# US 10,768,616 B2 · Parking control method and parking control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,768,616 B2 - Document ID: US10768616B2 - Status: Granted - Kind: B2 - Application number: 16/624,162 - Filed: 2017-06-23 - Published: 2020-05-07 - Granted: 2020-09-08 - Earliest claimed: 2017-06-23 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Junichi Kuwabara; Yasuhiro Suzuki; Yasuhisa Hayakawa - Web page: https://patentgrep.com/patent/US10768616B2 ## CPC - B62D 15/027: {Parking aids, e.g. instruction means} - G05D 1/0033: {by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle} - B60R 21/00: Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks (safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19) - B60W 30/06: Automatic manoeuvring for parking - B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B62D 15/028: {Guided parking by providing commands to the driver, e.g. acoustically or optically} - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - 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 - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - 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 ## Abstract A parking control method for parking a vehicle on a basis of an operation command includes acquiring an operation command from an operator; detecting an obstacle existing around a vehicle; when detecting the obstacle, notifying the operator of existence of the obstacle and requesting an input of an affirmative determination or a negative determination as to the existence of the obstacle; and when obtaining the affirmative input, parking the vehicle in accordance with a control instruction for moving along a route calculated under a condition that the obstacle exists. ## Claims ### Claim 1 A parking control method for parking a vehicle on a basis of an operation command, comprising: acquiring the operation command from an operator located outside the vehicle; detecting an obstacle existing around the vehicle; when detecting the obstacle, notifying the operator of existence of the obstacle and requesting a first input for affirming the existence of the obstacle or a second input for denying the existence of the obstacle; and when obtaining the first input, calculating a first parking route under a condition that the obstacle exists and parking the vehicle in accordance with a control instruction for moving along the first parking route. ### Claim 2 (depends on 1) The parking control method according to claim 1, comprising, when obtaining the second input, calculating a second parking route under a condition that the obstacle does not exist and parking the vehicle in accordance with a control instruction for moving along the second parking route. ### Claim 3 (depends on 1) The parking control method according to claim 1, comprising, requesting the first input or the second input when a distance between the operator and the obstacle is less than a predetermined value. ### Claim 4 (depends on 1) The parking control method according to claim 1, comprising, stopping the vehicle when a distance between the operator and the obstacle is not less than a predetermined value. ### Claim 5 (depends on 1) The parking control method according to claim 1, comprising, requesting the first input or the second input when a position of the obstacle belongs to a visual recognition area for the operator. ### Claim 6 (depends on 1) The parking control method according to claim 1, comprising, stopping the vehicle when a position of the obstacle does not belong to a visual recognition area for the operator. ### Claim 7 (depends on 1) The parking control method according to claim 1, comprising: obtaining a value of a certainty level regarding accuracy of a detection result of the obstacle; and when the value of the certainty level is higher than a first predetermined value and lower than a second predetermined value higher than the first predetermined value, performing notification of the obstacle and requesting the first input or the second input. ### Claim 8 (depends on 1) The parking control method according to claim 1, wherein an operation terminal receiving an operation input from the operator comprises a communication device and a display, and the existence of the obstacle is displayed on the display. ### Claim 9 (depends on 1) The parking control method according to claim 1, wherein an annunciation device presenting information to outside of the vehicle is provided, and the annunciation device presents the existence of the obstacle. ### Claim 10 (depends on 1) The parking control method according to claim 1, wherein an operation terminal receiving an operation input from the operator comprises a communication device and an input device, and the input device receives the first input or the second input. ### Claim 11 A parking control apparatus comprising a control device configured to execute a control instruction for parking a vehicle in accordance with an operation command, the control device operating to: acquire the operation command from an operator located outside the vehicle; detect an obstacle existing around the vehicle; when detecting the obstacle, notify the operator of existence of the obstacle and request a first input for affirming the existence of the obstacle or a second input for denying the existence of the obstacle; and when obtaining the first input, calculate a first parking route under a condition that the obstacle exists and park the vehicle in accordance with the control instruction for moving along the first parking route.