JP2019137124A - Parking support device - Google Patents

Abstract

To properly support parking corresponding to a parking position of a parking vehicle that parks in a peripheral location of a parking space.SOLUTION: An ECU 11 for supporting parking of a vehicle in a parking space acquires a vehicle side surface line corresponding to a side surface of a parking vehicle on a side of the parking space of the parking vehicle that parks in a peripheral location of the parking space, and determines a parking traveling direction in which the vehicle travels into the parking space corresponding to a physical relationship between the vehicle side surface line and a parking frame line of the parking space.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a parking assistance device.

  The vehicle parked next to the parking space and the host vehicle are modeled in a plane and displayed as a plane model as shown in the figure from above, and the positional relationship between the host vehicle and the parking space and the adjacent parked vehicles In addition, driving support technology that makes it easy to grasp the direction and traveling direction of the host vehicle is known (see Patent Document 1 below).

JP 2001-10427 A

  By the way, the parked vehicle parked in the parking space does not necessarily park along the parking frame line. When a vehicle is parked by a driver who is not skilled in driving technology, the vehicle may be parked obliquely with respect to the parking frame line or may be parked at the limit of the parking frame line. In a more severe case, the vehicle may be parked beyond the parking frame line. If you park your vehicle in the center of the parking space next to the parking space where the parked vehicle is located in this way, the distance to the adjacent vehicle will be close, and the driver can not open the door and get off the vehicle Can occur. Therefore, even in such a case, parking assistance that guides the vehicle to the center of the parking space is not appropriate driving assistance.

  Here, although the technique of patent document 1 can grasp | ascertain the positional relationship between the own vehicle, a parking space, and both adjacent parking vehicles, and the direction and the advancing direction of the own vehicle, parking of the vehicle next to a parking space is possible. The position is not taken into consideration.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a parking assistance device capable of providing appropriate parking assistance according to the parking position of a parked vehicle parked around a parking space. And

  The present invention is a parking assistance device that assists in parking a vehicle in a parking space, and corresponds to a side surface of the parked vehicle on the parking space side of a parked vehicle parked around the parking space. Vehicle side line acquisition means for acquiring the vehicle, and parking progress that proceeds into the parking space of the vehicle according to the positional relationship between the vehicle side line acquired by the vehicle side line acquisition means and the parking frame line of the parking space Determining means for determining a direction.

  In this way, the parking assist device is parked around the parking space in order to determine the parking traveling direction that proceeds into the parking space of the vehicle according to the positional relationship between the vehicle side line and the parking frame line of the parking space. Appropriate parking assistance can be provided according to the parking position of the parked vehicle. For this reason, when parking of a vehicle is completed, the situation where a door cannot be opened and an occupant cannot go out of a vehicle can be avoided.

  The parking assist device includes an inclination acquisition unit that acquires an inclination of the vehicle side line with respect to the parking frame line, and the determination unit is configured to determine a positional relationship between the position of the vehicle side line and the parking frame line of the parking space. In addition, the parking traveling direction into the parking space may be determined according to the inclination acquired by the inclination acquisition means.

  If comprised in this way, in addition to the positional relationship of the position of a vehicle side surface line and the parking frame line of a parking space, the parking advancing direction into a parking space can be determined according to the inclination acquired by an inclination acquisition means. , Can support a more appropriate parking method.

  Further, the parking assist device determines whether the vehicle can be parked in the parking traveling direction determined by the determination unit, and determines that the determination unit cannot park the vehicle. In this case, a notification unit that notifies the fact may be provided.

  If comprised in this way, when it cannot park in a parking space, since it can alert | report that to a driver, a driver may stop advancing of a vehicle or change the advancing direction to other parking spaces. Is possible.

  In addition, the parking assistance is assistance for controlling the steering for instructing the turning direction of the vehicle so as to follow the determined parking traveling direction. By assisting in this way, it becomes possible to assist the turning direction while leaving the traveling speed and stop of the vehicle to the driver.

  ADVANTAGE OF THE INVENTION According to this invention, the parking assistance apparatus which can perform appropriate parking assistance according to the parking position of the parked vehicle parked around the parking space can be provided.

