JP5733524B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device, and more particularly, to a parking assistance device that performs parking assistance by detecting an uneven portion of the ground such as a car stop or a step on the ground behind the vehicle while the vehicle is moving backward.

  In recent years, parking assist technologies for various vehicles have been developed. For example, in Patent Document 1 below, when traveling backward from a state where the vehicle is parked forward at the parking position, the distance to the obstacle behind the vehicle is measured with an ultrasonic sensor, and the space around the vehicle with the camera is reached. A technique for calculating information and notifying a leaving method through a monitor and a speaker is disclosed.

  In Patent Document 2 below, a receiving unit receives a reflected wave of an ultrasonic wave transmitted from a transmitting unit of an ultrasonic sonar, and calculates a distance to an obstacle from a time difference between a transmission time and a receiving time. A support device is disclosed.

JP 2008-12987 A JP 2010-264945 A

  By the way, in said patent document 1 and 2, the distance to the obstruction of a vehicle back is measured using an ultrasonic sensor (ultrasonic sonar). In the ultrasonic sensor, the reception unit receives the reflected wave of the ultrasonic wave transmitted from the transmission unit, and calculates the distance to the obstacle from the time difference between the transmission time and the reception time. For this reason, in these conventional techniques, in order to measure the distance to the obstacle, it is necessary to measure the time difference with high accuracy, and an expensive apparatus is required.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a parking assist device that can detect the distance to the uneven surface of the ground such as a car stop or a step with a simple configuration.

In order to achieve the above object, the parking assist device of the present invention transmits the vehicle in a diagonally downward direction and a vertically downward direction that form a predetermined angle toward the rear of the vehicle with respect to the vertical line while the vehicle is moving backward. Transmitting / receiving means for transmitting a wave and receiving the reflected wave reflected by the ground; and based on a change in intensity of the reflected wave received by the transmitting / receiving means, at a predetermined distance behind the vehicle based on the predetermined angle. A detecting means for detecting the uneven portion of the ground; and a supporting means for performing at least one of notification and vehicle control based on a detection result of the detecting means , wherein the transmitting / receiving means is a first predetermined angle. A first transmission / reception means for transmitting a transmission wave and receiving a first reflected wave reflected by the ground; and a second transmission wave transmitted at a second predetermined angle smaller than the first predetermined angle. And the second transmission A second transmitting / receiving unit configured to receive a second reflected wave reflected by the ground, and the detecting unit detects the ground when the intensity of the first and second reflected waves changes in the same direction. Detect irregularities .

According to the parking assist device of the present invention configured as described above, a transmission wave is transmitted in at least one of a diagonally downward direction and a vertically downward direction that form a predetermined angle rearward of the vehicle with respect to the vertical line, and The uneven part of the ground is detected by the change of the reflected wave. For this reason, when the uneven part of the ground is detected, the vehicle rear distance from the transmission / reception means to the uneven part is determined based on the predetermined angle. That is, if the height of the mounting position of the transmission / reception means from the ground is H and the predetermined angle is θ, the horizontal distance L from the transmission / reception means to the concavo-convex part is expressed by the following equation (1).
L = H · tan θ (1)
Thus, in the parking assist device of the present invention, unlike the conventional ultrasonic sonar, it is not necessary to calculate the distance to the obstacle from the time difference between the transmission time and the reception time, and the ground such as a car stop or a groove step is used. The distance to the position of the unevenness can be detected with a simple configuration.
In the parking assistance device of the present invention, the first and second transmission / reception means are provided, and when the intensity of the first and second reflected waves changes in the same direction, by detecting the uneven portion of the ground, It is possible to prevent erroneous detection of uneven portions.

