included in the parking lot map data 103a, and the obstacle detection unit 101b are detected. The presence or absence of an adjacent vehicle is used.

  In the angle calculation process, the angle calculation unit 101c first determines which hinge door should be calculated for the openable / closable angle from the presence or absence of an occupant detected by the occupant detection device 105. For example, when the occupant detection device 105 detects that occupants are present on the left and right sides of the rear seat, the angle calculation unit 101c calculates the opening / closing angles of the doors corresponding to the left and right sides of the rear seat, respectively. Thereafter, the angle calculation unit 101c calculates an opening / closing angle of the door of the driver's seat.

  FIG. 4 is a diagram illustrating angle calculation processing by the angle calculation unit 101c. The angle calculation unit 101c calculates the opening / closing angle of each door on the assumption that the host vehicle is parked in the center of the target parking frame. That is, as shown in FIG. 4, the center position 209 of the host vehicle is set as the center of the target parking frame 204b. When there is an adjacent vehicle adjacent to the door for calculating the openable / closable angle, the angle calculating unit 101c is assumed to be able to open and close the door to the boundary with the white line 205 constituting the target parking frame 204b. In this case, the openable / closable angle θ of the door 208 is calculated by the following equation (1). Here, RW is the frame width of the parking frame, CW is the vehicle width of the host vehicle 200, and L is the length of the door 208.

  On the other hand, when there is no adjacent vehicle, the angle calculation unit 101c is assumed to be able to open and close the door up to the maximum opening and closing angle. For example, it is assumed that a sufficiently large predetermined angle (for example, 90 degrees) is the openable / closable angle of the door.

(Description of the getting-off difficulty determination unit 101d)
The getting-off difficulty determination unit 101d determines whether or not getting off from the door is difficult for each door whose opening and closing angle is calculated by the angle calculation unit 101c. Specifically, for each door, it is determined whether the openable / closable angle of the door is equal to or less than a predetermined threshold (for example, 20 degrees). When the door opening / closing angle is equal to or smaller than a predetermined threshold, it is determined that it is difficult to get off the door.

(Description of parking procedure output unit 101e)
The parking procedure output unit 101e outputs a parking procedure signal indicating a procedure related to parking on the target parking frame (hereinafter referred to as a parking procedure) when the getting-off difficulty determination unit 101d determines that getting off is difficult. In the present embodiment, the parking procedure signal is a signal including an image signal input to the display device 106 and an audio signal input to the speaker 107. The specific content of the parking procedure signal output by the parking procedure output unit 101e varies depending on the result of determination by the getting-off difficulty determination unit 101d.

  When the getting-off difficulty determination unit 101d determines that it is difficult to get out of the door corresponding to an occupant other than the driver, the parking procedure output unit 101e prompts the driver to get off the occupant before parking. Output the parking procedure signal of the content. As a result, for example, a message prompting the passenger to get off the vehicle is displayed on the display device 106, or a similar voice instruction flows from the speaker 107. If the driver does not follow this instruction, that is, if the presence of an occupant other than the driver continues to be detected by the occupant detection device 105 even after the parking procedure signal has been output, the parking assistance device 100 prompts the driver. No further notifications will be given.

  On the other hand, when the getting-off difficulty determination unit 101d determines that it is not difficult to get off from the door for a door corresponding to an occupant other than the driver, or when there is no occupant other than the driver, the parking procedure output unit 101e is described above. No parking procedure signal is output.

  When the parking procedure output unit 101e then determines that the getting-off difficulty determination unit 101d is difficult to get off from the door of the driver's seat, the parking procedure output unit 101e prompts the driver to park the vehicle in the direction opposite to the driver's seat. Outputs a parking procedure signal with urging content. For example, if the driver's seat is on the right side of the host vehicle, a parking procedure signal is output that prompts the user to park the host vehicle in a left-justified manner within the target parking frame. As a result, for example, the message with the above contents is displayed on the display device 106, or a similar voice instruction flows from the speaker 107.

(Description of parking support processing)
FIG. 5 is a flowchart of parking support processing by the parking support apparatus 100. The processing shown in FIG. 5 is realized by the control circuit 101 executing a predetermined control program read from the flash memory 102.

  First, in step S500, the parking start detection unit 101a determines whether or not the host vehicle has entered the parking lot. Step S500 is repeatedly executed until the host vehicle enters the parking frame. On the other hand, if the host vehicle has entered the vehicle frame, the process proceeds to step S510.