The figure which shows an example of the schematic structure of the vehicle which concerns on the 1st Embodiment of this invention. The figure for demonstrating an example of the parking progress line which concerns on the embodiment. The figure for demonstrating an example of the positional relationship of the parking frame line which concerns on the embodiment, and a vehicle side surface line. The figure for demonstrating an example of the positional relationship of the parking frame line which concerns on the embodiment, and a vehicle side surface line. The figure for demonstrating an example of the positional relationship of the parking frame line which concerns on the embodiment, and a vehicle side surface line. The figure for demonstrating an example of the positional relationship of the parking frame line which concerns on the embodiment, and a vehicle side surface line. The flowchart which shows an example of the parking assistance process which concerns on the same embodiment. The sub-flowchart which shows an example of the acquisition process of the surrounding vehicle information which concerns on the embodiment. The sub-flowchart which shows an example of the process which determines the parking progress line which concerns on the embodiment. The figure which shows an example of the effect | action of the parking assistance which concerns on the same embodiment. The figure for demonstrating an example of the positional relationship of the parking frame line which concerns on the 2nd Embodiment of this invention, and a vehicle side surface line. The sub-flowchart which shows an example of the acquisition process of the surrounding vehicle information which concerns on the embodiment. The figure for demonstrating the determination method of the parking progress line which concerns on the same embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a diagram illustrating an example of a schematic configuration of a vehicle 1. As shown in FIG. 1, the vehicle 1 includes an ECU (Electronic Control Unit) 11 that is a parking assistance device, a camera 12, an image processing unit 13, a steering unit 14, a touch panel 15, and a speaker 16. Further, the ECU 11 includes an LKA (Lane Keeping Assist) unit 21 and a determination unit 22. In addition, although the vehicle 1 also has other structures for realizing functions as a vehicle, illustration and description thereof are omitted.

  The ECU 11 is an electronic control device including a ROM, a RAM, a memory, and the like, and controls each part of the vehicle 1 by executing a program stored in the ROM or the like. The ECU 11 executes processing related to parking support by the LKA unit 21 and the determination unit 22. When two white lines formed on the road surface are recognized, the LKA unit 21 causes the vehicle 1 to travel along a trajectory formed at the center of the two white lines (hereinafter referred to as “parking progress line”). To control. Thereby, the vehicle 1 can drive | work the center of two white lines. When the vehicle 1 is parked in the parking space, the determination unit 22 determines the locus of the parking progress line according to the position of the parked vehicle parked in the parking space adjacent to the parking space. The details of the parking support process executed by the ECU 11 when the vehicle 1 is parked in the parking space will be described later.

  The camera 12 is provided in front and rear of the vehicle 1 and photographs the front and rear of the vehicle 1, respectively. In addition, you may make it image | photograph the circumference | surroundings of the vehicle 1 with one camera. An image captured by the camera 12 is transmitted to the image processing unit 13. The image processing unit 13 performs image processing on an image captured by the camera, and recognizes a white line formed on the road surface and a vehicle existing around the image processing result. The white line and vehicle recognition results are output to the ECU 11. Note that the process on the captured image of the camera 12 is always executed at least while the vehicle 1 is traveling.

  The steering unit 14 includes a steering wheel in which a driver indicates a turning direction of the vehicle 1. Furthermore, in this embodiment, when the vehicle 1 parks, the turning direction of the steering unit 14 is assisted based on an instruction from the ECU 11. Details of the assist will be described later.

  On the touch panel 15, the driver receives input of predetermined information and displays predetermined information on the driver. In the present embodiment, when the vehicle 1 is parked under the control of the ECU 11, the touch panel 15 is based on an image photographed by the camera 12 as a schematic model view of the vicinity of the parking space as viewed from above. Display other vehicles. The speaker 16 emits a predetermined sound and alerts the driver.

  FIG. 2 is a diagram for explaining a parking progress line F1 created when the vehicle 1 is parked. As shown in FIG. 2, rectangular parking spaces P1, P2, and P3 are arranged in an example in the horizontal direction. The vehicle 1 is about to park in the parking space P2 located in the center thereof. In this case, when the parking space P2 surrounded by the white line is recognized by the image processing unit 13 based on the captured image of the camera 12, the image processing unit 13 recognizes the white line as the parking frame line L of the parking space P2. The ECU 11 recognizes the right frame line L11 and the left frame line L12 of the parking line frame L with respect to the traveling direction of the vehicle 1 as two white lines, and the LKA unit 21 determines the line C1. The line C1 is a line formed at the center of two white lines. The ECU 11 creates a parking progress line F1 so that the center of the vehicle 1 is located at the center of the line C1. The ECU 11 assists the driver in parking in the parking space P2 by controlling the steering unit 14 along the created parking progress line F1.

