Parking assist device

Abstract

A parking assist device detecting a parking stall line from an image, which is captured by a capturing portion; setting a parking target position on the basis of the parking stall line; and assisting the vehicle to travel to the parking target position; the parking assist device includes a vehicle detecting portion for detecting a movement of the vehicle, a memorizing portion for memorizing the movement detected by the vehicle detecting portion, as a vehicle moving trajectory, a temporary parking target position estimating portion for assuming a temporary parking target position on the basis of variations of the vehicle moving trajectory, which has been memorized by the memorizing portion, and a parking stall line searching area setting portion for setting a parking stall line searching area, within which a parking stall line is searched on the basis of the temporary parking target position.

1 . A parking assist device for assisting a vehicle to travel to a parking target position, comprising:
 a vehicle movement detector which detects movement of the vehicle;   a storage device which stores the movement detected by the vehicle movement detector as a vehicle moving trajectory;   a temporary parking target position estimator which estimates a temporary parking target position based on variation of the vehicle moving trajectory;   a parking stall line searching area setting device which sets a parking stall line searching area within which the parking stall line is searched on the basis of the temporary parking target position which is estimated;   a parking stall line detecting device which detects the parking stall line within the parking stall line searching area by an image recognition from an image captured by an imaging device; and   a parking target position setting device witch sets a parking target position on the basis of the parking stall line;   wherein the parking stall line searching area setting device sets a single parking stall line searching area in which both a right parking stall line and a left parking stall line are included.