| CPC B60W 30/06 (2013.01) [G01C 21/3667 (2013.01)] | 10 Claims |
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1. A parking assistance method comprising:
storing positions of a plurality of target objects detected around a target parking position when an own vehicle is parked at the target parking position as learned target object positions;
when the own vehicle travels in a vicinity of the target parking position after the learned target object positions are stored, counting, with respect to each of the learned target object positions, a number of times that the learned target object position coincides with a surrounding target object position, the surrounding target object position being a position of a target object detected around the own vehicle;
providing a higher degree of reliability to the learned target object position having a large number of times of coincidence with the surrounding target object position than to the learned target object position having a small number of times of coincidence with the surrounding target object position;
by comparing the learned target object position having a degree of reliability greater than or equal to a predetermined threshold degree of reliability among the learned target object positions with a position of a target object detected around the own vehicle, calculating a relative position of an own vehicle with respect to the target parking position;
based on the calculated relative position, calculating a target travel trajectory from a current position of the own vehicle to the target parking position; and
performing parking assistance control to assist movement of the own vehicle along the calculated target travel trajectory.
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