JP2018136695A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that a region of interest cannot be appropriately set within a captured image depending on a vehicle moving direction according to a driver's operation.SOLUTION: A parking support device includes: a setting section for setting a region of interest for a search of a compartment line partitioning a parking area within a captured image obtained by imaging the circumference of a moving vehicle; and a detection section for performing a search within the region of interest so as to detect the compartment line. The setting section sets a position of the region of interest for a search of another compartment line on the basis of the detected compartment line.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a parking assistance device.

  A parking assistance device that assists in parking a vehicle in a parking lot or the like is known. The parking assist device assists parking by detecting a marking line indicating a parking area of one vehicle from the captured image. When such a parking assist device detects a lane marking, it sets a search area (also referred to as ROI (Region Of Interest)) in a part of the captured image and detects the lane marking in the search area. To do.

JP 2006-175918 A

  However, the above-described parking assistance device has a problem that the search area cannot be appropriately set in the captured image depending on the moving direction of the vehicle by the driver's operation.

  The present invention has been made in view of the above, and provides a parking assist device that can set a search area at an appropriate position in a captured image regardless of the moving direction of the vehicle.

  In order to solve the above-described problems and achieve the object, the parking assist device of the present invention provides a search area for searching for a lane marking that divides a parking area in a captured image obtained by imaging the periphery of a moving vehicle. A setting unit for setting, and a detection unit for searching the search area to detect the lane line, and the setting unit searches for another lane line based on the detected lane line. Set the search area position.

  As described above, the present invention sets the position of the next search area based on the detected lane markings, thereby detecting the lane markings arranged periodically regardless of the moving direction of the vehicle. Since the search area can be set at an appropriate position in the captured image, the lane marking detection accuracy can be improved.

  In the parking assist device of the present invention, the detection unit detects a plurality of lane lines, and the setting unit determines a position of the search area where the other lane lines are searched based on the plurality of lane lines. It may be set.

  As described above, the present invention sets the position of the next search area based on a plurality of lane markings, and thus more appropriately sets the position of the search area for detecting the lane markings arranged periodically. it can.

  In the parking assist apparatus of the present invention, the setting unit sets the position of the search area for searching for the other lane markings based on the detected position of the lane marking and a preset setting interval. May be.

  Thus, according to the present invention, since the search area is set based on the preset setting interval, the processing load for setting the search area can be reduced.

  In the parking assist device of the present invention, the setting unit searches for the other lane markings at a plurality of different positions based on the detected position of the lane markings and a plurality of preset setting intervals. The position of the search area may be set.

  As described above, the present invention sets the search area based on the set interval set in advance, so that it is possible to reduce the processing load for setting the search area, even in parking lots with different lane marking intervals. The position of the search area can be set appropriately.

  In the parking assist device of the present invention, the setting unit sets the search area only on the right side of the vehicle when the vehicle is turning left, and sets the search area when the vehicle is turning right. It may be set only on the left side of.

  Thus, the present invention can reduce the processing load for setting the search area by setting the search area to only one of the left and right sides of the vehicle according to the traveling direction of the vehicle.

FIG. 1 is a plan view of a vehicle according to an embodiment. FIG. 2 is a block diagram illustrating a configuration of a parking support system mounted on the vehicle. FIG. 3 is a functional block diagram illustrating functions of the parking assistance device. FIG. 4 is a plan view for explaining setting of a search area in the real world until a plurality of lane markings are detected. FIG. 5 is a plan view for explaining setting of a search area according to the first embodiment in the real world after detecting a plurality of lane markings. FIG. 6 is a plan view for explaining the movement of the vehicle. FIG. 7 is a plan view for explaining a real-world coordinate system with the center of the rear wheel axis of the vehicle as the origin. FIG. 8 is a flowchart of the parking support process in the first embodiment. FIG. 9 is a plan view for explaining the setting of the search area according to the second embodiment in the real world after the lane marking is detected. FIG. 10 is a flowchart of parking support processing in the second embodiment. FIG. 11 is a plan view for explaining the setting of the search area according to the third embodiment in the real world after the lane marking is detected. FIG. 12 is a flowchart of left / right determination processing according to the fourth embodiment. FIG. 13 is a plan view for explaining the setting of the search area in the real world until the setting unit of the fifth embodiment detects a plurality of lane markings. FIG. 14 is a plan view illustrating setting of a search area in the real world until the setting unit of the sixth embodiment detects a plurality of lane markings. FIG. 15 is a plan view illustrating setting of a search area in the real world until the setting unit of the seventh embodiment detects a plurality of lane markings.

  Common constituent elements such as the following exemplary embodiments are denoted by common reference numerals, and redundant descriptions are omitted as appropriate.

<First Embodiment>
FIG. 1 is a plan view of a vehicle 10 according to the first embodiment. As shown in FIG. 1, the vehicle 10 includes a vehicle body 12 and four imaging units 14a, 14b, 14c, and 14d. When there is no need to distinguish between the imaging units 14a, 14b, 14c, and 14d, they are referred to as the imaging unit 14.

  The vehicle body 12 constitutes a passenger compartment in which passengers get on. The vehicle body 12 accommodates or holds the configuration of the vehicle 10 such as the wheels 13 and the imaging unit 14.

  The imaging unit 14 is a digital camera that incorporates an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The imaging unit 14 outputs moving image or still image data including a plurality of frame images generated at a predetermined frame rate as captured image data. The imaging units 14 each have a wide-angle lens or a fisheye lens, and can capture a horizontal range of 140 ° to 190 °. The optical axis of the imaging unit 14 is set obliquely downward. Therefore, the imaging unit 14 outputs captured image data obtained by imaging the periphery of the vehicle 10 including the surrounding road surface.

  The imaging unit 14 is provided around the vehicle body 12. For example, the imaging unit 14 a is provided in a central portion (for example, a front bumper) in the left-right direction of the front end portion of the vehicle body 12. The imaging unit 14 a generates a captured image that captures the periphery in front of the vehicle 10. The imaging unit 14b is provided in a central portion (for example, a rear bumper) in the left-right direction of the rear end portion of the vehicle body 12. The imaging unit 14 b generates a captured image that captures the periphery of the rear of the vehicle 10. The imaging unit 14c is provided at the center in the front-rear direction of the left end of the vehicle body 12 (for example, the left side mirror 12a). The imaging unit 14 c generates a captured image that captures the left periphery of the vehicle 10. The imaging unit 14d is provided at the center in the front-rear direction of the right end of the vehicle body 12 (for example, the right side mirror 12b). The imaging unit 14d generates a captured image that captures the right periphery of the vehicle 10.