  In order to achieve the above object, the parking assist device of the present invention is directed to at least one of a diagonally downward direction and a vertically downward direction that form a predetermined angle with respect to the vertical line toward the rear of the vehicle while the vehicle is moving backward. A transmission / reception means for transmitting a transmission wave and receiving the reflected wave reflected by the ground; and a vehicle rearward predetermined based on the predetermined angle based on a change in intensity of the reflected wave received by the transmission / reception means. A distance detecting unit configured to detect a concavo-convex portion of the ground; and a supporting unit configured to perform at least one of notification based on a detection result of the detecting unit and vehicle control. First transmission / reception means for transmitting a first transmission wave and receiving a first reflected wave reflected by the ground; and a second transmission wave at a second predetermined angle smaller than the first predetermined angle. Send the above And a second transmitting / receiving means for receiving a second reflected wave reflected by the ground, wherein the detecting means first receives the first reflected wave while the vehicle is moving backward. By detecting the uneven portion of the ground at a first predetermined distance behind the vehicle based on the first predetermined angle, and then receiving the second reflected wave by the second transmitting / receiving means. The uneven portion of the ground is detected at a second predetermined distance closer to the vehicle than a first predetermined distance behind the vehicle based on the second predetermined angle.
  According to the parking assist device of the present invention configured as described above, a transmission wave is transmitted in at least one of a diagonally downward direction and a vertically downward direction that form a predetermined angle rearward of the vehicle with respect to the vertical line, and The uneven part of the ground is detected by the change of the reflected wave. For this reason, when the uneven part of the ground is detected, the vehicle rear distance from the transmission / reception means to the uneven part is determined based on the predetermined angle. That is, if the height of the mounting position of the transmission / reception means from the ground is H and the predetermined angle is θ, the horizontal distance L from the transmission / reception means to the concavo-convex part is expressed by the following equation (1).
    L = H · tan θ (1)
  Thus, in the parking assist device of the present invention, unlike the conventional ultrasonic sonar, it is not necessary to calculate the distance to the obstacle from the time difference between the transmission time and the reception time, and the ground such as a car stop or a groove step is used. The distance to the position of the unevenness can be detected with a simple configuration.
  In addition, in this way, by retracting the vehicle while irradiating the first and second light beams, first, the vehicle stop is detected at the first predetermined distance, and then the vehicle stop is detected at the second predetermined distance. . Therefore, the degree of approach between the vehicle and the car stop can be detected based on the detection timings of the plurality of light beams.

In the present invention, it is preferable that the transmission / reception unit scans the transmission wave in the vehicle width direction within a plane that forms a predetermined angle rearward of the vehicle with respect to the vertical line.
Thereby, the uneven part of the ground can be detected not only behind the transmitting / receiving means but also within a predetermined range in the vehicle width direction.

In the present invention, it is preferable that the transmission / reception unit transmits the transmission wave while changing the predetermined angle.
As a result, the ground irregularities once detected can be continuously tracked while the vehicle is moved backward.

In the present invention, it is preferable that the detection means detects a convex portion of the ground when the intensity of the reflected wave increases while the vehicle is moving backward, and detects the ground surface when the intensity of the reflection decreases. Detect the recess,
The support means performs at least one of notification and vehicle control different depending on whether the detection means detects a convex portion of the ground or a concave portion.

  Thereby, the convex part and the concave part of the ground can be easily distinguished based on the intensity change of the reflected wave, and accurate notification and driving assistance can be performed based on this distinction.

In the present invention, it is preferable that the detection unit detects a vehicle stop on the ground when the reflection intensity is once increased and then decreased while the vehicle is moving backward.
Thereby, a vehicle stop can be detected easily.

  According to the parking assistance device of the present invention, the distance to the position of unevenness on the ground such as a car stop or a step can be detected with a simple configuration.

