# US 11,305,756 B2 · Parking control method and parking control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,756 B2 - Document ID: US11305756B2 - Status: Granted - Kind: B2 - Application number: 16/954,859 - Filed: 2017-12-20 - Published: 2021-03-25 - Granted: 2022-04-19 - Earliest claimed: 2017-12-20 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Ryota Yamanaka; Yasuhiro Suzuki; Yasuhisa Hayakawa - Web page: https://patentgrep.com/patent/US11305756B2 ## CPC - B60W 30/06: Automatic manoeuvring for parking - G08G 1/143: {inside the vehicles} - B60W 40/08: related to drivers or passengers - B62D 15/0285: {Parking performed automatically} - G06V 20/586: {of parking space} - G08G 1/144: {on portable or mobile units, e.g. personal digital assistant [PDA]} - B60W 2554/20: Static objects - B60W 2554/4041: Position - B60W 2554/80: Spatial relation or speed relative to objects - 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 - 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}) - 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 parking control method includes: performing parking control of moving a vehicle to a target parking position on the basis of an operation command acquired from an operator located outside the vehicle; and when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, moving the vehicle so that at least part of the vehicle is present within a predetermined range from the operator. ## Claims ### Claim 1 A parking control method comprising: performing parking control of moving a vehicle along a parking route generated by a parking route generation process to a target parking position on a basis of an operation command acquired from an operator located outside the vehicle; detecting a position of the operator; and when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, moving the vehicle so that at least part of the vehicle is present within a predetermined range from the operator. ### Claim 2 (depends on 1) The parking control method according to claim 1, comprising: performing the parking control by moving the vehicle along the parking route in which a direction from a current position of the vehicle to the target parking position is a forward direction; when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, moving the vehicle in a reverse direction along the parking route; and when detecting the operator within the predetermined range, stopping the vehicle. ### Claim 3 (depends on 1) The parking control method according to claim 1, comprising: continuously calculating a distance between the vehicle and the operator; and when the calculated distance switches from a decreasing tendency to an increasing tendency, stopping the vehicle. ### Claim 4 (depends on 1) The parking control method according to claim 1, comprising: stopping the vehicle with its driver seat directed to the operator. ### Claim 5 (depends on 1) The parking control method according to claim 1, comprising: when the vehicle approaches the operator with a rear part facing the operator, stopping the vehicle so that the rear part is present within a predetermined distance from the operator, or when the vehicle approaches the operator with a front part facing the operator, stopping the vehicle so that the front part is present within the predetermined distance from the operator. ### Claim 6 A parking control method comprising: performing parking control of moving a vehicle to a target parking position on a basis of an operation command acquired from an operator located outside the vehicle; detecting a position of the operator; when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, moving the vehicle so that at least part of the vehicle is present within a predetermined range from the operator; and when an obstacle exists around the operator, expanding the predetermined range as compared with when the obstacle does not exist around the operator. ### Claim 7 A parking control apparatus comprising a control device configured to perform parking control of moving a vehicle along a parking route generated by a parking route generation process to a target parking position on a basis of an operation command acquired from an operator located outside the vehicle, the control device operating to: detect a position of the operator; and when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, move the vehicle so that at least part of the vehicle is present within a predetermined range from the operator.