  FIG. 2 is a block diagram illustrating the configuration of the parking support system 20 mounted on the vehicle 10. As shown in FIG. 2, the parking assistance system 20 includes a wheel speed sensor 22, a steering angle sensor 24, an automatic driving unit 32, a monitor device 34, a parking assistance device 36, and an in-vehicle network 38.

  The wheel speed sensor 22 includes, for example, a Hall element provided in the vicinity of the wheel 13. The wheel speed sensor 22 outputs the detected wheel speed pulse number indicating the rotation speed of the wheel 13 to the in-vehicle network 38 as a sensor value.

  The steering angle sensor 24 is provided in a steering unit such as a steering wheel or a steering wheel. The steering angle sensor 24 detects a steering angle that is a rotation amount or a rotation angle of the steering unit by the operation of the driver. The steering angle sensor 24 is, for example, a rotary encoder. The steering angle sensor 24 outputs the detected steering angle to the in-vehicle network 38.

  Based on an instruction from the parking assist device 36, the automatic driving unit 32 controls the accelerator, the brake, the steering wheel, and the like to automatically drive the vehicle 10 during parking.

  The monitor device 34 is provided on a dashboard or the like in the vehicle interior. The monitor device 34 includes a display unit 40, an audio output unit 42, and an operation input unit 44.

  The display unit 40 displays an image based on the image data transmitted by the parking assistance device 36. The display unit 40 is a display device such as a liquid crystal display (LCD) or an organic electroluminescent display (OELD). The display unit 40 displays, for example, a captured image in which a parking candidate area that is a candidate area for parking the vehicle 10 in automatic driving is superimposed.

  The voice output unit 42 outputs voice based on the voice data transmitted by the parking assistance device 36. The audio output unit 42 is, for example, a speaker. The audio output unit 42 may be provided at a position in the vehicle compartment different from the display unit 40.

  The operation input unit 44 receives an occupant input. The operation input unit 44 is, for example, a touch panel. The operation input unit 44 is provided on the display screen of the display unit 40. The operation input unit 44 is configured to transmit an image displayed on the display unit 40. Thereby, the operation input unit 44 can allow the occupant to visually recognize the image displayed on the display screen of the display unit 40. The operation input unit 44 receives an instruction input by the occupant touching a position corresponding to the image displayed on the display screen of the display unit 40, and transmits the received instruction to the parking assistance device 36. For example, the operation input unit 44 outputs a parking instruction to the parking assistance device 36 when the occupant touches and selects the position of the parking candidate area displayed on the display unit 40.

  The parking assist device 36 is a computer including a microcomputer such as an ECU (Electronic Control Unit). The parking assist device 36 acquires captured image data from the imaging unit 14. The parking assistance device 36 transmits data related to an image or sound generated based on the captured image or the like to the monitor device 34. The parking assist device 36 controls the automatic driving unit 32 to assist by automatically driving the vehicle 10 during parking. The parking assist device 36 includes a CPU (Central Processing Unit) 36a, a ROM (Read Only Memory) 36b, a RAM (Random Access Memory) 36c, a display control unit 36d, an audio control unit 36e, an SSD (Solid State Drive). ) 36f. The CPU 36a, ROM 36b, and RAM 36c may be integrated in the same package.

  The CPU 36a is an example of a hardware processor, reads a program stored in a nonvolatile storage device such as the ROM 36b, and executes various arithmetic processes and controls according to the program. CPU36a performs image processing, such as an image for parking assistance displayed on the display part 40, for example.

  The ROM 36b stores each program and parameters necessary for executing the program. The RAM 36c temporarily stores various types of data used in computations by the CPU 36a. The display control unit 36 d mainly performs image processing of the image obtained by the imaging unit 14, data conversion of a display image to be displayed on the display unit 40, etc., among the arithmetic processing in the parking assist device 36. The voice control unit 36e mainly executes voice processing to be output to the voice output unit 42 among the arithmetic processing in the parking assistance device 36. The SSD 36f is a rewritable nonvolatile storage unit, and maintains data even when the power of the parking assistance device 36 is turned off.

  The in-vehicle network 38 is, for example, a CAN (Controller Area Network). The in-vehicle network 38 electrically connects the wheel speed sensor 22, the steering angle sensor 24, the automatic driving unit 32, the parking assist device 36, and the operation input unit 44 so that signals and information can be transmitted and received with each other.

  In the present embodiment, the parking assistance device 36 manages the parking assistance processing of the vehicle 10 through cooperation between hardware and software (control program). The parking assist device 36 detects a lane marking that divides the parking area of the parking lot from a captured image including a peripheral image captured by the imaging unit 14, and sets one or a plurality of parking candidate areas. The parking assistance device 36 controls the automatic driving unit 32 to move into the parking candidate area selected by the occupant, thereby assisting in parking.

  FIG. 3 is a functional block diagram illustrating functions of the parking assist device 36. As illustrated in FIG. 3, the parking assist device 36 includes a control unit 50 and a storage unit 52.

  The control unit 50 is realized as a function of the CPU 36a or the like, for example. The control unit 50 includes a setting unit 54, a detection unit 56, and an operation control unit 58. The control unit 50 may realize the functions of the setting unit 54, the detection unit 56, and the driving control unit 58 by reading the parking assistance program 70 stored in the storage unit 52. A part or all of the setting unit 54, the detection unit 56, and the operation control unit 58 may be configured by hardware such as a circuit including an ASIC (Application Specific Integrated Circuit).