It is a block diagram which shows the structure of the parking assistance apparatus by 1st Embodiment of this invention. It is a schematic diagram which shows a mode that a light beam is transmitted toward the diagonally downward direction which makes a predetermined angle with respect to a vertical line at the back of a vehicle during reverse of a vehicle. (A) is a schematic diagram showing the relationship between the emission angle of the light beam and the distance to the convex part, (b) is a graph showing the time change of the reflected wave intensity when detecting the convex part, (C) is a display example of the positional relationship between the vehicle and the convex portion. (A) is a schematic diagram which shows the relationship between the emission angle of a light beam and the distance to a recessed part, (b) is a graph which shows the time change of the reflected wave intensity at the time of detecting a recessed part, (c ) Is a display example of the positional relationship between the vehicle and the recess. (A)-(d) transmits a light beam toward an obliquely downward direction that forms a predetermined angle with respect to the vertical line toward the rear of the vehicle while the vehicle is moving backward by the parking assist device of the second embodiment of the present invention. It is a schematic diagram which shows a mode that it does. It is a flowchart explaining the operation example of the parking assistance apparatus of 2nd Embodiment. (A)-(c) is a display screen example of the parking assistance by the parking assistance apparatus of 2nd implementation liquid. It is a flowchart explaining the operation example of the parking assistance apparatus of 3rd Embodiment.

Hereinafter, an embodiment of a parking assistance device of the present invention will be described with reference to the accompanying drawings.
With reference to the block diagram of FIG. 1, the structure of the parking assistance apparatus by 1st Embodiment is demonstrated. The parking assist device according to the first embodiment emits a light beam as a transmission wave in a diagonally downward direction or a vertically downward direction that forms a predetermined angle with respect to the vertical line toward the rear of the vehicle while the vehicle is moving backward. The transmission / reception means 1 for transmitting and receiving the reflected wave reflected by the ground, and the unevenness of the ground at a predetermined distance behind the vehicle based on a predetermined angle based on a change in the intensity of the reflected wave received by the transmission / reception means 1 Detection means 2 for detecting a part, and support means 3 for performing at least one of notification of a detection result of the detection means 2 and vehicle control based on the detection result.

  For example, only one transmission / reception unit 1 may be disposed near the center in the vehicle width direction at the rear end of the vehicle, or two or more transmission / reception means 1 may be disposed along the vehicle width direction at the rear end of the vehicle. . For example, a pair of transmission / reception means may be attached near both ends in the vehicle width direction at the rear end of the vehicle.

  The transmission / reception means 1 is not necessarily arranged at the rear end of the vehicle, but is preferably arranged at a position where transmission waves can be transmitted toward the ground behind the vehicle. In the transmission / reception unit 1, the transmission unit and the reception unit may be integrated, or the transmission unit and the reception unit may be provided separately.

  The transmission / reception means 1 may be configured by a lateral scanning optical sensor that scans the light beam B in the vehicle width direction within a plane that forms a predetermined angle rearward of the vehicle with respect to the vertical line. Further, the transmission / reception means 1 scans the light beam B in the vehicle width direction, and changes the predetermined angle that defines the vertical direction of the light beam B within a predetermined range (for example, 0 ° to 80 °). May be a two-dimensional scanning light (laser) sensor. Further, the transmission / reception means 1 does not scan the light beam B in the vehicle width direction, and changes a predetermined angle defining the vertical direction of the light beam B within a predetermined range (for example, 0 ° to 80 °) A vertical scanning optical sensor that transmits the light beam B may be used.

  When the predetermined angle is variable, the transmission / reception means 1 may change the predetermined angle as the vehicle moves backward so as to track the unevenness of the ground once captured. For example, when a convex portion of the ground is detected based on the rise of the reflected wave intensity with respect to the baseline, the predetermined angle may be changed so that the state where the reflected wave intensity is increased is maintained. Thereby, the position of a convex part can be detected continuously.

  Further, for example, when a concave portion on the ground is detected based on a decrease in reflected wave intensity with respect to the baseline, the predetermined angle may be changed so that the state where the reflected wave intensity is lowered is maintained. Thereby, a recessed part can be detected continuously.

  The detection unit 2 and the support unit 3 correspond to processing functions in an in-vehicle ECU (electric control unit) 4. These processing functions may be realized by executing a predetermined program in a computer, or may be realized by a microchip.