  In step S510, it is determined whether the parking start detection part 101a has detected the parking start of the own vehicle. That is, as described with reference to FIG. 3, it is determined whether or not the rectangle 206 representing the outer shape of the host vehicle 200 has touched the specific parking frame 204b. Step S510 is repeatedly executed until the start of parking of the host vehicle is detected. On the other hand, if the start of parking of the host vehicle in the target parking frame is detected, the process proceeds to step S515. In step S510, if the host vehicle moves out of the parking lot before the start of parking of the host vehicle in the target parking frame is detected, the parking support process shown in FIG. 5 is terminated.

  In step S515, the obstacle detection unit 101b communicates with a server device (not shown) via the communication device 108, thereby acquiring parking situation data. In step S520, the occupant detection device 105 detects the presence or absence of an occupant other than the driver. In step S530, the angle calculation unit 101c determines whether the presence of an occupant other than the driver is detected. If there are no passengers other than the driver, the process proceeds to step S580. On the other hand, if there are passengers other than the driver, the process proceeds to step S540.

  In step S540, the angle calculation unit 101c calculates a corresponding door opening / closing angle for each occupant detected in step S520. In step S550, the getting-off difficulty determination unit 101d determines whether or not at least one of the opening and closing angles calculated in step S540 is equal to or less than a predetermined threshold value. If the openable / closable angle is larger than the predetermined threshold value, the process proceeds to step S580. On the other hand, if the openable / closable angle is equal to or smaller than the predetermined threshold value, the process proceeds to step S560.

  In step S560, the parking procedure output unit 101e outputs a parking procedure signal that urges the passenger to get off before parking. That is, a message with the content is displayed on the display device 106 or a voice instruction is sent from the speaker 107. In step S565, the occupant detection device 105 detects the presence or absence of an occupant other than the driver. In step S570, the angle calculation unit 101c determines whether the presence of an occupant other than the driver is detected. If there are passengers other than the driver, this process ends. On the other hand, if there is no occupant other than the driver, that is, if the occupant gets off after receiving the processing in step S560, the process proceeds to step S580.

  In step S580, the angle calculation unit 101c calculates an openable / closable angle of the door of the driver's seat. In step S590, the getting-off difficulty determination unit 101d determines whether the opening / closing angle of the door of the driver's seat is equal to or smaller than a predetermined threshold value. If the openable / closable angle of the driver's seat door is larger than a predetermined threshold value, the process is terminated. On the other hand, if the openable / closable angle of the driver's seat door is equal to or greater than a predetermined threshold, the process proceeds to step S600. In step S600, the parking procedure output unit 101e outputs a parking procedure signal that urges the driver to park the host vehicle in the direction opposite to the driver's seat, and ends the process.

According to the parking assistance apparatus according to the first embodiment described above, the following operational effects can be obtained.
(1) The angle calculation unit 101c calculates an openable / closable angle of the hinge door based on the door length of the host vehicle, the frame width of the target parking frame, and the presence or absence of an adjacent vehicle in response to detection by the parking start detection unit 101a. Based on this openable / closable angle, the getting-off difficulty determination unit 101d determines whether it is difficult to get off from the host vehicle after parking. When it is determined that it is difficult to get off, the parking procedure output unit 101e outputs a parking procedure signal indicating a procedure related to parking to the target parking frame to the display device 106 and the speaker 107. Since it did in this way, it can avoid that it becomes difficult for a passenger | crew to get off from the own vehicle after parking.

(2) The getting-off difficulty determination unit 101d determines whether it is difficult for the driver of the own vehicle to get off from the own vehicle after parking in the target parking frame. When it is determined that it is difficult for the driver to get off, the parking procedure output unit 101e outputs a parking procedure signal indicating a parking procedure for parking in the opposite direction of the driver's seat. Since it did in this way, it can avoid that it becomes difficult for a driver to get off from the own vehicle after parking.

(3) If the presence of an occupant other than the driver is detected by the occupant detection device 105, the getting-off difficulty determination unit 101d further determines whether it is difficult to get out of the occupant based on the seat position of each occupant. To do. When it is determined that it is difficult for any passenger to get off, the parking procedure output unit 101e outputs a parking procedure signal indicating a parking procedure for parking after the passenger gets off. Since it did in this way, it can avoid that the passenger | crew other than a driver becomes difficult to get off from the own vehicle after parking.

(4) The communication device 108 receives parking status data indicating whether or not the vehicle is parked in the adjacent parking frame adjacent to the target parking frame from the external server device via the telecommunication line. When the parking state data indicates that there is a vehicle parked in the adjacent parking frame, the obstacle detection unit 101b detects the vehicle as a parking obstacle. Since it did in this way, the openable / closable angle of the door in consideration of the presence or absence of the adjacent vehicle can be calculated.

