JP2022157633A - Parking support device, parking support method, and vehicle - Google Patents

Abstract

To detect a parking frame more accurately from a photographed image.SOLUTION: A parking support device for supporting parking of a vehicle includes: a communication interface which receives an image having photographed a parking frame from an imaging device mounted to the vehicle; and a processor which determines a maximum frontage width of the parking frame in accordance with a number of occupants riding in the vehicle, and detects two lines separated at the maximum frontage width or less, as the parking frame, from the received image.SELECTED DRAWING: Figure 8

Description

The present disclosure relates to a parking assistance device, a parking assistance method, and a vehicle.

2. Description of the Related Art A technology is known that detects a parking frame of a vehicle in a parking lot from an image captured by an imaging device (for example, a camera) mounted on the vehicle, and uses the detection result to assist the vehicle in parking in the parking frame. In order to correctly detect a parking frame from an image captured by an imaging device, the imaging device is calibrated (Patent Literatures 1 and 2).

JP 2016-149711 A JP 2017-188743 A

The imaging device is calibrated while no one is in the vehicle. Therefore, when a person is in the vehicle, the imaging device may approach the ground and the parking frame may not be correctly detected from the captured image of the imaging device.

An object of the present disclosure is to provide a technique that can more accurately detect a parking frame from a captured image.

A parking assistance device according to the present disclosure is a parking assistance device that assists parking of a vehicle, and includes a communication interface that receives an image of a parking frame captured from an imaging device provided in the vehicle, and an occupant riding in the vehicle. and a processor that determines a maximum frontage width of the parking frame based on the number of people, and detects two lines separated by the maximum frontage width or less from the received image as the parking frame.

A parking assistance method according to the present disclosure is a parking assistance method for assisting parking of a vehicle, in which an image obtained by imaging a parking frame is received from an imaging device provided in the vehicle, and the number of occupants riding in the vehicle is received. Based on this, the maximum frontage width of the parking frame is determined, and two lines separated by the maximum frontage width or less are detected as the parking frame from the received image.

A vehicle according to the present disclosure includes an imaging device that images the outside of the vehicle, a detection device that detects the number of occupants on board the vehicle, and an image of a parking frame that is captured from the imaging device. A maximum frontage width of the parking frame is determined based on the number of occupants detected by the device, and two lines separated by the maximum frontage width or less are detected as the parking frame from the received image. a parking assistance device for identifying a route for parking the vehicle in the parking frame; and a movement control device for controlling movement of the vehicle based on the identified route.

In addition, these generic or specific aspects may be realized by a system, device, method, integrated circuit, computer program or recording medium, and any of the system, device, method, integrated circuit, computer program and recording medium may be implemented. may be implemented in any combination.

According to the present disclosure, it is possible to more accurately detect a parking frame from a captured image.

Schematic diagram showing a configuration example of a vehicle according to the present embodiment Block diagram showing a configuration example of a vehicle and a parking assistance device according to the present embodiment Diagram for explaining the outline of the vehicle parking assistance Flowchart showing an overview of the processing of the parking assistance device A diagram for explaining the deviation between the actual target parking frame frontage width and the frontage width detected from the captured image. Schematic diagram showing the position of vehicle seats Schematic diagram showing the relative positional relationship between the imaging device of the vehicle and the target parking frame An example of the maximum frontage width correction value table

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially the same configurations may be omitted. This is to avoid unnecessary verbosity in the following description and to facilitate understanding by those skilled in the art. It should be noted that the accompanying drawings and the following description are provided to allow those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter of the claims.

(this embodiment)
<Vehicle configuration>
An example of the configuration of a vehicle 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. FIG. 1 is a schematic diagram showing a configuration example of a vehicle 1 according to this embodiment. FIG. 2 is a block diagram showing a configuration example of the vehicle 1 and the parking assistance device 20 according to this embodiment.

The vehicle 1 includes an imaging device 11 (11A, 11B, 11C, 11D), a surrounding detection device 12, an output device 13, an input device 14, a wireless communication device 15, a movement control device 16, an occupant detection device 17, and a parking assistance device. 20. These devices 11 , 12 , 13 , 14 , 15 , 16 , 17 , 20 may be able to send and receive information to each other over the in-vehicle network 18 . Examples of the in-vehicle network 18 include CAN (Controller Area Network), LIN, and FlexRay.

The imaging device 11A is installed, for example, on the front grill of the vehicle 1 and images the front of the vehicle 1 . The imaging device 11A may be read as a front camera.