  FIG. 2 shows a light beam B that is transmitted in a diagonally downward direction that forms a predetermined angle with respect to the vertical line toward the rear of the vehicle while the vehicle C is moving backward. In the example shown in FIG. 2, the light beam B irradiates a car stop 8 disposed on the ground.

With reference to Fig.3 (a), when irradiating a light beam to the vehicle back diagonally downward and detecting the vehicle stop 8 on the ground, it demonstrates that the distance to the vehicle stop 8 is calculated | required. FIG. 3A shows the relationship between the emission angle θ of the light beam B with respect to the vertical direction and the distance L to the car stop 8. As shown in FIG. 3A, when the transmission / reception means 1 is disposed at a height H from the ground, the horizontal distance L from the transmission / reception means 1 to the car stop 8 is expressed by the following equation (1). Is done.
L = H · tan θ (1)
When the light beam is irradiated vertically downward, the predetermined angle θ = 0. In this case, the detected car stop 8 is located directly below the transmission / reception means 1.

  Thus, when the detection means 2 detects the car stop 8, the horizontal distance L to the car stop 8 is obtained as a function of the predetermined angle θ. This eliminates the need to calculate the distance to the obstacle from the time difference between the transmission time and the reception time unlike conventional ultrasonic sonar, and simplifies the distance to the surface irregularities such as car stops and groove steps. Can be detected with a simple configuration. And since it is not necessary to use expensive equipment like an ultrasonic sonar, cost reduction can be aimed at.

  Furthermore, when the intensity of the reflected wave increases while the vehicle C is moving backward, the detection means 2 detects a ground convex portion such as the car stopper 8. In addition, not only a car stop but the level | step difference in which the ground is raised one step is detected similarly. Moreover, in this embodiment, the detection means 1 detects the vehicle stop on the ground when the reflection intensity once increases and then decreases during the backward movement of the vehicle.

  The detection of the vehicle stop 8 will be described with reference to FIG. The horizontal axis of the graph of FIG. 3B represents time, the vertical axis represents the reflected wave intensity, and the line I in the graph represents the time change of the reflected wave intensity. As indicated by the line I, the reflected wave intensity temporarily rises from the baseline at time t1, and then the reflected wave intensity falls to the baseline at time t2. Based on this change in reflection intensity, the detection means 2 detects the car stop 8.

  With reference to FIG.3 (c), an example of the parking assistance by the assistance means 3 when the vehicle stop 8 is detected is demonstrated. FIG.3 (c) is a display example of the positional relationship with the vehicle vehicle stop 8 in the display screen D of the display 6 arrange | positioned in the position which can be displayed from a driver's seat. The display screen D also displays lines indicating the vehicle rear end and the rear wheel position. The display position of the car stop 8 on the display screen D may be moved so as to approach the vehicle rear end line according to the backward distance of the vehicle. The reverse distance of the vehicle is calculated based on, for example, the rotation angle of the wheel. Accordingly, the driver can move the vehicle backward while confirming the positional relationship between the vehicle and the car stop 8.

Next, with reference to FIG. 4A, it will be described that when a ground groove 9 is detected by irradiating a light beam obliquely downward to the rear of the vehicle, the distance to the groove 9 can be obtained. FIG. 4A shows the relationship between the emission angle θ of the light beam B with respect to the vertical direction and the distance L to the groove 9. As shown in FIG. 4A, when the transmission / reception means 1 is arranged at a height H from the ground, the horizontal distance L from the transmission / reception means 1 to the groove 9 is expressed by the following equation (1). Is done.
L = H · tan θ (1)

Therefore, also when the detecting means 2 detects the groove 9, the horizontal distance L to the groove 9 is obtained as a function of the predetermined angle θ.
When the light beam is irradiated vertically downward, the predetermined angle θ = 0. In this case, the detected groove 9 is located directly below the transmission / reception means 1.

