Unfortunately, even when a new area, which cannot be recognized from the parking start position, is detected in the surrounding area as the vehicle travels on the parking route, the new area cannot be used effectively as the parking route.In step S304, when there is an area for extending the parking route in the newly detected area, the route is determined to be extensible. In step S305, it is determined whether the vehicle can be parked with one turnabout without extending the route, and when it is determined that the vehicle cannot be parked with one turnabout, the process proceeds to step S307 to perform the route extension process. When the posture of the vehicle at the turning point does not exceed a predetermined value in step S306, the process also proceeds to step S307. In step S307, route information for extending the parking route from the turning point in the route information toward the newly detected available area is generated based on the route information output in step S302, the surrounding area information and the own-vehicle position information output in step S303.
Parking assistance device
2022-07-19
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge / G06K Erkennen von Daten , RECOGNITION OF DATA / G06V |
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