Abstract: A parking assist apparatus is configured to perform a deviation control including at least one of a first notification control and a stop control when the parking assist apparatus determines that a vehicle that is performing an automatic parking deviates from a learned route. The parking assist apparatus is configured to learn, as the learned route, a position of the vehicle in each of multiple learned images that an outside-vehicle camera captures a space including the vehicle and the parking space multiple times while the vehicle is performing a manual parking or the automatic parking; and perform the deviation control when the parking assist apparatus determines that the vehicle deviates based on a position of the vehicle in a comparative image and a position of the vehicle in the learned image.

Abstract: A parking assistance system includes: a non-on-board sensor that is able to acquire first information that is three-dimensional information of a first area including a target parking space being a target area in which an own vehicle is parked; an on-board sensor that is able to acquire second information that is three-dimensional information of a second area being a surrounding area of the own vehicle and constituting a part of the first area; and a control device configured to determine a route along which the own vehicle moves to the target parking space based on the first information and the second information and to control the own vehicle such that the own vehicle moves along the route.

Abstract: A parking assistance apparatus sets a reference moving route, based on route information when a feature point corresponding to a registered start feature point is detected, automatically parking an own vehicle at a parking space is not requested, and a driver of the own vehicle starts manually parking the own vehicle at the parking space. After the driver starts manually parking the own vehicle at the parking space, the parking assistance apparatus executes an automatic parking control when automatically parking the own vehicle at the parking space is requested, and a positional relationship between the own vehicle and the reference moving route satisfies a predetermined condition.

Abstract: A parking assist apparatus includes an image pickup device, a three-dimensional object information acquisition device, and a control unit which executes parking assist control. The control unit registers in a storage device a path along which the vehicle has traveled when the driver has driven the vehicle from a start position to a parking position as a registered path together with a feature point extracted from a surrounding of the path and a three-dimensional object included in the three-dimensional object information, calculates, when a feature point and a three-dimensional object are detected, the registered path based on the positions of the feature point and the three-dimensional object, and notifies the driver, by display or a sound, of a first section in which the parking assist control can be started when a start condition which is satisfied when it is determined that the parking assist control can be started is satisfied.

Abstract: A parking assist apparatus of a vehicle includes an image recognition ECU and a vehicle control ECU. The image recognition ECU extracts characteristic points contained in an image of a surrounding region of the vehicle captured during a travel. The vehicle control ECU can register, as parking lot information, the position of a parking lot and a piece of information regarding characteristic points contained in an image of a scene of the entrance of the parking lot. The vehicle control ECU can automatically park the vehicle in the registered parking lot. The image recognition ECU extracts the characteristic points contained in the image of the surrounding region when the distance between the vehicle and the entrance of the registered parking lot is equal to or shorter than a threshold distance, and does not extract the characteristic points when the distance is longer than the threshold distance.

Abstract: A vehicle driving assist system includes a controller and a display. The controller is configured to generate a bird’s-eye view image based on information on images around a vehicle, respectively captured by cameras, and acquire a target route from a current location of the vehicle to a target stop location set by a driver. The display is configured to display the bird’s-eye view image and the target route and allow the driver to use the bird’s-eye view image to set a no entry area. The controller is configured to, when the controller determines that the vehicle enters the no entry area if the vehicle moves along the target route, correct the target route such that the vehicle does not enter the no entry area and cause the vehicle to move to the target stop location along the corrected target route and stop at the target stop location.

Abstract: A parking assistance apparatus obtains a target travelling route including a forward section and a backward section and lets a vehicle move along the target travelling route such that the vehicle reaches a target parking position. The parking assistance apparatus execute a collision avoidance processing when an obstacle which is closer than a threshold distance is detected while the vehicle moves along the target travelling route. The distance between the vehicle and a specific region is kept to be larger than a clearance distance while the vehicle moves along the backward section such that the obstacle for the collision avoidance processing which cannot be detected while the vehicle moves along the forward section will not be found while the vehicle moves along the backward section. The specific region is determined on the basis of a detection region of a sensor device for detecting the obstacle and the threshold distance.

Abstract: A parking assist apparatus of a vehicle includes an image recognition ECU and a vehicle control ECU. The image recognition ECU extracts characteristic points contained in an image of a surrounding region of the vehicle captured during a travel. The vehicle control ECU can register, as parking lot information, the position of a parking lot and a piece of information regarding characteristic points contained in an image of a scene of the entrance of the parking lot. The vehicle control ECU can automatically park the vehicle in the registered parking lot. The image recognition ECU extracts the characteristic points contained in the image of the surrounding region when the distance between the vehicle and the entrance of the registered parking lot is equal to or shorter than a threshold distance, and does not extract the characteristic points when the distance is longer than the threshold distance.

Abstract: A vehicle parking assist apparatus acquires and registers first information on a parking lot from a camera image when a vehicle stops by the parking lot. The vehicle parking assist apparatus acquires and registers second information on the parking lot from the camera image when completing parking the vehicle in the parking lot by a parking assist control. The vehicle parking assist apparatus acquires the information on the parking lot as current parking lot information from the camera image when the vehicle stops by the parking lot after registering the first and second parking lot information and executes the parking assist control with realizing a relationship in position between the vehicle and the parking lot by comparing the current parking lot information with the registered parking lot information.

Abstract: A vehicle parking assist apparatus acquires a feature image from a registration image representing a parking lot to register the feature image as parking lot information. The registration image is an image that a camera takes when the vehicle parking assist apparatus receives a registration request for registering a parking area in that the vehicle is parked. The vehicle parking assist apparatus determines that the vehicle has reached the parking area specified by the parking lot information when an image part that has the same feature as the feature image is included in a post registration image. The vehicle parking assist apparatus specifies an object image being an image representing a object from the registration image when the object is present in the area corresponding to the registration image; and acquires the feature image based on the registration image from which the specified object image is excluded.

Abstract: A parking assistance apparatus obtains a target travelling route including a forward section and a backward section and lets a vehicle move along the target travelling route such that the vehicle reaches a target parking position. The parking assistance apparatus execute a collision avoidance processing when an obstacle which is closer than a threshold distance is detected while the vehicle moves along the target travelling route. The distance between the vehicle and a specific region is kept to be larger than a clearance distance while the vehicle moves along the backward section such that the obstacle for the collision avoidance processing which cannot be detected while the vehicle moves along the forward section will not be found while the vehicle moves along the backward section. The specific region is determined on the basis of a detection region of a sensor device for detecting the obstacle and the threshold distance.