  The setting unit 54 acquires a captured image obtained by capturing the periphery of the moving vehicle 10 from the imaging unit 14. For example, the setting unit 54 acquires a plurality of frame images of moving images that are temporally different from the imaging unit 14 as captured images. The setting unit 54 sets a search area for searching for a lane marking that divides the parking area in the captured image, and outputs the search area to the detection unit 56. Note that the setting unit 54 does not have to set a search area for all of the plurality of captured images (that is, frame images). For example, the search area may be set for every several frames, or the previously set search area may be set. The next search area may be set in the captured image acquired after the processing for the area is completed. The setting unit 54 sets a search area having a rectangular or parallelogram shape. An example of a lane marking is a white line provided on the ground of a parking lot. Here, the setting unit 54 performs imaging based on one or a plurality of initial coordinates indicated by the initial coordinate data 72 set in advance and stored in the storage unit 52 until the detection unit 56 described later detects a lane marking. A search area is set for each in the image. Specifically, the setting unit 54 sets the relative position between the vehicle 10 and the search area in the real world to be the initial coordinates until the lane marking is detected. Next, the setting unit 54 converts a plurality of captured images that change with the movement of the vehicle 10 by converting the coordinate system of the real world from the coordinate system of the real world to the coordinate system of the captured image using a preset mapping table for coordinate conversion or the like. A search area is set for each of the above. In other words, the setting unit 54 sets the search area at the same position (that is, the same coordinates) in the captured image when the captured image is not enlarged.

  Furthermore, when the setting unit 54 acquires information about the detected lane line from the detection unit 56, the setting unit 54 newly sets a position of a search area for searching for another lane line based on the detected lane line. Even after the lane marking is detected, the setting unit 54 sets the position of the search area by setting the search area to a position in the real world and then converting it to a position in the captured image using a mapping table or the like. For example, the setting unit 54 sets a search area for searching for other lane markings based on a plurality of lane marking information acquired from the detection unit 56. Specifically, the setting unit 54 calculates a detection interval that is an interval between a lane marking and an adjacent lane marking. The setting unit 54 moves the center of the last detected lane line in the front-back direction along the direction perpendicular to the longitudinal direction of the last detected lane line (hereinafter referred to as the perpendicular direction) by the detection interval. You may set as a new search area | region used as the center in a direction. Alternatively, the setting unit 54 may set a new search region at a position obtained by moving the search region in which the partition line was last detected by the detection interval along the perpendicular direction. When the information on a plurality of lane lines is acquired from the detection unit 56, the setting unit 54 sets a parking candidate area between adjacent lane lines and outputs the parking candidate area to the driving control unit 58.

  The detection unit 56 searches the search area set in the captured image by the setting unit 54 and detects a lane marking. Further, the detection unit 56 searches a plurality of search areas set by the setting unit 54 for each of the plurality of captured images, and detects a plurality of lane markings. The detection unit 56 outputs the detected information of one or more lane markings to the setting unit 54.

  The driving control unit 58 controls the automatic driving unit 32 and automatically drives the vehicle 10 based on the parking candidate area set by the setting unit 54 and selected by the occupant and the lane marking detected by the detecting unit 56. The vehicle 10 is parked in the parking candidate area.

  The storage unit 52 is realized as a function of the ROM 36b, the RAM 36c, the SSD 36f, and the like. The storage unit 52 stores a parking support program 70 executed by the control unit 50, initial coordinate data 72 indicating coordinates for setting a search area in the execution of the parking support program 70, and the like.

  FIG. 4 is a plan view for explaining the setting of the search area SA in the real world until a plurality of lane markings 90 are detected. When there is no need to distinguish each of the plurality of search areas SA1L, SA1R,. When there is no need to distinguish a plurality of positions CP1, CP2,.

  FIG. 4 assumes a case where the vehicle 10 has moved from the position CP1 to the position CP4 indicated by the solid line through the positions CP2 and CP3 along the arrows. The position of the vehicle 10 is the center of the rear wheel shaft of the vehicle 10 as indicated by a thick cross. The position of the vehicle 10 is the origin, the left-right direction of the vehicle 10 is the X direction (left direction is the + X direction), and the front-rear direction of the vehicle 10 is the Z direction (rearward is the + Z direction). Therefore, the origin and the XZ direction change with respect to the surrounding environment when the vehicle 10 changes the movement and traveling direction.

  In this case, when the setting unit 54 acquires the captured image at the position CP1, the vehicle 10 is based on the left initial coordinates (+ Dx, Dz) and the right initial coordinates (−Dx, Dz) indicated by the preset initial coordinate data 72. The search areas SA1L and SA1R are set on both the left and right sides. Specifically, the search area SA1L is set at the position of the left initial coordinates (+ Dx, Dz) with the position CP1 of the vehicle 10 as the origin. The search area SA1R is set at the position of the right initial coordinates (−Dx, Dz) with the position CP1 of the vehicle 10 as the origin. The left initial coordinates (+ Dx, Dz) and the right initial coordinates (-Dx, Dz) may be the same except for the positive and negative signs of the X coordinate. Since there is no lane marking 90 in the search areas SA1L and SA1R, the detection unit 56 cannot detect the lane marking 90 at the position CP1.

  When the setting unit 54 acquires a new captured image at the position CP2, based on the left initial coordinates (+ Dx, Dz) and the right initial coordinates (−Dx, Dz), the setting unit 54 sets search areas SA2L, SA2R on the left and right sides of the vehicle 10. Set. Since there is no lane marking 90 in the search areas SA2L and SA2R, the detection unit 56 cannot detect the lane marking 90 at the position CP2. Thereafter, the setting unit 54 sets the search area SA by repeating the processing at the position CP1 and the position CP2 until the detection unit 56 detects the lane marking 90.

  Accordingly, the setting unit 54 performs the same processing as the position CP2 and the position CP1 at the position CP3 and the position CP4, respectively, and sets the search areas SA3L, SA3R, SA4L, and SA4R. The detection unit 56 detects the lane marking 90 in the search areas SA3L, SA3R, SA4L, and SA4R. The detection unit 56 outputs information such as the detected position and direction of the lane marking 90 to the setting unit 54. When a plurality of lane markings 90 are detected on the same left or right side of the vehicle 10, the setting unit 54 detects the left parking candidate area PAL and the right parking candidate area that are candidates for the parking area of the vehicle 10 in automatic driving. Set the PAR. In addition, when it is not necessary to distinguish the left parking candidate area PAL and the right parking candidate area PAR, they are described as a parking candidate area PA.

  FIG. 5 is a plan view for explaining the setting of the search area SA according to the first embodiment in the real world after detecting a plurality of lane markings 90. As illustrated in FIG. 5, when the setting unit 54 acquires information about the plurality of lane lines 90 from the detection unit 56 and acquires a new captured image, the setting unit 54 generates another lane line 90 based on the plurality of lane lines 90. The position of the search area SA for searching for is set.

