Patent ID: 8686875
Filing Date: 2014-04-01
Classification: B62D,G01S

Abstract:
1. A parking support device comprising: a distance sensor unit for applying a detection wave, and receiving a reflected wave of said detection wave from an object to be detected to detect a distance to said object to be detected; a wheel speed sensor unit for detecting a wheel speed of a vehicle; a data acquiring unit for receiving an output of said distance sensor unit and an output of said wheel speed sensor unit when said vehicle is travelling by said object to be detected to create sensor position data showing a moving path of said distance sensor unit which moves as said vehicle travels on a basis of a traveled distance of said vehicle which is determined from the wheel speed detected by said wheel speed sensor unit, while acquiring detection point data showing a series of detection points for each of which a distance is detected by said distance sensor unit moving along said moving path; a data extracting unit for extracting detection point data corresponding to a corner portion of said object to be detected from the detection point data acquired by said data acquiring unit; a noise component removing unit for approximating a series of detection points of the detection point data extracted by said data extracting unit with a curve to determine a detection point which is a noise component on a basis of the approximating curve, and for removing this detection point from said detection point data; a data complementing unit for approximating the series of detection points of the detection point data from which the noise component is removed by said noise component removing unit to perform a data complementing process on said detection point data; a reflection point estimating unit for estimating reflection points of said detection wave in the corner portion of said object to be detected on a basis of the detection point data on which the data complementing process is performed by said data complementing unit, and the sensor position data acquired by said data acquiring unit; a corner position determining unit for determining a position of the corner portion of said object to be detected on a basis of positions of the reflection points estimated by said reflection point estimating unit; and a space length determining unit for measuring a length of a parking space adjacent to said object to be detected on the basis of the position of the corner portion determined by said corner position determining unit, and for presenting a result of determination of whether or not the vehicle can be parked in the parking space to a driver.