# US 11,027,723 B2 · Parking support method and parking support device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,723 B2 - Document ID: US11027723B2 - Status: Granted - Kind: B2 - Application number: 15/769,035 - Filed: 2015-10-22 - Published: 2020-02-27 - Granted: 2021-06-08 - Earliest claimed: 2015-10-22 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Yasuhisa Hayakawa - Web page: https://patentgrep.com/patent/US11027723B2 ## CPC - G08G 1/143: {inside the vehicles} - B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras - B60W 30/06: Automatic manoeuvring for parking - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B62D 15/027: {Parking aids, e.g. instruction means} - B62D 15/028: {Guided parking by providing commands to the driver, e.g. acoustically or optically} - B62D 15/0285: {Parking performed automatically} - G06V 20/586: {of parking space} - G08G 1/168: {Driving aids for parking, e.g. acoustic or visual feedback on parking space} - B60R 2300/307: virtually distinguishing relevant parts of a scene from the background of the scene - B60R 2300/607: from a bird's eye viewpoint - B60R 2300/806: for aiding parking - B60W 2050/146: {Display means} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2554/00: Input parameters relating to objects - 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}) - 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 - 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 ## Abstract A method of displaying parking assist information is used in a parking assist apparatus comprising a display and a control device. The control device detects a first parking space that satisfies a predefined parking condition. When information of selecting a second parking space other than the first parking space is input, the control device re-detects a parking space that satisfies the predefined parking condition as the first parking space. ## Claims ### Claim 1 A parking assist method comprising a method of displaying parking assist information, the method being used in a parking assist apparatus comprising a control device, the control device being configured to: execute a detection process for a parking space that satisfies a predefined parking condition; when the parking space satisfying the parking condition is detected, detect the parking space as a first parking space; and when information of selecting a second parking space other than the first parking space is input, change the predefined parking condition, re-execute the detection process for the parking space, and detect the parking space satisfying the changed parking condition as the first parking space. ### Claim 2 (depends on 1) The parking assist method according to claim 1, wherein, in the re-executed detection process for the parking space, a part of conditions included in the parking condition is changed so that the parking space is readily detected. ### Claim 3 (depends on 1) The parking assist method according to claim 1, wherein, in the re-executed detection process for the parking space, a threshold of the parking condition is changed so that the parking space is readily detected. ### Claim 4 (depends on 1) The parking assist method according to claim 1, wherein, in the re-executed detection process for the parking space, a certain region in a vicinity of the second parking space selected by a driver is re-detected. ### Claim 5 (depends on 1) The parking assist method according to claim 1, wherein, when a determination is made that the second parking space is already used for parking in the detection process for the parking space, the determination is made that the second parking space is empty in the re-executed detection process for the parking space. ### Claim 6 (depends on 1) The parking assist method according to claim 1, wherein the control device is configured to, when the information of selecting the second parking space is input, re-execute the detection process for the parking space while a subject vehicle is moving. ### Claim 7 (depends on 1) The parking assist method according to claim 1, wherein the control device is further configured to: detect available parking spaces into which parking is possible; and when the first parking space among the available parking spaces which satisfies a parking recommendation condition included in the parking condition is detected as a recommended parking space and thereafter information that a driver selects the second parking space other than the first parking space is input, re-execute the detection process. ### Claim 8 (depends on 1) The parking assist method according to claim 1, wherein an input device capable of exchanging a signal with the parking assist apparatus is further provided, and the control device is configured to: set the second parking space as a target parking space via the input device; and when a determination is made that input of selection information of the second parking space is continuously performed, assist parking into the target parking space. ### Claim 9 (depends on 8) The parking assist method according to claim 8, wherein the input device is portable and capable of exchanging information with the parking assist apparatus. ### Claim 10 (depends on 1) The parking assist method according to claim 1, wherein an input device capable of exchanging information with the parking assist apparatus is further provided, and the control device is configured to, when the input device is located outside a subject vehicle and a determination is made that the first parking space does not satisfy the parking condition as a result of the re-detection, move the subject vehicle to a switching position that is determined on a basis of a position of the input device. ### Claim 11 (depends on 1) The parking assist method according to claim 1, wherein the control device is configured to, when a determination is made that the second parking space does not satisfy the parking condition as a result of the re-detection, request a driver or passenger to input whether or not to manually park into the second parking space. ### Claim 12 (depends on 1) The parking assist method according to claim 1, wherein the control device is configured to, when a determination is made that the second parking space does not satisfy the parking condition as a result of the re-detection, present a parking space located farther from a subject vehicle than a selectable parking space as a parking space that can be selected. ### Claim 13 (depends on 1) The parking assist method according to claim 1, wherein the control device is configured to execute the detection process using a camera or ranging device provided at the vehicle or an external server. ### Claim 14 A parking assist method used in a parking assist apparatus comprising a control device, the control device being configured to: execute a detection process for a parking space that satisfies a predefined parking condition; when the parking space satisfying the parking condition is detected, detect the parking space as a first parking space; and when information of selecting a second parking space other than the first parking space is input, change the predefined parking condition and detect the parking space satisfying the changed parking condition as the first parking space. ### Claim 15 A parking assist apparatus comprising a control device, the control device being configured to: execute a detection process of detecting a parking space around a vehicle that satisfies a predefined parking condition using a camera or ranging device provided at the vehicle or an external server; when the parking space satisfying the parking condition is detected, detect the parking space as a first parking space; and when information of selecting a second parking space other than the first parking space is input, change the predefined parking condition and detect the parking space satisfying the changed parking condition as the first parking space.