  Specifically, the setting unit 54 selects between the lane lines 90 detected on the left and right sides of the lane lines 90 detected in the search areas SA3L, SA3R, SA4L, and SA4R and the adjacent lane lines 90. The detection interval Dd that is the interval of is calculated. Next, the setting unit 54 detects a detection interval from the position of the last detected lane line 90 (here, the lane line 90 in the search areas SA4L and SA4R) in the direction perpendicular to the lane line 90 (here, the −Z direction). Search areas SA5L and SA5R are set at positions in the real world shifted by Dd. Note that the setting unit 54 may set the position of the search area SA in the X direction based on the left initial coordinates (+ Dx, Dz) and the right initial coordinates (−Dx, Dz).

  As a result, the setting unit 54 is present at the same position in the perpendicular direction of the lane line 90 in the real world, regardless of the increase / decrease in the vehicle speed or the movement distance of the vehicle 10, and the lane lines 90 periodically arranged. The search area SA is set at a position with a high probability. Thereafter, as long as the same position in the real world where the search area SA is set is included in the captured image, the setting unit 54 does not change the movement and traveling direction of the vehicle 10 (for example, positions CP6 and CP7). The search area SA is set at the same position in the perpendicular direction of the lane marking 90 in FIG.

  Next, the real world coordinate system will be described.

  FIG. 6 is a plan view for explaining the movement of the vehicle 10. As shown in FIG. 6, it is assumed that the vehicle 10 moves from the position CP11 to the position CP12 while turning right.

  FIG. 7 is a plan view illustrating a real-world coordinate system (hereinafter referred to as a rear wheel axis coordinate system) with the center of the rear wheel axis of the vehicle 10 as the origin. In the rear wheel axis coordinate system, the left-right direction of the vehicle 10 is the X direction (left direction is + X direction), the front-rear direction of the vehicle 10 is Z direction (backward is + Z direction), and the rotation direction is θ direction (left rotation direction is + θ Direction).

  When the vehicle 10 moves from the position CP11 to the position CP12 as shown in FIG. 6, in the rear wheel axis coordinate system, the real-world target point TP is located with respect to the vehicle 10 from the position CP11a to the position CP12a as shown in FIG. Move relatively. In this case, the setting unit 54 sets the target point TP of the position CP12a in the X direction from the position CP11a before the movement in the real world based on the wheel speed and the steering angle acquired from the wheel speed sensor 22 and the steering angle sensor 24. It is determined that the distance Zc has moved in the distance Xc and the Z direction, and the angle θc has been rotated in the θ direction. The setting unit 54 converts the coordinates of the real world into the coordinates of the captured image based on the movement amount of the vehicle 10 in the rear wheel axis coordinate system, the rotation angle of the vehicle 10, a preset mapping table for coordinate conversion, and the like.

  FIG. 8 is a flowchart of the parking support process in the first embodiment. The control unit 50 executes the parking support process by reading the parking support program 70 stored in the storage unit 52 based on an instruction from the occupant.

  As shown in FIG. 8, in the parking assistance process, the setting unit 54 of the control unit 50 acquires a captured image from the imaging unit 14b (S102). Next, the setting unit 54 sets a search area SA in the captured image based on the left initial coordinates (+ Dx, Dz) and the right initial coordinates (−Dx, Dz) as illustrated in FIG. And the information of search area SA is output to the detection part 56 (S104). The detection unit 56 searches the lane line 90 in the search area SA set in the captured image and determines whether or not it has been detected (S106). When the detection unit 56 cannot detect the lane marking 90 in the search area SA (S106: No), the setting unit 54 acquires a new captured image (S102), and repeats step S104 and subsequent steps.

  When detecting the lane line 90 in the search area SA (S106: Yes), the detection unit 56 outputs information such as the position and shape of the lane line 90 to the setting unit 54. When the setting unit 54 acquires the information about the lane line 90, the setting unit 54 determines whether or not a plurality of lane lines 90 including the lane line 90 have been detected on the same left and right sides (S108). When the setting unit 54 determines that the lane line 90 detected this time is the first lane line 90 and has not yet detected a plurality of lane lines 90 (S108: No), the setting unit 54 repeats Step S102 and the subsequent steps.

  On the other hand, when the setting unit 54 determines that a plurality of lane lines 90 have been detected (S108: Yes), the parking candidate area PA is set between the plurality of lane lines 90 as shown in FIG. (S110). The setting unit 54 calculates the detection interval Dd between the lane marking 90 and the adjacent lane marking 90 (S112).

  The setting unit 54 determines whether or not a parking instruction has been acquired from an occupant (S114). For example, when the occupant touches the operation input unit 44 on the parking candidate area PA in a state where the image obtained by superimposing the parking candidate area PA on the captured image is displayed on the display unit 40, the setting unit 54 performs a parking instruction. Is determined to have been acquired. When determining that the parking instruction has been acquired (S114: Yes), the setting unit 54 outputs an automatic driving instruction to the driving control unit 58.

  When the setting unit 54 has not acquired a parking instruction (S114: No), the setting unit 54 acquires a new captured image from the imaging unit 14b (S116). The setting unit 54 determines whether or not the search area SA can be set in a new captured image based on the detection interval Dd (S118). For example, the setting unit 54 determines whether or not a position shifted by the detection interval Dd in the perpendicular direction of the lane marking 90 from the position of the last set search area SA is included in the newly acquired captured image. Thus, it is determined whether or not the search area SA can be set in the captured image. When a plurality of lane markings 90 are detected only on one of the left and right sides, the processing after step S118 may be executed only on the side where the plurality of lane markings 90 are detected.

  For example, when step S116 and subsequent steps are repeated a plurality of times and the vehicle 10 has moved greatly from the position where the lane marking 90 was last detected, the setting unit 54 determines that the search area SA cannot be set in the new captured image ( S118: No), Step S102 and subsequent steps are executed again.

  When the setting unit 54 determines that the search area SA can be set in the newly acquired captured image (S118: Yes), the setting unit 54 moves from the position of the last set search area SA by the detection interval Dd as shown in FIG. A search area SA is set in the newly acquired captured image based on the position of the real world that has been set, and is output to the detection unit 56 (S120).