  Now, in FIG. 2, the case where no parking vehicle is present in each of the parking spaces P1 and P3 adjacent to the parking space P2 has been described, but there are cases where the vehicle is parked in the parking spaces P1 and P3. At this time, it is only necessary that the vehicle is parked at the center of the parking frame line of each of the parking spaces P1 and P3. There may not be. The positional relationship between the parking frame line L and the vehicle side line of the parked vehicle in such a case will be described with reference to FIGS. Here, in the model view seen from the upper side of the parking spaces P1, P2, and P3, the vehicle side line is a vehicle located on the right frame line L11 side or the left frame line L12 side constituting the parking frame line L of the parked vehicle. It is a line that defines a line corresponding to the side surface. In the present embodiment, the vehicle side line is a side surface from the front end to the rear end of the vehicle located on the right frame line L11 side or the left frame line L12 side, and the lateral width of the vehicle can be arbitrarily set. FIGS. 3 to 6 are all model views viewed from the upper side of the parking spaces P1, P2 and P3.

  FIG. 3 shows a case where the vehicle 2 is parked in the parking space P1 adjacent to the right of the parking space P2. The vehicle 2 is parked to the left from the central position of the parking space P1, and the position of the vehicle side line L21 of the vehicle 2 with respect to the right frame line L11 of the parking frame line L of the parking space P2 is in a positional relationship of distance D21. It has become. 4 shows a state in which the vehicle 2 is further to the left than in the case of FIG. 3 and is parked out of the parking space P1, and the vehicle side line of the vehicle 2 with respect to the right side frame line L11 of the parking frame line L of the parking space P2. The position of L21 has a positional relationship of distance -D21. 3 and 4 illustrate the case where the vehicle 2 is parked in the parking space P1 adjacent to the right of the parking space P2, but the vehicle is parked in the parking space P3 adjacent to the left of the parking space P2. The same applies to the case.

  5 and 6 show a case where the vehicles 2 and 3 are parked in the parking spaces P1 and P3 on both sides of the parking space P2, respectively. 5 and 6, the vehicle 2 parked in the parking space P1 is the same as that in FIG. FIG. 5 shows a state in which the vehicle 3 is parked toward the right side from the center position, and the position of the vehicle side line L31 of the vehicle 3 with respect to the left side frame line L12 of the parking frame line L of the parking space P2 is in a positional relationship of distance D31. It has become. FIG. 6 shows a state in which the vehicle 3 is further to the right than in the case of FIG. 5 and is parked out of the parking space P3, and the vehicle side line of the vehicle 3 with respect to the left frame line L12 of the parking frame line L of the parking space P2. The position of L31 has a positional relationship of distance -D32.

  Next, parking assistance processing when the vehicle 1 is parked in the parking space will be described. FIG. 7 is a flowchart illustrating an example of the parking support process executed by the ECU 11.

  The ECU 11 determines whether or not a parking space has been recognized (ST101). For example, when the vehicle 1 travels in the vicinity of the parking space and receives the recognition result of the parking frame line L of the parking space from the image processing unit 13, it is determined that the parking space has been recognized. In addition, when the vehicle 1 parks, since it is assumed that the vehicle speed is made into the low speed, you may add to the determination conditions that the vehicle speed of the vehicle 1 is below a predetermined speed.

  Next, the ECU 11 acquires surrounding vehicle information (ST102). More specifically, the ECU 11 recognizes the parking frame line L of the parking space where the parking is scheduled when there is a parking vehicle in the parking space on both sides of the parking space where the vehicle 1 plans to park. It recognizes as a surrounding vehicle and acquires the vehicle side line of the parked vehicle. Details of this processing will be described with reference to FIG. FIG. 8 is a sub-flowchart showing an example of processing for acquiring surrounding vehicle information. If there is no surrounding vehicle, the process is not executed, and the determination in the next step ST103 is executed.

