| CPC B60W 30/06 (2013.01) [G01C 21/3667 (2013.01); G06T 7/20 (2013.01); G06T 7/70 (2017.01); B60W 2420/403 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30261 (2013.01); G06T 2207/30264 (2013.01)] | 6 Claims |
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1. A parking assistance method comprising:
detecting, from an image acquired by capturing surroundings of an own vehicle, a first target object position, the first target object position being a position of a target object around the own vehicle;
detecting a first image capturing situation, the first image capturing situation being an image capturing situation when the image is captured;
with respect to a second target object position, the second target object position being a target object position of a target object detected from a past image, the past image being an image acquired by capturing surroundings of a target parking position in a past, retrieving, from a predetermined storage device in which one or more combinations of a relative positional relationship between the second target object position and the target parking position and a second image capturing situation, the second image capturing situation being an image capturing situation when the past image is captured, are stored, one or more combinations of the relative positional relationship and the second image capturing situation;
selecting, among retrieved relative positional relationships, the relative positional relationship stored in combination with the second image capturing situation having a difference from the first image capturing situation less than or equal to a predetermined difference; and
calculating, based on a selected relative positional relationship and the first target object position, a relative position between a current position of the own vehicle and the target parking position and performing parking assistance of the own vehicle at the target parking position.
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