  The detecting unit 56 searches the lane line 90 in the search area SA and determines whether or not it has been detected (S122). If the lane marking 90 cannot be detected (S122: No), the detection unit 56 outputs to the setting unit 54 that it has not been detected. When the lane marking 90 can be detected in the search area SA (S122: Yes), the detection unit 56 outputs information on the lane marking 90 to the setting unit 54. The setting unit 54 sets a parking candidate area PA between the newly detected lane line 90 and the previously detected lane line 90 (S124). When the setting unit 54 acquires from the detection unit 56 that the lane marking 90 has not been detected, or when the parking candidate area PA is set, the setting unit 54 determines whether a parking instruction has been acquired from the occupant (S126). When determining that the parking instruction has not been acquired (S126: No), the setting unit 54 repeats step S116 and subsequent steps. Thereafter, the setting unit 54 repeats Step S116 and subsequent steps as long as it does not acquire a parking instruction and can set the search area SA at a position in the captured image at the detection interval Dd.

  On the other hand, when acquiring the parking instruction (S126: Yes, S114: Yes), the setting unit 54 outputs an automatic driving instruction to the driving control unit 58. When acquiring the automatic driving instruction, the driving control unit 58 controls the automatic driving unit 32 to automatically drive the vehicle 10 (S130). Thereby, the driving control unit 58 moves the vehicle 10 to the parking candidate area PA selected by the occupant, and ends the parking assistance process.

  As described above, in the parking assistance device 36 of the first embodiment, when the detection unit 56 detects the lane line 90, the setting unit 54 detects the search area SA for detecting another lane line 90. 90 based on the setting. Thereby, since the parking assistance apparatus 36 can set the search area SA for detecting the division lines 90 arranged periodically regardless of the moving direction of the vehicle 10 or the like at an appropriate position in the captured image. The detection accuracy of the line 90 can be improved.

  In the parking assist device 36, when the setting unit 54 detects the plurality of lane lines 90, the setting unit 54 detects another lane line 90 based on the detection interval Dd that is the interval between the lane line 90 and the adjacent lane line 90. A search area SA is set for detecting. Thereby, the setting unit 54 can set the search area SA for detecting the division lines 90 periodically arranged at a more appropriate position.

Second Embodiment
Next, a second embodiment in which the setting method of the search area SA of the first embodiment is changed will be described. FIG. 9 is a plan view for explaining the setting of the search area SA according to the second embodiment in the real world after the lane marking 90 is detected.

  As shown in FIG. 9, the setting unit 54 sets the left initial coordinate (+ Dx, Dz) and the right initial coordinate (−Dx, Dz) while the vehicle 10 is traveling at the position CP21 and the position CP21 is the origin. Search areas SA21L and SA21R are set at positions in the real world. It is assumed that the detection unit 56 detects the lane marking 90 in the search areas SA21L and SA21R. Thereafter, the setting unit 54 sets the position of the search area for searching for another lane line based on the detected position of the lane line 90 and the preset interval Sd stored in the storage unit 52. To do. Specifically, when the setting unit 54 acquires a new captured image in a state where the vehicle 10 has moved to the next position CP22, the setting line 54 detects the last lane line 90 (in this case, the lane lines in the search areas SA21L and SA21R). 90), new search areas SA22L and SA22R are set at positions in the real world shifted in the perpendicular direction (in this case, the -Z direction) of the partition line 90 by a preset set interval Sd.

  The set interval Sd may be set based on the interval between the partition lines 90 of a general parking lot, and is a value between 1900 mm and 2400 mm, for example. Note that the setting unit 54 may set the position of the search area SA in the X direction based on the left initial coordinates (+ Dx, Dz) and the right initial coordinates (−Dx, Dz). Thus, the setting unit 54 has a high probability that the next lane line 90 exists at the same position in the perpendicular direction of the lane line 90 in the real world regardless of the increase / decrease in the vehicle speed and the movement distance of the vehicle 10. The search area SA is set at the position. Thereafter, as long as the same position in the real world is included in the captured image, the setting unit 54 searches for the same position in the perpendicular direction of the lane marking 90 in the real world even if the vehicle 10 moves (for example, position CP23). An area SA is set. When a plurality of lane lines 90 are detected, the setting unit 54 sets parking candidate areas PAL and PAR between the plurality of lane lines 90.

  FIG. 10 is a flowchart of parking support processing in the second embodiment. About the process similar to the parking assistance process of 1st Embodiment, the same step number is provided and description is simplified.

  As shown in FIG. 10, in the parking assistance process of the second embodiment, the setting unit 54 and the detection unit 56 execute steps S102, S104, S106, S110, S114, and S116. The setting unit 54 determines whether or not the search area SA can be set in a new captured image based on the setting interval Sd (S218). For example, the setting unit 54 determines whether or not a position shifted by the set interval Sd in the perpendicular direction of the lane marking 90 from the position of the last set search area SA is included in the newly acquired captured image. Thus, it is determined whether or not the search area SA can be set in the captured image.

  When determining that the search area SA cannot be set in the new captured image (S218: No), the setting unit 54 executes step S102 and subsequent steps again.

  When the setting unit 54 determines that the search area SA can be set in a new captured image (S218: Yes), the setting interval is set in the perpendicular direction from the last detected lane line 90 to the lane line 90 as shown in FIG. Based on the real-world position shifted by Sd, a search area SA is set in a new captured image (S220).

  The setting unit 54, the detection unit 56, and the operation control unit 58 execute step S122 and subsequent steps.

  As described above, in the parking assistance device 36 of the second embodiment, the search area SA after the lane line 90 is detected at the set interval Sd set in advance based on the interval between the lane lines 90 of a general parking lot. The position of is set. Thereby, the parking assistance apparatus 36 of 2nd Embodiment can reduce the burden of a process compared with the case where the detection interval Dd is calculated.

<Third Embodiment>
Next, a third embodiment in which the setting method of the search area SA of the second embodiment is changed will be described. FIG. 11 is a plan view for explaining the setting of the search area SA according to the third embodiment in the real world after the lane marking 90 is detected. In the third embodiment, the setting unit 54 sets a plurality of different positions in the real world based on the detected position of the lane marking 90 and the plurality of setting intervals Sd1 and Sd2 that are set in advance and stored in the storage unit 52. The position of the search area SA for searching for other lane markings is set.