The imaging device 11B is installed, for example, in the left side mirror of the vehicle 1 and images the left side of the vehicle 1 . The imaging device 11B may be installed so that at least the ground on the left side of the vehicle 1 is imaged. The imaging device 11B may be read as a left side camera.

The imaging device 11</b>C is installed, for example, in the right side mirror of the vehicle 1 and images the right side of the vehicle 1 . The imaging device 11C may be installed so that at least the ground on the right side of the vehicle 1 is imaged. The imaging device 11C may be read as a right side camera.

The imaging device 11</b>D is installed, for example, near the trunk of the vehicle 1 and images the rear of the vehicle 1 . The imaging device 11D may be read as a rear camera.

The surrounding detection device 12 detects surrounding conditions outside the vehicle 1 . Examples of ambient detection device 12 include at least one of a camera, millimeter wave radar, and LiDAR.

The output device 13 is installed in the vehicle 1 and outputs various information to passengers (including the driver) of the vehicle 1 . Examples of output device 13 include a display or a speaker.

The input device 14 is installed inside the vehicle 1 and receives instructions from the occupants of the vehicle 1 . Examples of the input device 14 include buttons, switches, dials, touch panels, and microphones.

Wireless communication device 15 may be capable of transmitting and receiving various information over a cellular network (not shown). Examples of cellular networks include LTE (Long Term Evolution), 4G, and 5G.

The movement control device 16 controls movement of the vehicle 1 . The movement control device 16 may control the steering of the vehicle 1 in accordance with the driver's steering operation or in accordance with an instruction from the parking assistance device 20, which will be described later. The movement control device 16 may control the acceleration, deceleration, or shift switching of the vehicle 1 according to the driver's accelerator operation, brake operation, or shift lever operation.

The occupant detection device 17 is a device that detects the number of people on board the vehicle 1 . Furthermore, the occupant detection device 17 may detect which seat of the vehicle 1 the occupant is seated. For example, the occupant detection device 17 may detect the seat on which the occupant is seated according to the detection result of a weight sensor provided for each seat. Alternatively, the occupant detection device 17 may detect the seat on which the occupant is seated according to the wearing status of the seat belt mounted on each seat.

The parking assistance device 20 assists the parking of the vehicle 1 in the parking frame. The parking assistance device 20 may include a processor 21 , a memory 22 and a communication I/F (Interface) 23 . The processor 21 cooperates with the memory 22 or the communication I/F 23 to execute the processing of the parking assistance device 20 . The processor 21 may read the program from the memory 22 and execute it. Processor 21 may transmit and receive information to and from other devices through communication I/F 23 . The processor 21 may be replaced with other terms such as CPU (Central Processing Unit), control circuit, controller, and LSI (Large Scale Integration). The memory 22 stores programs, data, and the like. The memory 22 may be configured including a ROM (Read-Only Memory) and a RAM (Random Access Memory). The memory 22 may be configured including a flash memory as an example of a nonvolatile storage medium. Communication I/F 23 may be connected to in-vehicle network 18 . The processing mainly performed by the parking assistance device 20 to be described later can be read as processing mainly performed by the processor 21 of the parking assistance device 20 . The parking assistance device 20 may be configured as an ECU (Electronic Control Unit). Details of the processing of the parking assistance device 20 will be described later.

<Overview of parking assistance>
An overview of the parking assistance for the vehicle 1 will be described with reference to FIGS. 3 and 4. FIG. FIG. 3 is a diagram for explaining an outline of parking assistance for the vehicle 1. As shown in FIG. FIG. 4 is a flowchart showing an overview of the processing of the parking assistance device 20. As shown in FIG.

First, the driver stops the vehicle 1 beside the parking frame P in which the vehicle 1 is to be parked, as shown in FIG. 3(a).

The driver turns on the parking assistance switch, which is one of the input devices 14 (S1). Thereby, the parking assistance device 20 starts the following processing.

The parking assistance device 20 detects the parking frame P based on an image (hereinafter referred to as a captured image) 100 captured by the imaging device 11B closer to the parking frame P in which the vehicle 1 is to be parked (S2).

As shown in FIG. 3(a), the parking assistance device 20 displays the parking frame P detected in step S2 on the output device 13, and prompts the driver whether or not to park the vehicle 1 in this parking frame P. Inquire at

When the driver instructs through the input device 14 to park the vehicle 1 in this parking frame P (for example, when selecting the "Yes" button in FIG. The target parking frame 41 is set (S3).

