A parking support apparatus for a vehicle may include: a detector configured to detect a distance between a vehicle and an object; a parking space recognizer configured to recognize a parking space based on a first distance detected through the detection unit, and generate first parking space recognition information; a parking controller configured to generate second parking space recognition information corresponding to the first parking space recognition information based on a second distance detected through the detection unit, while controlling parking of the vehicle; an error calculator and statistics analyzer configured to calculate errors between the first and second parking space recognition information, and statistically analyze the calculated errors; and a compensation parameter calculator configured to calculate a compensation parameter for compensating for one or more of the first distance and the first parking space recognition information, based on the errors.

An obstacle detection device includes a plurality of ranging sensors, and a control circuit. The plurality of ranging sensors are disposed on a vehicle at predetermined intervals. The plurality of ranging sensors transmits ultrasonic waves and receives reflected waves of the ultrasonic waves. The control circuit is configured to detect an obstacle around the vehicle based on the reflected waves received by the plurality of ranging sensors. The control circuit includes an adjustment circuit configured to adjust a determination range in a width direction in a determination region of a first ranging sensor located closer to a center of the vehicle in the width direction than another ranging sensor among the plurality of ranging sensors.

A method for detecting a parking area on at least one road section includes providing a usable width of the road section. The usable width represents a passable width of the road section between parking vehicles. The method further includes travelling on the road section using a detector vehicle and detecting lateral distances from objects with a detector device arranged in the detector vehicle. The method also includes comparing the detected lateral distances with the usable width, and detecting the parking area based on the comparison.

A method for ascertaining a parking area of at least one street section includes providing information indicating a usable width of the street section, the usable width representing a drivable width of the street section between spaces for parked vehicles at the two lateral sides of a driving vehicle; the driving vehicle driving the street section and ascertaining lateral distances from objects using an ascertainment device situated in the driving vehicle; comparing the ascertained lateral distances to the usable width; and ascertaining the parking area by way of the comparison.

A method for ascertaining a parking area of at least one street section includes providing information indicating a usable width of the street section, the usable width representing a drivable width of the street section between spaces for parked vehicles at the two lateral sides of a driving vehicle; the driving vehicle driving the street section and ascertaining lateral distances from objects using an ascertainment device situated in the driving vehicle; comparing the ascertained lateral distances to the usable width; and ascertaining the parking area by way of the comparison.

A parking assistance device includes: an obstacle detection unit that detects an obstacle; a separated distance determination unit that determines a separated distance between the obstacles when a plurality of the obstacles are detected; a target position determination unit that determines a target position in a guidance route; a route calculation unit that calculates the guidance route; and a control unit that guides a vehicle in accordance with the guidance route, wherein, when a second obstacle is detected in a second direction orthogonal to a first direction in which one or plurality of first obstacles extends or are lined up while being separated from each other and at a position separated from the first direction, the separated distance determination unit determines the separated distance between the first and second obstacles.

A method for ascertaining a parking area of at least one street section includes providing information indicating a usable width of the street section, the usable width representing a drivable width of the street section between spaces for parked vehicles at the two lateral sides of a driving vehicle; the driving vehicle driving the street section and ascertaining lateral distances from objects using an ascertainment device situated in the driving vehicle; comparing the ascertained lateral distances to the usable width; and ascertaining the parking area by way of the comparison.