Abstract: When having determined that an own-vehicle has become unable to proceed in a traveling direction corresponding to a travel path of the own-vehicle and has stopped halfway through a travel path, a parking support device transmits information to an operation terminal, the information indicating a travel path and a place at which the vehicle has stopped on the travel path. When having received, from the operation terminal, specification information specifying a place to which the own-vehicle is to be moved, the parking support device sets, as a travel path of the own-vehicle, a path through which the own-vehicle is to be moved to the specified place, and outputs, to a vehicle control unit, control information for causing the own-vehicle to move to the specified place.

Abstract: A parking assist apparatus uses vehicle information and the recognition result of a peripheral recognition unit to calculate a plurality of patterns of parking paths, in which the radius of curvature of each of the arcs included in the parking paths is differentiated, as parking paths to park a vehicle at a parking area, by a parking path calculation unit. In addition, the parking assist apparatus selects, among the plurality patterns of parking paths, a parking path with both a minimum number of times of driving operations for changing an advancing direction of the vehicle from forward to reverse or reverse to forward, and the radius of curvature of the arc that is largest, by a parking path selection unit.

Abstract: A parking assistance device includes a range setting unit configured to set a search range searching for an obstacle based on a movement range of a host vehicle for a case in which the host vehicle is moved along a parking route, in terms of two directions, and a judgment unit configured to detect an object having a possibility of interfering with the movement of the host vehicle, based on the surrounding condition around the host vehicle, in a case in which the detected object is positioned within the search range, to judge whether the detected object is an obstacle interfering with the movement of the host vehicle along the parking route, and, in a case in which the detected object is positioned outside the search range, not to make judgment whether the detected object is the obstacle.

Abstract: A parking assist system comprises: a backward position determining unit for changing, upon inputting of a notification that the travel of the vehicle has stopped in a forward route, the starting point of a reverse route to the stopping point wherein travel of the vehicle has stopped, and, if the vehicle has traveled along the backward route wherein the starting point has been changed to the stopping position, identifies a backward position wherein the vehicle can be reversed; a control information generating unit for generating control information for causing the vehicle to travel from the stopping position to the backward position; and a route generating unit for generating a second parking route, for causing the vehicle to travel to the parking position, based on the state of surroundings, acquired by a state acquiring unit, when the vehicle travels to the backward route.

Abstract: A parking assist system comprises a route generating unit for generating a generating position for generating a parking route for parking a vehicle in a determined parking space and for generating a travel route for the vehicle to travel to the generating position; and a control information generating unit for generating control information for the vehicle to travel along the travel route by controlling a driving system 80 for causing the vehicle to travel, and for outputting the generated control information to a vehicle controlling unit for controlling the driving system, wherein: the route generating unit determines a generating position such that at least a portion of the back end of the vehicle will be positioned within a parking space, and, after the vehicle has arrived at the generating position, generates, at the generating position, a parking route for the vehicle to park in the parking space.

Abstract: A parking assist apparatus comprises a position detection unit configured to detect a current position of a vehicle, a sensor provided to the vehicle to detect a periphery of the vehicle, a parking area detection unit configured to detect a parking area in which the vehicle can be parked based on information of the sensor, a parking path computing unit configured to calculate a path along which the vehicle is to be moved from a current position to the parking area based on a parking area detected by the parking area detection unit and a current position of the vehicle.

Abstract: A parking assistance apparatus capable of making a parking route shorter when providing parking assistance for parallel parking is obtained. The parking assistance apparatus according to the present invention is a parking assistance apparatus for assisting the parallel parking of a driver's own vehicle 21 and has a configuration that: calculates an escapable position where the driver's own vehicle 21 can be made to escape from a parking area Sp; calculates a parking-space leaving route E where the driver's own vehicle 21 can be moved from the escapable position to an initial position P0 in a passage area Sr; and sets a parking route based on the parking-space leaving route E.

Abstract: A parking assistance device includes: a map generation unit configured to generate a map recording the position of an obstacle around a vehicle and the positions of parking areas available for the vehicle to park; a parking-area determination unit configured to determine a parking area to park the vehicle, out of the parking areas recorded on the map, based on the generated map and the obtained position information; a contact detection unit configured to perform a simulation on the map where the vehicle is turned until the vehicle has approximately the same orientation as the parking area and detect a contact position at which the vehicle comes into contact with the obstacle recorded on the map; and a movement-direction determination unit configured to determine a movement direction in which the vehicle is to be moved from a position indicated by the position information, based on the contact position detected by the contact detection unit.

Abstract: A parking support apparatus sets a plurality of candidate connection positions along a reverse direction route, calculates a first connection route, calculates a first parking route by using the first connection route and the reverse direction route, judges whether the candidate connection position exists within a recognition range or not; and if the candidate connection position does not exist within the recognition range, calculates a shortest steering wheel turning position, calculates a second connection route capable of reaching any one of the candidate connection positions calculates a second parking route by using the second connection route and the reverse direction route, when the second parking route can be calculated, the second parking route is selected as the parking route; otherwise, the first parking route is selected as the parking route.

Abstract: An object of the present invention is to provide a parking assistance device capable of computing a parking path that is suitable for given circumstances or user's needs. A parking assistance device of the present invention is a parking assistance device for assisting in parking a vehicle in a parking space provided on one side of a road, the parking assistance device being configured to compute a first parking path for starting moving the vehicle forward from the initial position thereof, and a second parking path for starting moving the vehicle backward from the initial position thereof, select one of the first parking path or the second parking path on the basis of a preset evaluation function, and set the selected path as a parking path to be used.