The parking assistance device 20 identifies and sets a route (hereinafter referred to as a parking route) for parking the vehicle 1 in the target parking frame 41 (S4).

As shown in FIG. 3(b), the parking assistance device 20 determines a turnover frame 42A in the forward direction of the vehicle 1 based on the parking route, and displays the turnover frame 42A on the output device 13 (S5).

As the vehicle 1 moves forward, the parking assist device 20 automatically controls the steering through the movement control device 16 so that the vehicle 1 moves into the forward-direction turning frame 42A (S6). At this time, the driver may move the vehicle 1 forward by operating the accelerator or the brake without operating the steering wheel. Alternatively, parking assistance device 20 may automatically control the accelerator or brake through movement control device 16 .

When the vehicle 1 moves into the forward-direction switching frame 42A, the parking assistance device 20 determines the backward-direction switching frame 42B of the vehicle 1 based on the parking route, as shown in FIG. The switching frame 42B is displayed on the output device 13 (S7). The switchover frame 42B may be displayed within the target parking frame 41 .

The parking assistance device 20 automatically controls the steering through the movement control device 16 so that the vehicle 1 moves into the turning frame 42B in the backward direction in accordance with the backward movement of the vehicle 1 (S8). At this time, the driver may operate the accelerator or the brake to move the vehicle 1 backward without operating the steering wheel. Alternatively, parking assistance device 20 may automatically control the accelerator or brake through movement control device 16 .

The parking assistance device 20 ends the process when the vehicle 1 moves into the reverse direction turning frame 42B, that is, the target parking frame 4141 .

Thereby, the driver can easily park the vehicle 1 in the target parking frame 41 only by operating the accelerator or the brake.

<Misalignment of the frontage width of the parking frame>
The deviation between the actual frontage width of the target parking frame 41 and the frontage width detected from the captured image 100 will be described with reference to FIG. 5 . FIG. 5 is a diagram for explaining the deviation between the actual frontage width of the target parking frame 41 and the frontage width detected from the captured image 100 . A captured image 100 shown in FIG. 5 is captured by the imaging device 11B (left side camera).

Parking assistance device 20 captures image 100 including two white lines (hereinafter simply referred to as two white lines) 102A and 102B that define the frontage width of target parking frame 41, and displays two white lines of target parking frame 41. It is transformed into images for detection 102A and 102B. The deformed image is hereinafter referred to as a parking frame detection image 101 . The parking frame detection image 101 may be obtained by transforming the captured image 100 into a bird's-eye view image. Moreover, although this Embodiment demonstrates that a parking frame is a white line, the color of a parking frame is not restricted to white. Therefore, the white line of the parking frame may be read as the line of the parking frame.

The parking assistance device 20 detects the two white lines 102A and 102B of the target parking frame 41 from the parking frame detection image 101 . In addition, the parking assistance device 20 estimates the width of the target parking frame 41 in the vehicle width direction (that is, the frontage width) based on the two white lines 102A and 102B of the target parking frame 41 detected from the parking frame detection image 101. do.

The parking frame detection image 101A in FIG. 5 shows an example of the parking frame detection image 101 when no person is in the vehicle 1, and the parking frame detection image 101B in FIG. An example of the image 101 for parking frame detection in case it is carrying out is shown.

When a person is on board the vehicle 1, the vehicle 1 sinks due to the weight of the passenger, and the imaging device 11 approaches the ground. Therefore, as shown in FIG. 5, in the parking frame detection image 101B when a person is on the vehicle 1, compared with the parking frame detection image 101A when no person is on the vehicle 1, the target The frontage width of the two white lines 102A and 102B of the parking frame 41 is detected to be wide. For example, the width of the frontage is estimated to be W1 (eg, 3500 mm) when no one is on board the vehicle 1, and the width of the frontage is estimated to be W2 (eg, 3900 mm) when there is a passenger on the vehicle 1 (> W1). That is, there is a possibility that the width of the frontage of the vehicle 1 will deviate by ΔW (=W2−W1) depending on whether a person is on board or not.

Therefore, the parking assistance device 20 capable of appropriately estimating the frontage width of the target parking frame 41 even when a person is in the vehicle 1 will be described below.

<Detection of number of passengers and seating position of vehicle>
Detection of the number of passengers and seating positions of the vehicle 1 will be described with reference to FIG. FIG. 6 is a schematic diagram showing the positions of the seats of the vehicle 1. As shown in FIG.