  Furthermore, when the vehicle C is moving backward, the detection means 2 detects a concave portion on the ground such as a step that becomes one step lower like a groove when the intensity of the reflected wave decreases. In addition, not only a groove | channel but the level | step difference in which the ground is one step lower is detected similarly.

  The detection of the groove 9 will be described with reference to FIG. The horizontal axis of the graph in FIG. 4B represents time, the vertical axis represents reflected wave intensity, and the line II in the graph represents the time change of reflected wave intensity. As indicated by line II, the reflected wave intensity temporarily decreases from the baseline at time t1, and then the reflected wave intensity increases to the baseline at time t2. Based on the change in the reflection intensity, the detection means 2 detects the groove 9.

  With reference to FIG.4 (c), an example of the parking assistance by the assistance means 3 when the vehicle stop 8 is detected is demonstrated. FIG. 3C is a display example of the positional relationship between the vehicle and the groove 9 on the display screen D of the display 6 arranged at a position that can be displayed from the driver's seat. The display screen D also displays lines indicating the vehicle rear end and the rear wheel position. The display position of the groove 9 on the display screen D may be moved so as to approach the line according to the reverse distance of the vehicle. The reverse distance of the vehicle is calculated based on, for example, the rotation angle of the wheel. Accordingly, the driver can move the vehicle backward while confirming the positional relationship between the vehicle and the groove 9.

  On the display screen D, these shapes and colors may be displayed as different from each other so that the driver can distinguish between the car stop 8 and the groove 9. Further, the support means 3 may notify the driver of the vehicle stop 8 or the groove 9 by voice, chime or buzzer through the speaker 5. Further, the support means 3 may control the brake actuator 7 so that the vehicle is stopped at a position where the rear wheel is immediately before the car stop 8 or the groove 9.

Next, 2nd Embodiment of the parking assistance apparatus of this invention is described.
The configuration of the parking assistance apparatus according to the second embodiment is basically the same as that of the first embodiment shown in FIG. However, in 2nd Embodiment, as shown to Fig.5 (a), the transmission / reception means 1 each transmits a transmission wave toward the diagonal downward direction which makes three predetermined angles to a vehicle rear with respect to a vertical line.

  A first light beam B1 having a first predetermined angle θ1 (for example, 60 °) is emitted to detect unevenness located at a long distance behind the vehicle. The second light beam B2 having a second predetermined angle θ2 (for example, 45 °) smaller than the first predetermined angle θ1 is irradiated to detect unevenness located at a middle distance behind the vehicle. Then, the third light beam B3 having a third predetermined angle θ3 (for example, 30 °) smaller than the second predetermined angle θ2 is emitted in order to detect irregularities located at a short distance behind the vehicle. Note that the third predetermined angle θ3 may be θ3 = 0 °. In this case, the third light beam B3 is emitted directly below the transmission / reception device 1.

Next, an operation example of the parking assistance device according to the second embodiment will be described with reference to the flowcharts of FIGS. 5 and 6.
As shown in FIG. 5B, when the vehicle moves backward and the first light beam B1, which is a long-distance beam, reaches the car stop 8 at time t1, the reflected wave intensity of the first light beam B1 increases. The vehicle stop (ring stop) 8 is detected (S61). The distance L1 to the position of the car stop 8 is detected based on the first predetermined accuracy θ1 of the first light beam B1 (S62). When the transmission / reception means 1 is mounted at a position of height H from the ground, the distance L1 is obtained as L1 = H · tan θ1. FIG. 7A shows a display example of the car stop 8 detected at the position of the distance L1.

  Subsequently, as shown in FIG. 5C, when the vehicle further moves backward and the second light beam B2 that is a medium distance beam reaches the car stop 8 at time t2, the reflected wave intensity of the second light beam B2 is reached. Rises and the vehicle stop 8 is detected (S63). The distance L2 to the position of the car stop 8 is detected based on the second predetermined accuracy θ2 of the second light beam B2 (S64). That is, the distance L2 is obtained as L2 = H · tan θ2. FIG. 7B shows a display example of the car stop 8 detected at the position of the distance L2.

