CPC B60W 30/06 (2013.01) [B60W 50/14 (2013.01); G01C 21/34 (2013.01); G08G 1/09626 (2013.01); G08G 1/168 (2013.01); B60W 2552/15 (2020.02); B60W 2554/404 (2020.02); B60W 2555/20 (2020.02)] | 18 Claims |
1. A parking assistance device, comprising:
at least one processor configured to:
change either one of a reference vehicle speed and a route shape when traveling on a route after a parking target position is selected and generate at least one or more routes from a parking start position to the parking target position;
calculate route passage time required to pass through the route generated by the at least one processor;
select a specific route from the generated routes based on the route passage time;
calculate state switching time required for switching between forward and backward movements of a vehicle;
wherein the specific route is selected based on the route passage time and the state switching time;
diagnose whether route calculation is correctly performed;
measure the route passage time and the state switching time after parking of the vehicle is started;
determine that the route calculation is abnormal in a case where a difference between the route passage time calculated and the measured route passage time is equal to or greater than a first predetermined value, or in a case where a difference between the state switching time calculated and the measured state switching time is equal to or greater than a second predetermined value; and
control the vehicle based on the selected specific route.
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