# US 10,766,484 B2 · Parking assistance apparatus and vehicle having the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,484 B2 - Document ID: US10766484B2 - Status: Granted - Kind: B2 - Application number: 15/427,799 - Filed: 2017-02-08 - Published: 2018-04-12 - Granted: 2020-09-08 - Earliest claimed: 2016-10-12 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Hyeonju Bae; Seongju Ha; Jonghwa Yoon - Web page: https://patentgrep.com/patent/US10766484B2 ## CPC - B60W 30/06: Automatic manoeuvring for parking - B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras - B62D 15/027: {Parking aids, e.g. instruction means} - B62D 15/0285: {Parking performed automatically} - G06V 20/582: {of traffic signs} - G06V 20/586: {of parking space} - G08G 1/14: indicating individual free spaces in parking areas - G08G 1/143: {inside the vehicles} - G08G 1/146: {where the parking area is a limited parking space, e.g. parking garage, restricted space} - B60R 2300/806: for aiding parking - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - 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 - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - 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) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A parking assistance apparatus can include a sensor for sensing environment information of a vehicle surrounding area, a display for displaying an image of the vehicle surrounding area; and a processor to determine a parking area within the vehicle surrounding area on which parking is allowable, generate virtual parking lines within the parking area, and control the display to display the virtual parking lines, receive an input selecting a candidate parking space within the virtual parking lines, set the selected candidate parking space as a target parking position, and control a vehicle to be driven to the target parking position. ## Claims ### Claim 1 A parking assistance apparatus comprising: a sensor configured to sense environment information of a vehicle surrounding area; a display configured to display an image of the vehicle surrounding area; and a processor configured to: determine a parking area within the vehicle surrounding area on which parking is allowable, generate virtual parking lines within the parking area, and control the display to display the virtual parking lines, receive an input selecting a candidate parking space within the virtual parking lines, set the selected candidate parking space as a target parking position, and control a vehicle to be driven to the target parking position, wherein the processor is further configured to: detect a parking pattern of a parked vehicle within the vehicle surrounding area, determine a boundary line based on, boundary surfaces of the parked vehicle, set an area inside the boundary line including the parked vehicle as the parking area, and set an area up to a predetermined distance away from the boundary line as a driving corridor area, wherein the processor is further configured to: detect a first parking pattern of a first row of parked vehicles on one side of the vehicle surrounding area and a second parking pattern of a second row of parked vehicles on another side of the vehicle surrounding area, determine a first boundary line based on the first parking pattern, determine a second boundary line based on the second parking pattern, divide the vehicle surrounding area into the parking area and a no parking area based on the first boundary line and the second boundary line, and generate the virtual parking lines in the parking area based on the first and second parking patterns, and wherein the processor is further configured to generate the virtual parking lines for a parallel parking method for double parking when a distance between the first boundary line and the second boundary is greater than or equal to a predetermined distance. ### Claim 2 (depends on 1) The parking assistance apparatus of claim 1, wherein the processor is further configured to divide the vehicle surrounding area into the parking area on which parking is allowable and a no parking area on which parking is not allowable based on the environment information of the vehicle surrounding area that is sensed by the sensor, and wherein the environmental information includes information about at least one of a parking pattern of another vehicle, a lane, a parking sign, a vehicle driving path, a vehicle moving direction, and another vehicle driving pattern. ### Claim 3 (depends on 2) The parking assistance apparatus of claim 2, wherein the processor is further configured to set at least one of the driving corridor area, a parking lot entrance surrounding area, a building entrance surrounding area, a pedestrian corridor area, and a no parking sign designation area as the no parking area. ### Claim 4 (depends on 3) The parking assistance apparatus of claim 3, wherein the processor is further configured to determine the driving corridor area based on a vehicle driving path, a vehicle moving direction, and another vehicle parking pattern in the vehicle surrounding area. ### Claim 5 (depends on 1) The parking assistance apparatus of claim 1, wherein the processor is further configured to set a first area extending from a first boundary line of the vehicle surrounding area to a first predetermined distance as the parking area and set a second area extending from a second boundary line of the parking area to a second predetermined distance as the driving corridor area. ### Claim 6 (depends on 5) The parking assistance apparatus of claim 5, wherein the processor is further configured to determine a parking method based on a distance between the first boundary line of the vehicle surrounding area and the second boundary line of the parking area and generate the virtual parking lines based on the parking method and to correspond with the first boundary line. ### Claim 7 (depends on 1) The parking assistance apparatus of claim 1, wherein the processor is further configured to: in response to detecting a parked vehicle in the vehicle surrounding area, determine a boundary surface of the parked vehicle based on a moving direction of the vehicle and a parking