  Subsequently, as shown in FIG. 5 (d), when the vehicle further moves back and the third light beam B3, which is a short-distance beam, reaches the car stop 8 at time t3, the reflected wave intensity of the third light beam B3. Rises and the vehicle stop 8 is detected (S65). The distance L3 to the position of the car stop 8 is detected based on the third predetermined accuracy θ3 of the third light beam B3 (S66). That is, the distance L3 is obtained as L3 = H · tan θ3. FIG. 7C shows a display example of the car stop 8 detected at the position of the distance L3.

  Thus, by retracting the vehicle while irradiating the first to third light beams B1 to B3, first, the vehicle stop 8 is detected at the distance L1 at time t1, and then the vehicle stop 8 is detected at the distance L2 at time t2. Then, the vehicle stop 8 is detected at the distance L3 at time t3. Therefore, the approach degree of the vehicle (tire) and the vehicle stop is sequentially detected by the detection timing of the three light beams.

  After the vehicle stop 8 is detected based on the reflected wave intensity of the third light beam B3, the support means 3 displays the vehicle stop on the display 6 at a position obtained by subtracting the backward distance of the vehicle from the distance L3 to the vehicle stop 8 position. 8 may be displayed sequentially (S67).

Next, a third embodiment of the parking assistance device of the present invention will be described.
The configuration of the parking assistance apparatus according to the third embodiment is basically the same as that of the first embodiment shown in FIG. However, in the third embodiment, the transmission / reception means 1 transmits the first light beam at the first predetermined angle θ1, and the first transmission / reception means receives the first reflected wave reflected by the ground. The second light beam B2 is transmitted at a second predetermined angle θ2 smaller than the first predetermined angle θ1, and the second light transmitting / receiving unit receives the second reflected wave reflected by the ground. Has been.

  The first and second transmission / reception means may be integrally formed or may be arranged apart from each other. The first receiving means may also serve as the second receiving means.

Next, with reference to the flowchart of FIG. 8, the operation example of the parking assistance apparatus by 3rd Embodiment is demonstrated.
Detected when the vehicle moves backward and the reflected wave intensity of the first light beam B1 and the reflected wave intensity of the second light beam B2 both change in the increasing direction (“yes” in S81 and “yes” in S82). The means 2 detects the convex part of the ground (S83). As described above, by detecting the convex portion of the ground when both the first and second reflected waves have increased in intensity, erroneous detection of the convex portion is prevented.

  And the support means 3 performs the parking assistance for convex parts (S84). As parking assistance for convex portions, for example, when the distance to the convex portion is equal to or less than a predetermined distance, it is preferable to notify the contact with the speaker 5. Further, the display 6 may display as shown in FIG. 3C to inform the driver of the positional relationship between the vehicle and the convex portion. Alternatively, the vehicle may be stopped by controlling the brake actuator 7 when the distance to the convex portion is equal to or less than a predetermined distance.

  Also, when the vehicle moves backward and the reflected wave intensity of the first light beam B1 and the reflected intensity of the second light beam B2 change in a decreasing direction (in the case of “yes” in S85 and “yes” in S86). The detecting means 2 detects a concave portion on the ground (S87). As described above, by detecting the concave portion of the ground when both the first and second reflected waves are reduced in intensity, erroneous detection of the concave portion is prevented.

  And the assistance means 3 performs parking assistance for a recessed part (S88). As parking assistance for the concave portion, for example, when the distance to the concave portion is equal to or less than a predetermined distance, an alarm sound may be generated by the speaker 5 to inform the driver of the danger of the rear wheel falling into the concave portion. Further, the display 6 may display as shown in FIG. 4C to inform the driver of the positional relationship between the vehicle and the recess. Alternatively, the vehicle may be stopped by controlling the brake actuator 7 when the distance to the recess becomes equal to or less than a predetermined distance.