For example, the occupant detection device 17 detects which seat a person is on based on the detection results of weight sensors provided in the respective seats 30A, 30B, 30C, and 30D or the seat belt wearing status. Thereby, the occupant detection device 17 can detect the number of passengers in the vehicle 1 and the seating positions. This detection result is used to determine a correction value for the maximum frontage width, which will be described later with reference to FIG. Although FIG. 6 shows an example in which the vehicle 1 has four seats, the number of seats in the vehicle 1 may be any number. Also, the position of the seat is not limited to the example shown in FIG.

<Detection of relative position of imaging device with respect to target parking frame>
Detection of the relative position of the imaging device 10 with respect to the target parking frame 41 will be described with reference to FIG. 7 . FIG. 7 is a schematic diagram showing the relative positional relationship between the imaging device 10 of the vehicle 1 and the target parking frame 41. As shown in FIG. Although FIG. 7 shows an example in which the target parking frame 41 exists on the left side of the vehicle 1, the target parking frame 41 may exist on the right side of the vehicle 1 in some cases. In this case, the parking assistance device 20 may detect the relative position of the imaging device 11C (right side camera). Similarly, the parking assistance device 20 detects the relative position of the imaging device 11A (front camera) when the target parking frame 41 exists in front of the vehicle 1, and detects the relative position of the imaging device 11A (front camera) when the target parking frame 41 exists behind the vehicle 1. , the relative position of the imaging device D (rear camera) may be detected.

The parking assistance device 20 may start parking assistance when the imaging device 11B (left side camera) is positioned within the parking frame detection range 104 . At this time, the parking assistance device 20 specifies in which of the regions 105A, 105B, and 105C included in the parking frame detection range 104 the imaging device 11B is located. The parking frame detection range 104 may be rectangular, and two sides defining the parking frame detection range 104 may be extensions of the two white lines 102A and 102B of the target parking frame 41 toward the vehicle 1 . The areas 105A, 105B, and 105C of the parking frame detection range 104 may be respective areas when the parking frame detection range 104 is divided into three in the traveling direction of the vehicle 1, as shown in FIG.

For example, the parking assistance device 20 includes the imaging device 11B in the parking frame detection range 104 based on the positions of the end points 103A and 103B of the two white lines 102A and 102B of the target parking frame 41 in the parking frame detection image 101. It specifies which of the regions 105A, 105B, and 105C it is located. This identification result is used to determine a correction value for the maximum frontage width, which will be described later with reference to FIG. In addition, although the example which divides|segments the parking frame detection range 104 into three area|regions was shown in FIG. 7, the number of divisions may be how many.

<Determination of correction value for maximum frontage width>
Determination of the correction value for the maximum frontage width will be described with reference to FIG. FIG. 8 shows an example of the maximum frontage width correction value table 35. As shown in FIG.

As described above, the parking assistance device 20 detects the two white lines 102A and 102B of the target parking frame 41 from the parking frame detection image 101 . At this time, the parking assistance device 20 does not need to detect the two substantially parallel white lines that are separated beyond the maximum frontage width as the two white lines 102A and 102B of the target parking frame 41 . In other words, two substantially parallel white lines separated by the maximum frontage width or less may be detected as the two white lines 102A and 102B of the target parking frame 41 . The two substantially parallel white lines separated beyond the maximum frontage width may be some white lines other than the white lines of the parking frame (for example, white lines for guidance drawn on the ground or patterns of other vehicles 1, etc.). This is because they are highly sensitive.

Here, when detecting the two white lines 102A and 102B of the target parking frame 41 with a reference maximum frontage width (for example, 3500 mm) predetermined based on the maximum frontage width of the parking frame in the real world as a threshold, the following is performed. Problems can arise. That is, in the parking frame detection image 101 when a person is in the vehicle 1, the frontage width of the two white lines 102A and 102B of the target parking frame 41 is calculated to be larger than the reference maximum frontage width. There is a possibility that the two white lines 102A and 102B of the target parking frame 41 are not detected as the two white lines 102A and 102B of the target parking frame 41 . It is conceivable to increase the reference maximum frontage width in advance in order to cope with the case where a person is riding in the vehicle 1, but in that case, some two white lines other than the white lines of the parking frame The possibility of erroneously detecting the two white lines of .