(5) The display device 106 and the speaker 107 notify the driver of an appropriate parking procedure based on the parking procedure signal output by the parking procedure output unit 101e. Since it did in this way, before the own vehicle completes parking, a suitable parking procedure can be alert | reported with respect to a driver | operator.

(6) The parking start detection part 101a detects the parking start of the own vehicle according to the own vehicle having contacted the parking frame. Since it did in this way, it is possible to detect accurately that the own vehicle started parking. In addition, it is possible to reliably detect a target parking frame that is a target for parking by the host vehicle.

(Second Embodiment)
FIG. 6 is a block diagram showing the overall configuration of the parking assistance apparatus according to the second embodiment. In the following description, members, circuits, and functional units that are the same as those of the parking assistance apparatus 100 according to the first embodiment are denoted by the same reference numerals as those in the first embodiment, and description thereof is omitted.

  The parking assistance device 600 includes a camera group 609 instead of the communication device 108 included in the parking assistance device 100 according to the first embodiment. The camera group 609 is composed of four cameras that are installed at four locations on the front, rear, left, and right sides of the host vehicle to capture the periphery of the host vehicle. Based on the image signal output from the camera group 609, the obstacle detection unit 601b of the control circuit 601 creates an overhead view image looking down at the host vehicle. For creating the bird's-eye view image, for example, a known technique described in Patent Document 1 is used. The obstacle detection unit 101b analyzes the overhead image using a known technique and detects the presence or absence of a parking obstacle adjacent to the target parking frame. That is, the parking obstacle in this embodiment is various articles that can be detected by image analysis.

According to the parking assistance apparatus by 2nd Embodiment mentioned above, in addition to the effect obtained with the parking assistance apparatus by 1st Embodiment, the following effect is obtained.
(1) The camera group 609 images the vicinity of the host vehicle during parking, that is, the vicinity of the target parking frame. The obstacle detection unit 601b detects the presence or absence of a parking obstacle adjacent to the target parking frame by analyzing a bird's-eye view image created based on the output of the camera group 609. Since it did in this way, various goods which are not restricted to an adjacent vehicle can be detected as a parking obstacle.

(Third embodiment)
FIG. 7 is a block diagram showing the overall configuration of the parking assistance apparatus according to the third embodiment. In the following description, members, circuits, and functional units that are the same as those of the parking assistance apparatus 100 according to the first embodiment are denoted by the same reference numerals as those in the first embodiment, and description thereof is omitted.

  The parking assistance device 700 newly includes an automatic parking device 710. The automatic parking device 710 is a device that automatically parks the host vehicle in a specific parking frame using a known technique. Specifically, by transmitting a control signal to the host vehicle 200, steering and speed control of the host vehicle 200 are performed, and the host vehicle is automatically parked in a specific parking frame. The driver of the host vehicle 200 moves the host vehicle 200 to the vicinity of the parking frame to be parked, and then performs an operation to instruct the parking frame to be parked to the automatic parking device 710. In response to this operation, the automatic parking device 710 starts automatic parking in the parking frame.

  Unlike the parking start detection unit 101a according to the first embodiment, the parking start detection unit 701a according to the present embodiment starts parking when an operation for instructing a parking frame to be parked is performed on the automatic parking device 710. It is assumed that The parking procedure output unit 701 e also outputs a parking procedure signal to the automatic parking device 710 in addition to the display device 106 and the speaker 107. If the content of the parking procedure signal prompts the driver to get off the occupant before parking, the automatic parking device 710 temporarily stops automatic parking. Then, the occupant gets off or waits for an instruction from the driver to continue the automatic parking, and the automatic parking is resumed. In addition, when the content of the parking procedure signal prompts the driver to park his / her vehicle in the direction opposite to the driver's seat, the automatic parking device 710 automatically moves in the direction opposite to the driver's seat. Bring your vehicle to the parking lot.

According to the parking assistance apparatus by 3rd Embodiment mentioned above, in addition to the effect obtained with the parking assistance apparatus by 1st Embodiment, the following effect is obtained.
(1) The automatic parking device 710 automatically parks the host vehicle 200 in the target parking frame by outputting a control signal to the host vehicle 200 based on the parking procedure signal. Since it did in this way, the parking procedure which the parking procedure signal which parking procedure output part 701e outputs expresses can be reflected in the contents of automatic parking.