  As shown in FIG. 8, the ECU 11 selects one nearby vehicle (ST201). That is, one of the parked vehicles in the left and right parking spaces is selected. Next, the ECU 11 acquires the parking position of the selected surrounding vehicle (ST202). ECU11 acquires the position of a surrounding vehicle based on the process result processed by the image process part 13 based on the image image | photographed with the camera 12, and models a parking position. In the present embodiment, the description will be made on the case where the surrounding vehicle is modeled based on the image captured by the camera 12, but not only the image captured by the camera 12 but also information detected by various sensors may be used. Modeling may be performed using information acquired from the outside by the ECU 11 by communication means.

  Next, the ECU 11 acquires the vehicle side line of the surrounding vehicle based on the modeled parking position of the surrounding vehicle (ST203: vehicle side line acquisition means). In the example of FIG. 5 described above, the vehicle side line L21 of the vehicle 2 is acquired. Next, the ECU 11 calculates the distance between the vehicle side line and the parking frame line (ST104). In the example of FIG. 5 described above, the distance D21 between the vehicle side line L21 of the vehicle 2 and the right side frame line L11 of the parking frame line L is calculated.

  Next, the ECU 11 determines whether all surrounding vehicles have been selected (ST205). When it determines with all the surrounding vehicles not being selected (ST205: NO), a process returns to step ST201. Accordingly, in the example of FIG. 5 described above, the distance between the vehicle side surface line L31 of the vehicle 3 and the left side frame line L12 of the parking frame line L is calculated. If it is determined that all the surrounding vehicles have been selected (ST205: YES), this process ends and the process proceeds to step ST103 in FIG.

  Next, the ECU 11 determines whether there is a surrounding vehicle (ST103). ECU11 determines whether a surrounding vehicle exists based on the surrounding vehicle information acquired by the process of step ST102. When it is determined that there is no surrounding vehicle (ST103: NO), the ECU 11 does not need to consider the parked vehicle, and therefore, the parking progress line F1 (refer to FIG. 2) to the central position that is the center of the two white lines. Along with this, the steering control of the steering unit 14 is executed (ST104). Thereby, turning control of the vehicle 1 is performed along the parking progress line F1. The vehicle 1 traveling along the parking progress line F1 stops at a position designated by the driver in the parking space according to the driver's brake instruction.

  On the other hand, when it is determined that there is a surrounding vehicle (ST103: YES), the parking progress direction (parking progress line) of the vehicle 1 is determined based on the surrounding vehicle information (ST105: determination means). More specifically, the ECU 11 changes the locus of the parking progress line from the parking progress line F1 based on the surrounding vehicle information. The process for determining the parking progress line will be described with reference to FIG. FIG. 9 is a sub-flowchart showing an example of processing for determining a parking progress line.

  As shown in FIG. 9, the ECU 11 determines whether there is a neighboring vehicle on both sides (ST301). That is, it is determined whether there is a parked vehicle (peripheral vehicle) in the parking space adjacent to the parking space where parking is planned. When it is determined that there is a neighboring vehicle on both sides (ST301: YES), the ECU 11 determines a parking progress line based on the positional relationship between the vehicle side line and the parking frame line L of both neighboring vehicles (ST302). In the example of FIG. 5 described above, a movement amount for moving the locus of the parking progress line is calculated based on the distance D21 and the distance D31, and a new parking progress line is calculated based on the calculated movement amount. To decide. The amount of movement is determined according to, for example, the ratio between the distance D21 and the distance D31, and the parking progress line is on the opposite side of the parking space where the vehicle with the vehicle side line that is closer to the center of the parking frame line L parks Is moved. The actual moving distance may be set arbitrarily according to the ratio of the distance D21 and the distance D31.

  When it is determined that there is no surrounding vehicle on both sides (ST301: NO), the ECU 11 determines whether there is a surrounding vehicle on the right side (ST303). When it is determined that there is a neighboring vehicle on the right side (ST303: YES), in other words, when a parked vehicle exists only on the right side, the ECU 11 is based on the positional relationship between the vehicle side line and the parking frame line of the right side neighboring vehicle. The parking progress line is determined (ST304). In the example of FIG. 3 described above, the parking progress line is moved to the parking space P3 side (left side) according to the distance D21. What is necessary is just to set the actual distance which moves according to the distance D21 arbitrarily. When it is determined that there is no surrounding vehicle on the right side (ST303: NO), in other words, when there is a parked vehicle only on the left side, the ECU 11 determines the position of the vehicle side line and the parking frame line of the left side surrounding vehicle. A parking progress line is determined based on the relationship (ST305). When the parking progress line is determined as described above, the process proceeds to step ST106 in FIG.