In addition, due to the difference in the relative position of the imaging device 11B with respect to the target parking frame 41, the position and distortion of the two white lines 102A and 102B in the captured image 100 may change. The frontage width of the book white lines 102A, 102B may also vary. Therefore, in the parking frame detection image 101 in which the relative position of the imaging device 11B with respect to the target parking frame 41 is different, the frontage width of the two white lines 102A and 102B of the target parking frame 41 is calculated to be larger or smaller than the reference maximum frontage width. may occur. Therefore, the two white lines 102A and 102B of the target parking frame 41 are not actually detected as the two white lines 102A and 102B of the target parking frame 41, or the two white lines 102A of the target parking frame 41 are actually detected. , 102B, the two white lines 102A and 102B of the target parking frame 41 may be detected.

Therefore, the parking assistance device 20 corrects the reference maximum frontage width according to at least one of the number of passengers in the vehicle 1, the seating positions of the passengers, and the relative position of the imaging device 11B with respect to the target parking frame 41, and the maximum The frontage width is determined, and the two white lines 10A and 102B of the target parking frame 41 are detected with high accuracy. The maximum frontage width correction value table 35 is a table that defines the magnitude of this correction.

The maximum frontage width correction value table 35, as shown in FIG. 8, is a table that associates the number of passengers and seating positions in the vehicle 1 with the regions 105A, 105B, and 105C, and the maximum frontage width correction value. you can The maximum frontage width correction value table 35 may be stored in advance in the memory 22 of the parking assistance device 20 . The correction values in the maximum frontage width correction value table 35 shown in FIG. 8 correspond to the imaging device 11B (left side camera). That is, the correction values in the maximum frontage width correction value table 35 corresponding to the imaging device 11C (right side camera) may differ from the correction values shown in FIG. Further, the correction values in the maximum frontage width correction value table 35 may differ for each vehicle type. Further, the correction values in the maximum frontage width correction value table 35 may be determined through experiments, simulations, or the like. Note that the maximum frontage width correction value table 35 may be read as maximum frontage width correction value information.

The parking assistance device 20 refers to the maximum frontage width correction value table 35 shown in FIG. 8 and performs, for example, the following processing.

When the parking assistance device 20 detects that a person is seated on the seat 30A and the imaging device 11B is positioned in the area 105A, the parking assistance device 20 refers to the maximum frontage width correction value table 35 and determines the correction value to be +80 mm. . That is, the parking assistance device 20 determines the maximum frontage width to be a value obtained by adding the correction value of 80 mm to the reference maximum frontage width.

When the parking assistance device 20 detects that a person is seated on the seats 30A and 30B and that the imaging device 11B is positioned in the area 105A, the parking assistance device 20 refers to the maximum frontage width correction value table 35 and sets the correction value to +150 mm. decide. That is, the parking assistance device 20 determines the maximum frontage width to be a value obtained by adding the correction value of 150 mm to the reference maximum frontage width.

When the parking assistance device 20 detects that a person is seated on the seats 30A, 30B, and 30C and that the imaging device 11B is positioned in the area 105A, the parking assistance device 20 refers to the maximum frontage width correction value table 35 to set the correction value. +200 mm. That is, the parking assistance device 20 determines the maximum frontage width to be a value obtained by adding the correction value of 200 mm to the reference maximum frontage width.

When the parking assistance device 20 detects that a person is seated on the seats 30A, 30B, 30C, and 30D and that the imaging device 11B is positioned in the area 105A, the parking assistance device 20 refers to the maximum frontage width correction value table 35 to perform correction. Determine the value +500 mm. That is, the parking assistance device 20 determines the maximum frontage width to be a value obtained by adding the correction value of 500 mm to the reference maximum frontage width.

In this manner, the larger the number of passengers, the larger the correction value may be. Therefore, the greater the number of passengers, the greater the maximum width of the frontage.

When the parking assistance device 20 detects that a person is seated on the seat 30A, 30B, or 30D and that the imaging device 11B is positioned in the area 105A, the parking assistance device 20 refers to the maximum frontage width correction value table 35 to set the correction value. +250 mm. That is, the parking assistance device 20 determines the maximum frontage width to be a value obtained by adding the correction value of 250 mm to the reference maximum frontage width.

When the parking assistance device 20 detects that a person is seated on the seat 30A, 30C, or 30D and that the imaging device 11B is positioned in the area 105A, the parking assistance device 20 refers to the maximum frontage width correction value table 35 to set the correction value. +300 mm. That is, the parking assistance device 20 determines the maximum frontage width to be a value obtained by adding the correction value of 300 mm to the reference maximum frontage width.