  As shown in FIG. 11, the setting unit 54 sets the left initial coordinates (+ Dx, Dz) and the right initial coordinates (−Dx, Dz) while the vehicle 10 is traveling at the position CP31 and the position CP31 is the origin. Search areas SA31L and SA31R are set at positions in the real world. It is assumed that the detection unit 56 detects the lane marking 90 in the search areas SA31L and SA31R. Thereafter, when the setting unit 54 obtains a new captured image in a state where the vehicle 10 has moved to the next position CP32, the setting line 54 (the section detected in the search areas SA31L and SA31R here) is detected last. The positions of the new search areas SA32L and SA32R are set at positions in the real world shifted from the line 90) in the perpendicular direction of the partition line 90 by a preset set interval Sd1. The setting interval Sd1 may be set based on the interval between the marking lines 90 of a general parking lot, and is, for example, 2000 mm. The setting unit 54 may set the positions of the search areas SA32L and SA32R in the X direction based on the left initial coordinates (+ Dx, Dz) and the right initial coordinates (−Dx, Dz).

  Next, when the setting unit 54 acquires a new captured image in a state where the vehicle 10 has moved to the next position CP33, the setting unit 54 detects the last detected division line 90 (here, the divisions detected in the search areas SA31L and SA31R). New search areas SA33L and SA33R are set at positions in the real world shifted from the line 90) in the direction perpendicular to the partition line 90 by a preset set interval Sd2. The set interval Sd2 may be set to a value different from the set interval Sd1 based on the interval between the lane markings 90 of a general parking lot, for example, 2300 mm. That is, the setting unit 54 sets the search areas SA32L, SA32R, SA33L, and SA33R at a plurality of different positions in the real world based on the plurality of setting intervals Sd1 and Sd2. The setting unit 54 may set the positions of the search areas SA33L and SA33R in the X direction based on the left initial coordinates (+ Dx, Dz) and the right initial coordinates (−Dx, Dz).

  After that, when the vehicle 10 moves to the position CP34 and the position CP35, the setting unit 54 alternately adopts the setting interval Sd1 and the setting interval Sd2 and can set in the captured image as long as it can be set in the captured image SA33L, SA33R in the real world. The search area SA is set at the same position. Thereby, the setting unit 54 is in the same position as the positions of the plurality of search areas SA33L, SA33R in the perpendicular direction of the lane marking 90 in the real world, regardless of the increase / decrease in the vehicle speed and the movement distance of the vehicle 10, The search area SA is set at a position where there is a high probability that the lane marking 90 exists.

  The parking support process of the third embodiment is similar to the parking support process of the second embodiment except that a plurality of set intervals Sd1 and Sd2 are alternately used in step S220.

  As described above, in the parking assistance device 36 according to the third embodiment, after the lane line 90 is detected by the plurality of setting intervals Sd1 and Sd2 set in advance based on the interval between the lane markings 90 of a general parking lot. The position of the search area SA is set. Thereby, the parking assistance apparatus 36 of 3rd Embodiment reduces the burden of a process compared with the case where the detection space | interval Dd is calculated, The position of search area SA appropriately also in the parking lot from which the space | interval of the division line 90 differs. Can be set.

<Fourth embodiment>
The setting unit 54 according to the fourth embodiment determines whether to set the search area SA on either the left side, the left side, or the right side of the vehicle 10 by executing a left / right determination process described later after detecting the lane marking 90. To do. Specifically, the setting unit 54 sets the search area SA only on the right side of the vehicle 10 when the detected lane marking 90 is on the right side and the vehicle 10 is turning left. The setting unit 54 sets the search area SA only on the left side of the vehicle 10 when the detected lane marking 90 is on the left side and the vehicle 10 is turning right. In other cases, the setting unit 54 sets search areas SA on both sides of the vehicle 10.

  The left / right determination process executed by the setting unit 54 will be described. FIG. 12 is a flowchart of left / right determination processing according to the fourth embodiment. For example, the setting unit 54 may execute a left / right determination process before step S120 or step S220.

  As illustrated in FIG. 12, when the setting unit 54 acquires information on the lane line 90 detected from the detection unit 56, the setting unit 54 determines whether the lane line 90 is on the right side of the vehicle 10 (S302). When determining that the lane marking 90 is on the right side of the vehicle 10 (S302: Yes), the setting unit 54 acquires the steering angle detected by the steering angle sensor 24 from the in-vehicle network 38, and based on the steering angle, the vehicle It is determined whether or not 10 is making a left turn (S304). For example, the setting unit 54 may determine that the vehicle 10 is making a left turn if the steering angle is greater than or equal to a preset left turn steering angle threshold, and may determine that the vehicle is not making a left turn if less than the left turn steering angle threshold. An example of the left turn steering angle threshold is + 45 °. Note that the steering angle is positive when it is counterclockwise and negative when it is clockwise. When the setting unit 54 determines that the vehicle 10 is not turning left (S304: No), the setting unit 54 executes step S314 described later. On the other hand, if the setting unit 54 determines that the vehicle 10 is making a left turn (S304: Yes), the process after step S120 or step S220 is executed so as to set the search area SA only on the right side of the vehicle 10 (S306). To do.

  On the other hand, when the setting unit 54 determines that the lane marking 90 detected by the detection unit 56 is not on the right side (S302: No), the setting unit 54 determines whether the lane marking 90 is on the left side (S308). If the setting unit 54 determines that the lane marking 90 is not on the left side (S308: No), the setting unit 54 executes step S314 described later. On the other hand, when the setting unit 54 determines that the lane marking 90 is on the left side (S308: Yes), the setting unit 54 acquires the steering angle detected by the steering angle sensor 24 from the in-vehicle network 38, and based on the steering angle, the vehicle 10 It is determined whether or not the vehicle is turning right (S310). For example, the setting unit 54 may determine that the vehicle 10 is making a right turn if the steering angle is less than a preset right turn steering angle threshold, and may determine that the vehicle 10 is not making a right turn if greater than the right turn steering angle threshold. An example of the right turn steering angle threshold is −45 °. When the setting unit 54 determines that the vehicle 10 is not turning right (S310: No), the setting unit 54 executes step S314 described later. On the other hand, if the setting unit 54 determines that the vehicle 10 is turning right (S310: Yes), the process after step S120 or step S220 is executed so as to set the search area SA only on the left side of the vehicle 10 (S312). To do.

  In step S314, the setting unit 54 executes the processing after step S120 or step S220 so as to set the search area SA on both sides of the vehicle 10.

  In the fourth embodiment, when the setting unit 54 determines that two conditions (the position of the lane marking 90 and the traveling direction of the vehicle 10) are satisfied, the search area SA is set only in one of the left and right. However, the present invention is not limited to this. For example, the setting unit 54 may set the search area SA only on the right side when the vehicle 10 is turning left, and may set the search area SA only on the left side when the vehicle 10 is turning right.