  The following modifications are also within the scope of the present invention, and one or a plurality of modifications can be combined with the above-described embodiment.

(Modification 1)
The communication destination of the communication device 108 is not limited to an external server device. For example, the parking status data of the parking lot may be acquired from a beacon installed in the parking lot, or the parking status data may be acquired from a vehicle parked in the parking lot.

(Modification 2)
The vehicle data 103b may include types of doors such as hinge doors and slide doors. In this case, each functional unit of the control circuit 101 ignores doors other than the hinge door. For example, when the door corresponding to the occupant's seat is a door other than the hinged door, it is treated that the occupant does not exist.

(Modification 3)
The parking start detection unit may detect parking start by a method different from that described in each of the above-described embodiments. For example, a rear camera may be added to the parking assistance device, and when only one parking frame appears in the rear camera, it may be considered that parking on the parking frame has started.

(Modification 4)
The parking lot map data 103a and the vehicle data 103b may be stored in a place other than the HDD 103. For example, it may be obtained from an external server device or may be obtained from a beacon installed in a parking lot.

(Modification 5)
In the description of the above embodiment, the case where the parking frames are arranged side by side is described. The present invention can be applied to other cases, for example, parallel parking. In this case, the obstacle detection unit always assumes that there is a parking obstacle on the side of the parking frame facing the road shoulder.

  As long as the characteristics of the present invention are not impaired, the present invention is not limited to the above-described embodiments, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention. .

100, 600, 700 ... Parking assist devices 101, 601, 701 ... Control circuits 101a, 701a ... Parking start detection units 101b, 601b ... Obstacle detection unit 101c ... Angle calculation unit 101d ... Alighting difficulty determination unit 101e, 701e ... Parking procedure Output unit 105 ... occupant detection device 200 ... own vehicle

Claims (7)

Vehicle information acquisition means for acquiring a vehicle width of the host vehicle and a door length of a hinge door of the host vehicle;
Parking start detecting means for detecting the parking start of the host vehicle in a parking frame;
Parking frame width acquisition means for acquiring a frame width of the parking frame;
Obstacle detection means for detecting the presence or absence of a parking obstacle adjacent to the parking frame;
In response to detection by the parking start detection means, an angle calculation means for calculating an openable / closable angle of the hinge door based on the door length, the frame width, and the presence or absence of the parking obstacle;
Determining means for determining whether it is difficult to get off from the host vehicle after parking in the parking frame based on the openable / closable angle;
An output means for outputting a parking procedure signal representing a procedure relating to parking to the parking frame when it is determined by the determining means that it is difficult to get off from the host vehicle;
A parking assistance device comprising: In the parking assistance device according to claim 1,
The determination means determines whether it is difficult for the driver of the host vehicle to get out of the host vehicle after parking in the parking frame;
The output means is a parking procedure representing a procedure of parking in the direction opposite to the driver's seat position when the judging means judges that it is difficult for the driver to get off from the host vehicle. A parking assist device that outputs a signal. In the parking assistance device according to claim 2,
Further comprising occupant detection means for detecting the presence or absence of a passenger other than the driver in the host vehicle and the seat position of the occupant;
In the case where the presence of the occupant is detected by the occupant detection unit, the determination unit further determines the occupant from the own vehicle after parking in the parking frame based on the seat position of the occupant. Determine if getting off is difficult,
The output means outputs the parking procedure signal indicating a procedure for parking after the occupant gets off when the deciding means determines that it is difficult for the occupant to get off from the own vehicle. A parking assist device. In the parking assistance device according to any one of claims 1 to 3,
It further comprises imaging means for imaging the periphery of the parking frame and outputting an image signal,
The said obstacle detection means detects the presence or absence of the parking obstacle adjacent to the said parking frame by analyzing the said image signal, The parking assistance apparatus characterized by the above-mentioned. In the parking assistance device according to any one of claims 1 to 3,
A parking information acquisition means for acquiring parking information indicating whether or not a vehicle is parked in an adjacent parking frame adjacent to the parking frame;
The obstacle detecting means detects the vehicle as the parking obstacle when the acquired parking information indicates that there is a vehicle parked in the adjacent parking frame. Parking assistance device. In the parking assistance device according to any one of claims 1 to 5,
A parking assistance apparatus, further comprising: an informing means for informing a driver of the host vehicle of the procedure relating to the parking based on the output parking procedure signal. In the parking assistance device according to any one of claims 1 to 5,
A parking assist device, further comprising a parking control means for parking the host vehicle in the parking frame by outputting a control signal to the host vehicle based on the output parking procedure signal.

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