  In the above-mentioned embodiment, although the example which comprised this invention on the specific conditions was demonstrated, this invention can perform a various change and combination, and is not limited to this. For example, in the above-described embodiment, an example in which the transmission wave is a light beam has been described. However, in the present invention, the transmission wave is not limited to a light beam, and for example, a radio wave having directivity such as a microwave is used. May be.

DESCRIPTION OF SYMBOLS 1 Transmission / reception means 2 Detection means 3 Support means 4 ECU
5 Speaker 6 Display 7 Brake actuator 8 Car stop 9 Groove

Claims (6)

While the vehicle is moving backward, a transmission wave is transmitted in at least one of an obliquely downward direction and a vertically downward direction that form a predetermined angle rearward of the vertical line, and the reflected wave is reflected by the ground. Transmitting and receiving means for receiving,
Detecting means for detecting an uneven portion of the ground at a predetermined distance behind the vehicle based on the predetermined angle based on a change in intensity of the reflected wave received by the transmitting / receiving means;
Support means for performing at least one of notification and vehicle control based on the detection result of the detection means;
With
The transmission / reception means transmits a first transmission wave at a first predetermined angle, and receives the first reflected wave reflected by the ground, and the first transmission / reception means, from the first predetermined angle. A second transmitting / receiving means for transmitting a second transmission wave at a small second predetermined angle and receiving a second reflected wave reflected by the ground;
The parking assist device according to claim 1, wherein the detecting means detects the uneven portion of the ground when the intensity of the first and second reflected waves changes in the same direction . While the vehicle is moving backward, a transmission wave is transmitted in at least one of an obliquely downward direction and a vertically downward direction that form a predetermined angle rearward of the vertical line, and the reflected wave is reflected by the ground. Transmitting and receiving means for receiving,
Detecting means for detecting an uneven portion of the ground at a predetermined distance behind the vehicle based on the predetermined angle based on a change in intensity of the reflected wave received by the transmitting / receiving means;
Support means for performing at least one of notification and vehicle control based on the detection result of the detection means;
With
The transmission / reception means transmits a first transmission wave at a first predetermined angle, and receives the first reflected wave reflected by the ground, and the first transmission / reception means, from the first predetermined angle. A second transmitting / receiving means for transmitting a second transmission wave at a small second predetermined angle and receiving a second reflected wave reflected by the ground;
While the vehicle is moving backward, the detection means first receives the first reflected wave by the first transmission / reception means so that the ground reaches a first predetermined distance behind the vehicle based on the first predetermined angle. And then the second transmitting / receiving means receives the second reflected wave, so that the second closer to the vehicle than the first predetermined distance behind the vehicle based on the second predetermined angle. A parking assist device that detects the uneven portion of the ground at a predetermined distance . It said transmitting and receiving means is in a plane forming a predetermined angle toward the rear of the vehicle with respect to the vertical line, and wherein the scanning the transmission wave in the vehicle width direction, the parking assist apparatus according to claim 1 or 2, wherein. The parking assist device according to any one of claims 1 to 3 , wherein the transmission / reception unit transmits the transmission wave while changing the predetermined angle. The detecting means detects a convex portion of the ground when the intensity of the reflected wave is increased while the vehicle is moving backward, and detects a concave portion of the ground when the intensity of the reflection is reduced.
The said support means performs at least one of the alerting | reporting and vehicle control which differ when the said detection means detects the convex part of the said ground, and the case where a recessed part is detected, The any one of Claims 1-4 characterized by the above-mentioned. The parking assistance device according to one item. 6. The vehicle detection apparatus according to claim 1, wherein the detection unit detects a vehicle stop on the ground when the reflection intensity is once increased and then decreased while the vehicle is moving backward. 6. The parking assistance device described.

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