# US 10,369,989 B2 · Parking assistance system and method for controlling the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,369,989 B2 - Document ID: US10369989B2 - Status: Granted - Kind: B2 - Application number: 15/788,668 - Filed: 2017-10-19 - Published: 2018-04-19 - Granted: 2019-08-06 - Earliest claimed: 2016-10-19 - Assignees: Mando Corporation - Applicants: Mando Corporation - Inventors: Saurabh Sharma; Alok Miglani; Arijit Mandal; Rajeev Ranjan - Web page: https://patentgrep.com/patent/US10369989B2 ## CPC - B60W 30/06: Automatic manoeuvring for parking - B62D 15/02: Steering position indicators {; Steering position determination; Steering aids} - B62D 15/0275: {by overlaying a vehicle path based on present steering angle over an image without processing that image} - B62D 15/0285: {Parking performed automatically} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)} - G05D 1/0246: {using a video camera in combination with image processing means} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract Disclosed herein are a parking assistance system (PAS) and a method for controlling the same. The PAS according to the present disclosure includes a state sensing unit that senses a state of a vehicle including speed information and gear information of the vehicle, an obstacle sensing unit that photographs a forward, backward, or lateral side image of the vehicle and senses an obstacle present on a front, rear, or lateral side of the vehicle, and a control unit that calculates a parking trajectory based on information about the sensed state and obstacle of the vehicle, and displays the photographed forward or backward image including the calculated parking trajectory based on the sensed gear information of the vehicle, when a speed of the vehicle is less than a preset threshold value. ## Claims ### Claim 1 A parking assistance system (PAS) comprising: a state sensing unit that senses a state of a vehicle including speed information and gear information of the vehicle; an obstacle sensing unit that photographs a forward, backward, or lateral side image of the vehicle and senses an obstacle present on a front, rear, or lateral side of the vehicle; and a control unit that calculates a parking trajectory based on information about the sensed state and obstacle of the vehicle, and displays the photographed forward or backward image including the calculated parking trajectory based on the sensed gear information of the vehicle, when a speed of the vehicle is less than a preset threshold value, wherein the control unit displays the calculated parking trajectory in different colors depending on a distance from the sensed obstacle. ### Claim 2 (depends on 1) The PAS according to claim 1, wherein the control unit displays the forward image including the calculated parking trajectory when a forward gear is inputted, and displays the backward image including the calculated parking trajectory when a reverse gear is inputted. ### Claim 3 (depends on 2) The PAS according to claim 2, wherein the control unit drives at least one of a steering device, an acceleration device, and a braking device so that the vehicle is parked along the calculated parking trajectory. ### Claim 4 (depends on 3) The PAS according to claim 3, wherein, when the calculated parking trajectory is close to a surrounding obstacle of the vehicle, the control unit gives a warning to a driver. ### Claim 5 (depends on 4) The PAS according to claim 4, wherein the obstacle sensing unit includes at least one camera sensor for photographing the forward, backward, or lateral side image of the vehicle and at least one ultrasonic sensor for sensing the obstacle present on the front, rear, or lateral side of the vehicle. ### Claim 6 A method for controlling a PAS comprising: sensing a state of a vehicle including speed information and gear information of the vehicle; photographing a forward, backward, or lateral side image of the vehicle; sensing an obstacle present on a front, rear, or lateral side of the vehicle; calculating a parking trajectory based on information about the sensed state and obstacle of the vehicle; and displaying the photographed forward or backward image including the calculated parking trajectory based on the sensed gear information of the vehicle, when a speed of the vehicle is less than a preset threshold value, wherein the calculated parking trajectory is displayed in different colors depending on a distance from the sensed obstacle. ### Claim 7 (depends on 6) The method for controlling a PAS according to claim 6, wherein the displaying of the photographed forward or backward image includes displaying the forward image including the calculated parking trajectory when a forward gear is inputted, and displaying the backward image including the calculated parking trajectory when a reverse gear is inputted. ### Claim 8 (depends on 7) The method for controlling a PAS according to claim 7, further comprising: driving at least one of a steering device, an acceleration device, and a braking device so that the vehicle is parked along the calculated parking trajectory. ### Claim 9 (depends on 8) The method for controlling a PAS according to claim 8, when the calculated parking trajectory is close to a surrounding obstacle of the vehicle, further comprising: giving a warning to a driver.