In this way, even if the number of passengers is the same, the correction value may be different if the seating positions are different. Therefore, even if the number of passengers is the same, if the seating positions are different, the maximum frontage width may be different.

When the parking assistance device 20 detects that an occupant is seated on the seat 30A and that the imaging device 11B is positioned in the area 105B, the parking assistance device 20 refers to the maximum frontage width correction value table 35 and determines the correction value to be +70 mm. . That is, the parking assistance device 20 determines the maximum frontage width to be a value obtained by adding 70 mm to the reference maximum frontage width.

When a person is seated on the seat 30A and the imaging device 11B is located in the region 105C, the parking assistance device 20 refers to the maximum frontage width correction value table 35 and determines the maximum frontage width correction value to be +50 mm. . That is, the parking assistance device 20 determines the maximum frontage width to be a value obtained by adding 50 mm to the reference maximum frontage width.

As described above, even if the number of passengers and the seating position are the same, the correction value may be different when the area where the imaging device 11B is positioned is different. Therefore, even if the number of passengers and the seating positions are the same, the maximum width of the frontage may be different if the regions where the imaging devices 11B are located are different.

Note that the parking assistance device 20 may perform similar processing for other items in the maximum frontage width correction value table 35 shown in FIG.

The parking assistance device 20 may also hold a minimum frontage width correction value table for the minimum frontage width, similarly to the maximum frontage width correction value table 35 shown in FIG. 8, and perform similar processing.

With the above processing, the parking assistance device 20 determines an appropriate maximum frontage width according to at least one of the number of passengers in the vehicle 1, the seating positions of the passengers, and the relative position of the imaging device 11B with respect to the target parking frame 41. can. Therefore, the parking assistance device 20 can detect the two white lines 102A and 102B of the target parking frame 41 from the parking frame detection image 101 with higher accuracy using the determined maximum frontage width as a threshold. That is, the two white lines 102A and 102B of the target parking frame 41 are not detected, or two white lines other than the two white lines 102A and 102B of the target parking frame 41 are mistakenly detected. 102A and 102B can be prevented from occurring.

Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is obvious that a person skilled in the art can conceive of various modifications, modifications, substitutions, additions, deletions, and equivalents within the scope of the claims. It is understood that it belongs to the technical scope of the present disclosure. Also, the components in the above-described embodiments may be combined arbitrarily without departing from the spirit of the invention.

The technology of the present disclosure can be used for vehicles, and is useful, for example, when parking the vehicle in a parking frame.

1 vehicle 11, 11A, 11B, 11C, 11D imaging device 12 surrounding detection device 13 output device 14 input device 15 wireless communication device 16 movement control device 17 occupant detection device 18 in-vehicle network 20 parking assistance device 21 processor 22 memory 23 communication I/ F.
30A, 30B, 30C, 30D seat 35 maximum frontage width correction value table 41 target parking frame 42A, 42B switching frame 100 captured image 101A, 101B parking frame detection image 102A, 102B white line 103A, 103B end point 104 parking frame detection range 105A, 105B, 105C area

Claims (6)

A parking assistance device for assisting parking of a vehicle,
A communication interface that receives an image of a parking frame captured from an imaging device provided in the vehicle;
A processor that determines a maximum frontage width of the parking frame based on the number of passengers in the vehicle, and detects two lines separated by the maximum frontage width or less from the received image as the parking frame. and
parking aid. The maximum frontage width becomes a larger value as the number of passengers increases,
The parking assistance device according to claim 1. The processor determines the maximum frontage width based on the seating position of each occupant in the vehicle.
The parking assistance device according to claim 1 or 2. The processor determines the maximum frontage width based on the relative position of the imaging device with respect to the parking frame.
The parking assistance device according to any one of claims 1 to 3. A parking assistance method for assisting parking of a vehicle,
receiving an image of a parking frame from an imaging device provided in the vehicle;
Determining the maximum frontage width of the parking frame based on the number of occupants riding in the vehicle,
From the received image, two lines separated by the maximum frontage width or less are detected as the parking frame,
Parking assistance method. an imaging device for imaging the outside of the vehicle;
a detection device for detecting the number of passengers on board the vehicle;
An image obtained by imaging a parking frame is received from the imaging device, a maximum frontage width of the parking frame is determined based on the number of occupants detected by the detection device, and the maximum frontage width or less is determined from the received image. A parking assistance device that detects two lines separated by as the parking frame and specifies a route for parking the vehicle in the detected parking frame;
a movement control device that controls movement of the vehicle based on the identified route;
vehicle.

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