  As described above, in the parking assistance device 36 according to the fourth embodiment, when the left and right positions of the detected lane marking 90 and the left and right traveling directions of the vehicle 10 are satisfied, the two conditions are satisfied. The search area SA after detection is set. Therefore, the parking assistance apparatus 36 of 4th Embodiment reduces the determination mistake by the side which sets search area SA by the misdetection etc. of the lane marking 90, and the lane marking 90 exists only in either one of right and left In addition to increasing the accuracy of whether or not the search area SA is set to only one of the left and right when the condition is satisfied, the burden of processing for setting the search area SA can be reduced.

<Fifth Embodiment>
In the fifth embodiment, the setting unit 54 sets search areas SA at a plurality of positions in the left-right direction of the vehicle 10. That is, in the above-described embodiment, the setting unit 54 sets the search area SA at the position of Dx on the left side of the vehicle 10 and sets the search area SA at the position of -Dx on the right side of the vehicle 10. In the embodiment, search areas SA are set at a plurality of different positions on the left and right sides of the vehicle 10.

  FIG. 13 is a plan view for explaining the setting of the search area SA in the real world until the setting unit 54 of the fifth embodiment detects a plurality of lane markings 90. FIG. 13 assumes a case where the vehicle 10 has moved from the position CP41 indicated by the alternate long and short dash line to the position CP44 indicated by the solid line via the positions CP42 and CP43 along the arrows.

  The setting unit 54 of the fifth embodiment acquires a captured image at the position CP41, and sets the left and right sides of the vehicle 10 based on the initial coordinates (+ Dx, Dz) and the initial coordinates (−Dx, Dz) set in advance. The search areas SA41L and SA41R are set in Specifically, the setting unit 54 sets the search area SA41L at the left initial coordinates (+ Dx, Dz) with the position CP41 of the vehicle 10 as the origin. The setting unit 54 sets the search area SA41R at the right initial coordinates (−Dx, Dz) with the position CP41 of the vehicle 10 as the origin.

  Next, the setting unit 54 acquires a new captured image at the position CP42, and sets the left-side initial coordinates (+ Dx, Dz), the right-side initial coordinates (−Dx, Dz), and a preset left-right offset value dx. Based on this, search areas SA42L and SA42R are set on both the left and right sides of the vehicle 10. Specifically, the setting unit 54 sets the left-side offset coordinates (+ Dx + dx, Dz) obtained by offsetting the left-side initial coordinates (+ Dx, Dz) to the right side (+ side) by the left-right offset value dx with the position CP42 of the vehicle 10 as the origin. The search area SA42L is set in The setting unit 54 sets the right initial coordinate (−Dx, Dz) to the right offset coordinate (−Dx−dx, Dz) obtained by offsetting the right initial coordinate (−Dx, Dz) to the right (− side) by the left / right offset value dx with the position CP42 of the vehicle 10 as the origin. A search area SA42R is set. That is, the setting unit 54 sets the search areas SA42L and SA42R at the position CP42 at positions in the left-right direction different from the search areas SA41L and SA41R set at the position CP41.

  The setting unit 54 acquires a new captured image at the position CP43, and similarly to the position CP41, the left initial coordinates (+ Dx, Dz) and the right initial coordinates (−Dx, Dz) with the position CP43 of the vehicle 10 as the origin. The search areas SA43L and SA43R are set in That is, the setting unit 54 sets the search area SA by repeating the processing at the position CP41 and the position CP42 until the detection unit 56 detects the lane marking 90.

  Thereafter, the setting unit 54 acquires a new captured image at the position CP44, and similarly to the position CP42, the left offset coordinate (+ Dx + dx, Dz) and the right offset coordinate (−Dx) with the position CP44 of the vehicle 10 as the origin. -Dx, Dz) are set with search areas SA44L and SA44R, respectively. The detection unit 56 detects the lane marking 90 in each of the search areas SA44L and SA44R. Subsequent processing may be the same as in the above-described embodiment. Note that after the lane marking 90 is detected, the setting unit 54 may set the left and right positions (X-direction positions) of the vehicle 10 by applying the left and right offset values dx.

  In the fifth embodiment, an example has been described in which the setting unit 54 sets the search area SA based on one left-right offset value dx, but the present invention is not limited to this. For example, the setting unit 54 may set the search area SA based on a plurality of left and right offset values dx.

  As described above, in the parking assist device 36 of the fifth embodiment, the setting unit 54 sets the search areas SA at a plurality of positions in the left-right direction of the vehicle 10, and therefore, regardless of the distance between the vehicle 10 and the lane marking 90. It is possible to improve the detection accuracy of the lane marking 90 by setting the search area SA at an appropriate position.

<Sixth Embodiment>
In the sixth embodiment, the setting unit 54 sets search areas SA at a plurality of positions in the rear direction of the vehicle 10. That is, in the above-described embodiment, the setting unit 54 sets the search area SA at the position of Dz behind the vehicle 10, but in the sixth embodiment, the search area SA is set at a plurality of different positions behind the vehicle 10. Set.

  FIG. 14 is a plan view for explaining the setting of the search area SA in the real world until the setting unit 54 of the sixth embodiment detects a plurality of lane markings 90. FIG. 14 assumes a case where the vehicle 10 has moved from the position CP51 indicated by the alternate long and short dash line to the position CP54 indicated by the solid line via the positions CP52 and CP53 along the arrows.

  The setting unit 54 according to the sixth embodiment acquires a captured image at the position CP51, and sets both the left and right sides of the vehicle 10 based on the initial coordinates (+ Dx, Dz) and the initial coordinates (−Dx, Dz) set in advance. The search areas SA51L and SA51R are set in Specifically, the setting unit 54 sets the search area SA51L at the left initial coordinates (+ Dx, Dz) with the position CP51 of the vehicle 10 as the origin. The setting unit 54 sets the search area SA51R at the right initial coordinates (−Dx, Dz) with the position CP51 of the vehicle 10 as the origin.