  The ECU 11 determines whether or not parking is possible along the determined parking progress line (ST106: determination means). For example, the ECU 11 determines that parking is not possible when the vehicle 1 protrudes from the parking frame line of the parking space P1 when the vehicle is parked along the determined parking progress line. Further, for example, when the vehicle 1 and the vehicle 3 are parked out of the parking spaces P2 from the adjacent parking spaces P1 and P3, respectively, when the vehicle 1 travels along the determined parking progress line, When the vehicle 2 or 3 is touched, it is determined that parking is not possible. The conditions for determining whether or not parking is possible are not limited to these cases.

  If it is determined that parking is possible (ST106: YES), the ECU 11 performs steering control of the steering unit 14 along the determined parking progress line (ST107). Thereby, turning control of the vehicle 1 is executed along the parking progress line changed from the parking progress line F1. The vehicle 1 traveling along the parking progress line is stopped at a predetermined position in the parking space by a driver's brake instruction.

  On the other hand, when it is determined that parking is not possible (ST106: NO), the ECU 11 notifies that parking is impossible (ST108: notification means). For example, the ECU 11 displays on the touch panel 15 that parking is not possible, and outputs a voice message of the content from the speaker 16.

  Next, an example of an operation of parking assistance will be described. FIG. 10 is a diagram illustrating an example of an operation of parking assistance.

  FIG. 10 shows a case where the vehicle 1 is about to park in the central parking space P2 when the parking spaces P1, P2, and P3 are arranged in order from the right side. As in the case of FIG. 4 described above, the vehicle 2 is parked in the parking space P1. The vehicle 2 is parked by protruding from the parking frame line L of the parking space P1 to the parking space P2 side. At this time, the distance between the right side frame line L11 of the parking frame line L of the parking space P1 and the vehicle side surface line L21 of the vehicle 2 on the parking space P2 side is a distance −D21.

  Therefore, if the vehicle 1 parks along the parking progress line F1 that travels to the center position of the parking space P2, a situation may occur in which the right door of the vehicle 1 cannot be opened after parking. Is moved based on the distance −D21 which is the distance between the right frame line L11 and the vehicle side line L21. That is, it moves from the center line C1 of the right frame line L11 and the left frame line L12 to the line C2 on the left side by a predetermined distance. Then, the ECU 11 creates a parking progress line F2 so that the center of the vehicle 1 is positioned at the center of the line C2, and executes steering control of the steering unit 14 along the parking progress line F2. Since the steering control is executed in this way, the parked vehicle 1 indicated by a broken line in the drawing is parked slightly away from the vehicle 2 on the left side. For this reason, after the vehicle 1 parks, the situation where the vehicle 2 becomes obstructive and the door cannot be opened can be avoided. Since the assumed parking position of the vehicle 1 is within the parking frame L, a message indicating that parking is not possible is not displayed.

  As described above, the ECU 11 parks around the parking space P2 in order to determine the parking progress line (parking progress direction) according to the positional relationship between the vehicle side lines L21, L31 and the parking frame line L of the parking space P2. Appropriate parking assistance can be provided according to the parking positions of the parked vehicles 2 and 3 that are being parked. For this reason, when parking of the vehicle 1 is completed, it is possible to avoid a situation in which the door cannot be opened and the occupant cannot go out of the vehicle 1.

  In addition, since the ECU 11 can notify the driver when the vehicle 1 cannot park in the parking space P2, the driver can stop the traveling of the vehicle or change the traveling direction to another parking space. It becomes possible to change.

Furthermore, parking assistance is assistance which controls the steering part 14 which instruct | indicates the turning direction of the vehicle 1 along the determined parking advancing direction. By assisting in this way, it is possible to assist the turning direction while leaving the traveling speed and stop of the vehicle 1 to the driver.
(Second Embodiment)
In the second embodiment, a case where the vehicle is parked obliquely and protrudes into the parking frame line L will be described. In addition, the same code | symbol is attached | subjected to the structure same as the said 1st Embodiment, and illustration and detailed description are abbreviate | omitted about these structures.