Abstract: A parking assistance device includes a range setting unit configured to set a search range searching for an obstacle based on a movement range of a host vehicle for a case in which the host vehicle is moved along a parking route, in terms of two directions, and a judgment unit configured to detect an object having a possibility of interfering with the movement of the host vehicle, based on the surrounding condition around the host vehicle, in a case in which the detected object is positioned within the search range, to judge whether the detected object is an obstacle interfering with the movement of the host vehicle along the parking route, and, in a case in which the detected object is positioned outside the search range, not to make judgment whether the detected object is the obstacle.

Abstract: A parking assistance device for resetting a parking path when an obstacle is on the parking path includes a pull-out path computing unit that computes a pull-out path for pulling the vehicle out of the parking space based on parking space information and constraints regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions on the pull-out path, a reachable path computing unit that computes a reachable path for allowing the vehicle to reach at least one of the candidate connection positions from the initial position, a parking path setting unit that sets a parking path of from the initial position to the parking space by connecting the pull-out and reachable paths, and a path resetting unit that computes a parking path of from the stop position to the parking space, and sets the computed parking path as a new parking path.

Abstract: A parking assistance device that can, when assisting in angle parking, park a vehicle at a position intended by a driver and in a correct vehicle attitude. The parking assistance device includes a pull-out path computing unit that computes a pull-out path for pulling a vehicle out of a parking space based on parking space information and constraint conditions regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions the pull-out path, a reachable path computing unit that computes a reachable path that allows the vehicle to reach one of the plurality of candidate connection positions from the initial position, and a parking path setting unit that sets a parking path by connecting the pull-out path and the reachable path. The pull-out path computing unit computes the pull-out path based on the angle of inclination between the road orientation and the parking orientation.

Abstract: An autonomous driving control device and an autonomous driving path computation method capable of computing a driving path without extremely changing a movement of a steering wheel during autonomous driving. A parking control device computes a parking path for automatically parking a vehicle, and includes an acceleration section transition curve computing unit that computes an acceleration section transition curve based on a target steering speed set in advance and an acceleration section target vehicle speed, a deceleration section transition curve computing unit that computes a deceleration section transition curve based on the target steering speed and a deceleration target vehicle speed, and a parking path computing unit that computes a parking path using the acceleration section transition curve and the deceleration section transition curve. The parking path is computed by setting the deceleration section target vehicle speed faster than the acceleration section target vehicle speed.

Abstract: A parking assistance device assists in re-parking a vehicle that has been parked with its position and orientation deviated from ideal ones, by repositioning the vehicle to be at a correct position and in a correct orientation. A parking assistance device is adapted to assist in parking a vehicle in a parking space provided on one side of a road, and includes a parking path setting unit that sets a parking path of from the initial position of the vehicle on the road to a target parking position in the parking space, a positional deviation determination unit that determines whether there is any positional deviation between the vehicle and the parking space when the vehicle has been parked along the parking path, and a repositioning path computing unit configured to compute a repositioning path when a positional deviation is determined to be present.

Abstract: A parking assist apparatus comprises a position detection unit configured to detect a current position of a vehicle, a sensor provided to the vehicle to detect a periphery of the vehicle, a parking area detection unit configured to detect a parking area in which the vehicle can be parked based on information of the sensor, a parking path computing unit configured to calculate a path along which the vehicle is to be moved from a current position to the parking area based on a parking area detected by the parking area detection unit and a current position of the vehicle.

Abstract: A parking assist apparatus uses vehicle information and the recognition result of a peripheral recognition unit to calculate a plurality of patterns of parking paths, in which the radius of curvature of each of the arcs included in the parking paths is differentiated, as parking paths to park a vehicle at a parking area, by a parking path calculation unit. In addition, the parking assist apparatus selects, among the plurality patterns of parking paths, a parking path with both a minimum number of times of driving operations for changing an advancing direction of the vehicle from forward to reverse or reverse to forward, and the radius of curvature of the arc that is largest, by a parking path selection unit.

Abstract: When having determined that an own-vehicle has become unable to proceed in a traveling direction corresponding to a travel path of the own-vehicle and has stopped halfway through a travel path, a parking support device transmits information to an operation terminal, the information indicating a travel path and a place at which the vehicle has stopped on the travel path. When having received, from the operation terminal, specification information specifying a place to which the own-vehicle is to be moved, the parking support device sets, as a travel path of the own-vehicle, a path through which the own-vehicle is to be moved to the specified place, and outputs, to a vehicle control unit, control information for causing the own-vehicle to move to the specified place.

Abstract: A parking assistance apparatus capable of making a parking route shorter when providing parking assistance for parallel parking is obtained. The parking assistance apparatus according to the present invention is a parking assistance apparatus for assisting the parallel parking of a driver's own vehicle 21 and has a configuration that: calculates an escapable position where the driver's own vehicle 21 can be made to escape from a parking area Sp; calculates a parking-space leaving route E where the driver's own vehicle 21 can be moved from the escapable position to an initial position P0 in a passage area Sr; and sets a parking route based on the parking-space leaving route E.

Abstract: A parking assistance device for resetting a parking path when an obstacle is on the parking path includes a pull-out path computing unit that computes a pull-out path for pulling the vehicle out of the parking space based on parking space information and constraints regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions on the pull-out path, a reachable path computing unit that computes a reachable path for allowing the vehicle to reach at least one of the candidate connection positions from the initial position, a parking path setting unit that sets a parking path of from the initial position to the parking space by connecting the pull-out and reachable paths, and a path resetting unit that computes a parking path of from the stop position to the parking space, and sets the computed parking path as a new parking path.