  Next, the setting unit 54 acquires a new captured image at the position CP52, and sets the left-side initial coordinates (+ Dx, Dz), the right-side initial coordinates (−Dx, Dz), and the preset front-rear offset value dz. Based on the left and right sides of the vehicle 10, search areas SA52L and SA52R are set. Specifically, the setting unit 54 uses the position CP52 of the vehicle 10 as the origin, and sets the search area SA52L to the left offset coordinates (+ Dx, Dz + dz) obtained by offsetting the left initial coordinates (+ Dx, Dz) backward by the front-rear offset value dz. Set. The setting unit 54 sets the search area SA52R to the right offset coordinates (−Dx, Dz + dz) obtained by offsetting the right initial coordinates (−Dx, Dz) backward by the front / rear offset value dz with the position CP52 of the vehicle 10 as the origin. . That is, the setting unit 54 sets the search areas SA52L and SA52R at the position CP52 at positions in the front-rear direction different from the search areas SA51L and SA51R set at the position CP51.

  The setting unit 54 acquires a new captured image at the position CP53, and, similarly to the position CP51, the left initial coordinates (+ Dx, Dz) and the right initial coordinates (−Dx, Dz) with the position CP53 of the vehicle 10 as the origin. The search areas SA53L and SA53R are set in That is, the setting unit 54 sets the search area SA by repeating the processing at the position CP51 and the position CP52 until the detection unit 56 detects the lane marking 90.

  Thereafter, the setting unit 54 acquires a new captured image at the position CP54, and similarly to the position CP52, the left offset coordinate (+ Dx, Dz + dz) and the right offset coordinate (−Dx) with the position CP54 of the vehicle 10 as the origin. , Dz + dz), search areas SA54L and SA54R are set. The detection unit 56 detects the lane marking 90 in each of the search areas SA54L and SA54R. Subsequent processing may be the same as in the above-described embodiment.

  In 6th Embodiment, although the setting part 54 gave and demonstrated the example which sets search area | region SA based on one back-and-front offset value dz, it is not limited to this. For example, the setting unit 54 may set the search area SA based on a plurality of front and rear offset values dz.

  As described above, in the parking assist device 36 according to the sixth embodiment, the setting unit 54 sets the search areas SA at a plurality of positions in the rear direction of the vehicle 10, so that the appropriate position regardless of the interval between the lane markings 90. Thus, the search area SA can be set to improve the detection accuracy of the lane marking 90.

<Seventh embodiment>
In the seventh embodiment, the setting unit 54 sets the search area SA based on the detection interval Dd after detecting a plurality of lane markings 90, and also searches the search area SA based on the initial coordinates without using the detection interval Dd. Set.

  FIG. 15 is a plan view for explaining the setting of the search area SA in the real world until the setting unit 54 of the seventh embodiment detects a plurality of lane markings 90. FIG. 15 assumes a case where the vehicle 10 is moving while turning right along the arrow after the detection unit 56 detects the lane markings 90a, 90b, and 90c. In the seventh embodiment, an example in which the search area SA is set only on the left side by left / right determination processing will be described.

  As illustrated in FIG. 15, the setting unit 54 according to the seventh embodiment includes a search area SA66L based on the detection interval Dd in each of the plurality of captured images after the detection unit 56 detects the lane markings 90a, 90b, and 90c. One of search areas SA61L, SA62L, SA63L, SA64L, and SA65L based on SA67L and the left initial coordinates (+ Dx, Dz) is set. That is, the setting unit 54 of the seventh embodiment sets the search areas SA61L, SA62L, SA63L, SA64L, and SA65L based on the left initial coordinates (+ Dx, Dz) even after detecting the lane marking 90. Accordingly, after the detection unit 56 detects the lane markings 90a, 90b, and 90c, the lane marking 90d can be detected in the search areas SA66L and SA67L, and the detection of the lane markings 90a, 90b, and 90c is erroneously detected. The possibility that a new lane marking 90 can be detected by the search areas SA61L to SA65L can be improved.

  Here, the setting unit 54 may move the position of the search area SA forward and backward by using a plurality of front and rear offset values dz. Specifically, the setting unit 54 may set the search areas SA61L, SA65L, SA62L, SA64L, SA63L in this order, and then set the search areas SA66L, SA67L in this order.

  The function, connection relationship, number, arrangement, and the like of the configuration of each embodiment described above may be changed or deleted as appropriate within the scope of the invention and the scope equivalent to the invention. You may combine each embodiment suitably. You may change the order of each step of each embodiment suitably.

  In the above-described embodiment, the example using the captured image captured by the imaging unit 14 installed on the rear side of the vehicle 10 is described, but the present invention is not limited to this. For example, the setting unit 54 may set the search area SA in the captured image from the imaging unit 14 provided on the front side or the left and right sides of the vehicle 10, and synthesizes the captured images acquired from the plurality of imaging units 14. The search area SA may be set in the synthesized image.

  In the above-described embodiment, the example has been described in which the lane marking 90 is substantially orthogonal to the parking lot road, but the present invention is not limited to this. For example, the above-described embodiments may be applied when a lane marking is inclined with respect to a parking lot road such as a parking area on a highway. In this case, the search area SA is preferably inclined with respect to the front-rear direction (X direction) of the vehicle 10. Further, when setting the lane line 90 based on the detection interval Dd, the setting unit 54 searches for a position shifted by the detection interval Dd in the direction in which the ends of the detected lane lines 90 on the vehicle 10 side are connected. The area SA may be set.

DESCRIPTION OF SYMBOLS 10 ... Vehicle 14 ... Imaging part 20 ... Parking assistance system 36 ... Parking assistance apparatus 54 ... Setting part 56 ... Detection part 90 ... Dividing line PA ... Parking candidate area SA ... Search area Sd ... Setting interval

Claims (5)

A setting unit for setting a search area for searching for a lane marking that divides the parking area in a captured image obtained by imaging the periphery of the moving vehicle;
A detection unit for searching the search area and detecting the lane markings;
With
The said setting part sets the position of the said search area | region which searches for other lane markings based on the detected lane marking Parking assistance apparatus. The detection unit detects a plurality of lane markings,
The parking support device according to claim 1, wherein the setting unit sets a position of the search area to search for the other lane markings based on the plurality of lane markings. The parking support according to claim 1, wherein the setting unit sets the position of the search area in which the other lane line is searched based on the detected position of the lane line and a preset setting interval. apparatus. The setting unit sets the position of the search area for searching for the other lane markings at a plurality of different positions based on the detected position of the lane markings and a plurality of preset setting intervals. The parking assistance device according to claim 3. The setting unit
If the vehicle is turning left, set the search area only on the right side of the vehicle,
The parking assistance device according to any one of claims 1 to 4, wherein when the vehicle is turning right, the search area is set only on the left side of the vehicle.

Images