pattern of the parked vehicle, set a first area extending in a first direction away from an inner boundary line based on the boundary surface of the parked vehicle as the parking area, and set a second area extending in a second direction away from the inner boundary line to a predetermined distance as a driving corridor area. ### Claim 8 (depends on 1) The parking assistance apparatus of claim 1, wherein the processor is further configured to detect a parking method based on the parking pattern of the parked vehicles and generate the virtual parking lines in the parking area based on the detected parking method. ### Claim 9 (depends on 1) The parking assistance apparatus of claim 1, wherein the processor is further configured to set an area outside the driving corridor area as the parking area and generate the virtual parking lines in the parking area. ### Claim 10 (depends on 1) The parking assistance apparatus of claim 1, wherein the processor is configured to: receive an input for automatic double parking execution, set a portion of the driving corridor area as the parking area, and generate virtual parking lines for a parallel parking method in the portion of the driving corridor. ### Claim 11 (depends on 1) The parking assistance apparatus of claim 1, wherein the display is configured to display an image of the vehicle surrounding area that is divided into the parking area and the no parking area. ### Claim 12 (depends on 1) The parking assistance apparatus of claim 1, wherein the processor is further configured to: determine a parking method according to a shape of the parking area, and generate the virtual parking lines according to the parking method. ### Claim 13 (depends on 1) The parking assistance apparatus of claim 1, wherein the processor is further configured to generate the virtual parking lines based on a parking pattern of a parked vehicle and extend the parking pattern of the parked vehicle with the virtual parking lines to form the candidate parking space. ### Claim 14 (depends on 1) The parking assistance apparatus of claim 1, wherein the processor is further configured to detect existing parking lines from environmental information on the vehicle surrounding area acquired through the sensor, and determine the parking area and the no parking area based on the existing parking lines. ### Claim 15 (depends on 1) A vehicle comprising the parking assistance apparatus of claim 1. ### Claim 16 A parking assistance apparatus comprising: a sensor configured to obtain environment information of a vehicle surrounding area; a display configured to display an image of the vehicle surrounding area; and a processor configured to: determine a boundary line within the vehicle surrounding area based on the environment information, divide the surrounding area into a parking area that extends from one side of the boundary line on which parking is allowable and a no parking area that extends from the other side of the boundary line on which parking is not allowable, display virtual parking lines in the parking area on the image of the vehicle surrounding area, receive an input selecting a candidate parking space within the virtual parking lines, set the selected candidate parking space as a target parking position, and control a vehicle to move to the target parking position, wherein the processor is further configured to: detect a parking pattern of a parked vehicle within the vehicle surrounding area, determine the boundary line based on the parking pattern, set an area inside the boundary line including the parked vehicle as the parking area, and set an area up to a predetermined distance away from the boundary line as a driving corridor area, wherein the processor is further configured to: detect a first parking pattern of a first row of parked vehicles on one side of the vehicle surrounding area and a second parking pattern of a second row of parked vehicles on another side of the vehicle surrounding area, determine a first boundary line based on the first parking pattern, determine a second boundary line based on the second parking pattern, divide the vehicle surrounding area into the parking area and a no parking area based on the first boundary line and the second boundary line, and generate the virtual parking lines in the parking based on the first and second parking patterns, and wherein the processor is further configured to generate the virtual parking lines for a parallel parking method for double parking when a distance between the first boundary line and the second boundary is greater than or equal to a predetermined distance. ### Claim 17 A parking assistance apparatus comprising: a sensor configured to sense environment information of a vehicle surrounding area; a display configured to display an image of the vehicle surrounding area; and a processor configured to: determine a parking area within the vehicle surrounding area on which parking is allowable, generate virtual parking lines within the parking area, and control the display to display the virtual parking lines, receive an input selecting a candidate parking space within the virtual parking lines, set the selected candidate parking space as a target parking position, and control a vehicle to be driven to the target parking position, wherein the processor is further configured to: detect a first parking pattern of a first row of parked vehicles on one side of the vehicle surrounding area and a second parking pattern of a second row of parked vehicles on another side of the vehicle surrounding area, determine a first boundary line based on the first parking pattern, determine a second boundary line based on the second parking pattern, divide the vehicle surrounding area into the parking area and a no parking area based on the first boundary line and the second boundary line, and generate the virtual parking lines in the parking area based on the first and second parking patterns, and wherein the processor is further configured to generate the virtual parking lines for a parallel parking method for double parking when a distance between the first boundary line and the second boundary is greater than or equal to a predetermined distance.