JP2019137158A5 - - Google Patents

Claims (6)

A parking assist device (1) for assisting parking of a vehicle (53),
A storage unit (5) that stores a positional relationship X between a position of the parking area (47, 49) and a position of a plurality of feature parts (51) existing around the parking area;
A feature recognition unit (7) that acquires the information Y of the feature using a sensor (33) included in the vehicle;
A positional relationship estimating unit for estimating a relative positional relationship Z between the vehicle and the parking area based on the positional relationship X stored in the storage unit and the information Y acquired by the feature unit recognizing unit ( 9)
A route acquisition unit (11) for acquiring a route (55) from the position of the vehicle to the parking area based on the positional relationship Z estimated by the positional relationship estimation unit;
A parking unit (13) for causing the vehicle to travel along the route acquired by the route acquisition unit and for parking the vehicle in the parking area;
Equipped with a,
The storage unit is configured to store the positional relationship X for each of the plurality of parking areas,
A parking area determination unit (17) that determines one of the parking areas among a plurality of parking areas according to a user's designation;
A distance detection unit (21) for detecting that a distance from the vehicle to the parking area is equal to or less than a preset threshold;
When the distance detection unit detects that the distance is equal to or less than the threshold, a notification unit (23) that notifies a user before the feature unit recognition unit acquires the information Y;
An instruction receiving unit (19) for receiving an instruction from the user;
Further comprising
The positional relationship estimation unit estimates the positional relationship Z based on the positional relationship X corresponding to the parking area determined by the parking area determining unit and the information Y recognized by the feature unit recognizing unit. Is composed of
The parking assist device, wherein the feature recognition unit is configured to acquire the information Y on a condition that the instruction receiving unit receives the instruction . The parking assist device according to claim 1,
A parking direction determining unit (15) that determines a direction in which the vehicle is parked in the parking area according to a user's specification;
The parking assist device configured to acquire the route that parks the vehicle in the parking area in the direction determined by the parking direction determining unit. It is a parking assistance device according to claim 1 or 2 ,
The parking assist device, wherein the notification unit performs notification using one or more selected from the group consisting of video, audio, and vibration. The parking assist device according to any one of claims 1 to 3 ,
A communication unit (25) capable of communicating with a terminal (59) existing outside the vehicle,
The parking assist device, wherein the parking unit is configured to control traveling of the vehicle along the route according to a signal received by the communication unit from the terminal. The parking assist device according to any one of claims 1 to 4 ,
A parking assistance device further comprising a sensor utilization unit (28) for acquiring the positional relationship X using a sensor (33) provided in the vehicle. The parking assist device according to any one of claims 1 to 5 ,
A parking assistance device further comprising a communication utilization unit (30) for acquiring the positional relationship X by communication from a transmission device (60) existing outside the vehicle.