# US 10,864,942 B2 · Parking support apparatus

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- Number: US 10,864,942 B2
- Document ID: US10864942B2
- Status: Granted
- Kind: B2
- Application number: 15/722,041
- Filed: 2017-10-02
- Published: 2018-05-31
- Granted: 2020-12-15
- Earliest claimed: 2016-11-29
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Yoshio Mukaiyama
- Web page: https://patentgrep.com/patent/US10864942B2

## CPC

- B62D 15/0285: {Parking performed automatically}
- B60T 7/16: operated by remote control, i.e. initiating means not mounted on vehicle
- 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}
- G05D 1/0227: {using mechanical sensing means, e.g. for sensing treated area}
- G05D 1/2235: {involving the operator tracking the vehicle by direct line of sight}
- G05D 1/241: Means for detecting physical contact, e.g. touch sensors or bump sensors
- 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)
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A parking support apparatus is provided with: a vehicle controller configured to park a vehicle by controlling behavior of the vehicle in accordance with the signal associated with the remote operation if a distance between a transmitter located outside of the vehicle and the vehicle is greater than or equal to a first distance and is less than or equal to a second distance. The vehicle controller performs a predetermined informing operation for an operator of the transmitter, instead of or in addition to controlling the behavior of the vehicle in accordance with the signal associated with the remote operation, if the distance is greater than or equal to the first distance and is less than or equal to a third distance or if the distance is greater than or equal to a fourth distance and is less than or equal to the second distance.

## Claims

### Claim 1

A parking support apparatus comprising:
a receiver mounted in a vehicle and configured to receive a signal associated with a remote operation wirelessly transmitted from a transmitter located outside the vehicle; and
a vehicle controller configured to park the vehicle by controlling a behavior of the vehicle in accordance with the signal associated with the remote operation when a distance between the transmitter and the vehicle is greater than or equal to a first distance, which is greater than zero, and is less than or equal to a second distance, which is greater than the first distance, wherein
said vehicle controller is further configured to perform a predetermined informing operation, which informs that the transmitter is close to a boundary of an area defined by the first distance and the second distance, for an operator of the transmitter, instead of or in addition to controlling the behavior of the vehicle in accordance with the signal associated with the remote operation, when the distance between the transmitter and the vehicle is greater than or equal to the first distance and is less than or equal to a third distance, which is greater than the first distance and is less than the second distance.

### Claim 2 (depends on 1)

The parking support apparatus according to claim 1, wherein
said parking support apparatus comprises an obstacle detector configured to detect an obstacle around the vehicle, and
said vehicle controller is further configured to perform the predetermined informing operation for the operator, instead of or in addition to controlling the behavior of the vehicle in accordance with the signal associated with the remote operation, when the distance between the transmitter and the vehicle is greater than or equal to the first distance and is less than or equal to the third distance and when a position of the obstacle detected by said obstacle detector corresponds to a position of the transmitter.

### Claim 3 (depends on 1)

The parking support apparatus according to claim 1, wherein said vehicle controller is configured to stop controlling the behavior of the vehicle, and not perform the predetermined informing operation when the distance between the transmitter and the vehicle is less than the first distance.

### Claim 4 (depends on 1)

The parking support apparatus according to claim 1, wherein said vehicle controller is configured to perform the predetermined informing operation for the operator, instead of or in addition to controlling the behavior of the vehicle in accordance with the signal associated with the remote operation, when the distance between the transmitter and the vehicle is greater than or equal to a fourth distance, which is greater than the third distance and is less than the second distance, and when the distance between the transmitter and the vehicle is less than or equal to the second distance.

### Claim 5

A parking support method comprising:
receiving a signal associated with a remote operation, the signal wirelessly transmitted to a vehicle from a transmitter located outside the vehicle;
parking the vehicle by controlling a behavior of the vehicle in accordance with the signal associated with the remote operation when a distance between the transmitter and the vehicle is greater than or equal to a first distance, which is greater than zero, and is less than or equal to a second distance, which is greater than the first distance; and
performing a predetermined informing operation, which informs that the transmitter is close to a boundary of an area defined by the first distance and the second distance, for an operator of the transmitter, instead of or in addition to controlling the behavior of the vehicle in accordance with the signal associated with the remote operation, when the distance between the transmitter and the vehicle is greater than or equal to the first distance and is less than or equal to a third distance, which is greater than the first distance and is less than the second distance.