US 11,745,728 B2
Parking assistance device and parking assistance method
Kenta Katsu, Tokyo (JP); Takashi Matsumoto, Tokyo (JP); Takahisa Aoyagi, Tokyo (JP); Masataka Shirozono, Tokyo (JP); Hiroshi Yamada, Tokyo (JP); and Yukiyasu Akemi, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Appl. No. 17/433,300
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Apr. 23, 2019, PCT No. PCT/JP2019/017246
§ 371(c)(1), (2) Date Aug. 24, 2021,
PCT Pub. No. WO2020/217315, PCT Pub. Date Oct. 29, 2020.
Prior Publication US 2022/0135022 A1, May 5, 2022
Int. Cl. B60W 30/06 (2006.01); B60W 40/06 (2012.01)
CPC B60W 30/06 (2013.01) [B60W 40/06 (2013.01); B60W 2420/42 (2013.01); B60W 2420/54 (2013.01); B60W 2520/06 (2013.01); B60W 2554/4041 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A parking assistance device comprising:
a processor to execute a program; and
a memory to store the program which, when executed by the processor, performs processes of:
calculating a position and a posture angle of a vehicle;
acquiring peripheral information of the vehicle;
detecting a parking space based on the peripheral information of the vehicle;
calculating a target parking position of the vehicle based on a position of a corner point of the parking space;
setting a constraint condition regarding a target parking route for guiding the vehicle to the target parking position based on a position and a posture angle of the vehicle, the peripheral information, and the position of the corner point of the parking space;
calculating the target parking route based on the position and the posture angle of the vehicle, the position of the corner point of the parking space, the target parking position, and the constraint condition; and
parking the vehicle at the target parking position by making the vehicle travel following the target parking route, wherein
the processor sets a condition that a curvature change rate of the target parking route is continuous as the constraint condition.