  FIG. 11 is a diagram for explaining an example of the positional relationship between the right side frame line L11 of the parking frame line L and the vehicle side surface line L41 of the vehicle 4. As shown in FIG. 11, parking spaces P1, P2, P3 are formed side by side from the right side, and the vehicle 4 is parked in the parking space P1 on the right side of the drawing. The vehicle 4 is parked obliquely with respect to the right frame line L11 of the parking frame line L. For this reason, the vehicle side surface line L41 of the vehicle 4 is inclined with respect to the right side frame line L11.

  FIG. 12 is a flowchart illustrating an example of processing for acquiring surrounding vehicle information. Compared to the case of FIG. 8 described above, in addition to the process of determining whether or not the vehicle side line is tilted (ST401), when it is determined that the vehicle sideline is tilted (ST401: YES), After calculating the distance to the parking frame line L (right frame line L11), a process for calculating the inclination of the vehicle side line L41 with respect to the right frame line L11 is added (ST403: inclination acquisition means).

  FIG. 13 is a diagram for explaining a method of determining the parking progress line F3 when the vehicle 4 is parked obliquely. The maximum distance between the right frame line L11 and the vehicle side face line L21 is a distance −D41. For this reason, if the line C1 is moved to the left in the figure by a distance corresponding to the distance D41, and the angle between the right frame line L11 and the vehicle side face line L21 is an angle θ, the center of the moved line is centered. Is rotated by an angle θ to create a line C3. Then, the ECU 11 creates a parking progression line F3 so as to advance the vehicle 1 while turning to the center position of the line C3, and executes steering control of the steering unit 14 along the parking progression line F3.

  As described above, in addition to the positional relationship between the position of the vehicle side face line L41 and the parking frame line L (right side frame line L11), the ECU 11 determines the parking space according to the angle θ formed by the vehicle side face L41 and the right side frame line L11. Since the parking progress line (parking progress direction) F3 into P2 can be determined, a more appropriate parking method can be supported.

  In addition, although the said embodiment demonstrated the case where the rectangular parking space was located in a line with the horizontal direction, this invention is not limited to such a case. For example, the present invention can be applied to a case where parking spaces are arranged obliquely as formed on an expressway or the like.

  Furthermore, although the said embodiment demonstrated by the case where the position of the parking progress line F1 was changed also when the vehicles 2, 3 grade | etc., Did not protrude from a parking space, it is not restricted to this. For example, when parking at the parking space P2 side in the parking space P1, the door cannot be opened even if the vehicle 1 parks at the center of the parking space P2 along the parking progress line F1. If the vehicle 1 has a small width and the parking space P2 has a large width, for example, the parking progress line only when the vehicles 2 and 3 protrude from the parking spaces P1 and P3. You may make it perform the process which changes.

  The present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above-described embodiments. For example, you may delete some components from all the components shown by embodiment mentioned above. Furthermore, you may combine the structure of different embodiment.

DESCRIPTION OF SYMBOLS 1, 2, 3, 4 ... Vehicle, 11 ... ECU, 12 ... Camera, 13 ... Image processing part, 14 ... Steering part, 15 ... Touch panel, 16 ... Speaker, 21 ... LKA part, 22 ... Decision part, L ... Parking Frame line, L11 ... right frame line, L12 ... left frame line, L21, L31, L41 ... vehicle side line, F1, F2, F3 ... parking progress line, θ ... angle

Claims (4)

A parking assistance device for assisting parking of a vehicle in a parking space,
Vehicle side line acquisition means for acquiring a vehicle side line corresponding to a side surface of the parked vehicle on the parking space side of a parked vehicle parked around the parking space;
Determining means for determining a direction of travel of the vehicle traveling into the parking space of the vehicle according to a positional relationship between the vehicle side line acquired by the vehicle side line acquiring means and a parking frame line of the parking space;
A parking assistance device comprising: An inclination acquisition means for acquiring an inclination of the vehicle side line with respect to the parking frame line;
The determining means determines the parking traveling direction into the parking space according to the inclination acquired by the inclination acquisition means in addition to the positional relationship between the position of the vehicle side line and the parking frame line of the parking space. ,
The parking support apparatus according to claim 1, wherein Determining means for determining whether or not the vehicle can be parked in the parking traveling direction determined by the determining means;
When the determination means determines that the vehicle cannot be parked, notification means for notifying that effect;
The parking assistance device according to claim 1, further comprising: The parking assistance is assistance for controlling a steering that indicates a turning direction of the vehicle so as to follow the determined parking traveling direction.
The parking assistance device according to any one of claims 1 to 3, wherein

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