US 12,260,764 B2
Parking support device and parking support method
Yoshimasa Okabe, Kanagawa Ken (JP); and Hiroto Sankoda, Kanagawa Ken (JP)
Assigned to Panasonic Automotive Systems Co., Ltd., Kanagawa (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Jan. 20, 2023, as Appl. No. 18/099,727.
Claims priority of application No. 2022-011503 (JP), filed on Jan. 28, 2022.
Prior Publication US 2023/0245566 A1, Aug. 3, 2023
Int. Cl. G08G 1/16 (2006.01)
CPC G08G 1/168 (2013.01) 10 Claims
OG exemplary drawing
 
1. A parking support device configured to support side-by-side parking of a vehicle in a parking region positioned to a side of a passage, the parking support device comprising:
an acquisition circuit configured to acquire information on detection points indicating positions at which obstacles around the vehicle are detected;
an analysis circuit configured to divide the detection points into detection point groups, calculate approximate straight lines each corresponding to one of the detection point groups, and calculate variations of detection points with respect to the approximate straight lines each calculated from one of the detection point groups;
a setting circuit configured to set a parking point at which the vehicle is to be parked based on the detection points, and set a parking direction that is to be a direction of the vehicle at the parking point, based on the approximate straight lines and the variations; and
a correction circuit configured to correct the parking direction after setting the parking direction, wherein
the acquisition circuit is configured to acquire, from among the detection points, first detection points before setting the parking direction, and acquires second detection points after setting the parking direction,
the analysis circuit is configured to divide the first detection points into first detection point groups, divide the second detection points into second detection point groups, calculate first approximate straight lines for the first detection point groups, calculates second approximate straight lines for the second detection point groups, calculate first variations of the first detection point groups with respect to the first approximate straight lines, and calculate second variations of the second detection point groups with respect to the second approximate straight lines,
the setting circuit is configured to set the parking point based on the first detection points, and set the parking direction based on the first approximate straight lines and the first variations, and
the correction circuit is configured to weight the second approximate straight lines based on the second variations, calculate a correction amount of the parking direction using the weighted second approximate straight lines, and correct the parking direction using the correction amount.