# US 11,999,343 B2 · Apparatus for controlling parking of a vehicle and parking control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,343 B2 - Document ID: US11999343B2 - Status: Granted - Kind: B2 - Application number: 17/505,150 - Filed: 2021-10-19 - Published: 2022-10-13 - Granted: 2024-06-04 - Earliest claimed: 2021-04-12 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Min Chul Kang - Web page: https://patentgrep.com/patent/US11999343B2 ## CPC - B60W 30/06: Automatic manoeuvring for parking - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B62D 15/0285: {Parking performed automatically} - G08G 1/143: {inside the vehicles} - G08G 1/145: {where the indication depends on the parking areas} - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - B60W 2050/143: {Alarm means} - B60W 2540/215: Selection or confirmation of options - B60W 2552/00: Input parameters relating to infrastructure - B60W 2554/406: Traffic density - B60W 2710/06: Combustion engines, Gas turbines - B60W 2710/18: Braking system - B60W 2710/20: Steering systems - 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) ## Abstract A parking control apparatus includes: a processor configured to generate an outline based on previously parked vehicles, to generate a target reference based on the outline, to select a parking spot for double-parking based on the target reference, and to perform double-parking control on the parking spot when there are no vacant parking spaces by searching for at least a parking space in a parking lot; and a storage configured to store data and algorithms driven by the processor. ## Claims ### Claim 1 A parking control apparatus comprising: a processor configured to: generate an outline based on previously parked vehicles, generate a target reference based on the outline, select a parking spot for double-parking based on the target reference, and perform double-parking control on the parking spot when there are no vacant parking spaces by searching for at least a parking space in a parking lot; and a storage configured to store data and algorithms driven by the processor; wherein the processor, when a double-parking guide line is detected in searching for the parking space, generates the target reference between the double-parking guide line and the outline, and generates the target reference parallel to the double-parking guide line. ### Claim 2 (depends on 1) The parking control apparatus of claim 1, wherein the processor, when no double-parking guide line is detected in searching for the parking space, generates the target reference to be parallel to a parking dividing line in a longitudinal direction by separating it by a predetermined distance from a point that is closest to a driving passage in the outline. ### Claim 3 (depends on 1) The parking control apparatus of claim 1, wherein the processor generates a parking zone by using at least one of a size of a double-parking place, a traffic situation, or a traffic lane width after parking. ### Claim 4 (depends on 3) The parking control apparatus of claim 3, wherein the processor divides the parking zone into a general mode in which an entire size of the double-parking place is set as the parking zone and a specific mode in which a portion of the double-parking place is set as the parking zone. ### Claim 5 (depends on 4) The parking control apparatus of claim 4, wherein the processor induces the general mode to be set when the size of the double-parking place is larger than a predetermined size, a number of vehicles passing is smaller than a predetermined number, or the traffic lane width is wider than a predetermined width after parking. ### Claim 6 (depends on 5) The parking control apparatus of claim 5, wherein the processor controls a host vehicle to be double-parked at a side of an aisle in which other vehicles travel based on the target reference in the general mode. ### Claim 7 (depends on 4) The parking control apparatus of claim 4, wherein the processor induces the general mode to be set when the size of the double-parking place is smaller than a predetermined size, a number of vehicles passing is greater than a predetermined number, or the traffic lane width is narrower than a predetermined width after parking. ### Claim 8 (depends on 4) The parking control apparatus of claim 4, wherein the processor controls double-parking based on the target reference, and controls a vehicle to double-park between the target reference and the outline in the specific mode. ### Claim 9 (depends on 4) The parking control apparatus of claim 4, wherein the processor suggests one of the general mode or the specific mode to a user, and allow the user to select one of the modes by using at least one of a size of a double-parking place, a traffic situation, or a traffic lane width after parking. ### Claim 10 (depends on 3) The parking control apparatus of claim 3, wherein the processor controls the vehicle to be double-parked in an innermost side of the parking zone based on a movement direction of a host vehicle when there is no previously double-parked vehicle in the parking zone. ### Claim 11 (depends on 3) The parking control apparatus of claim 3, wherein the processor, when there are previously double-parked vehicles in the parking zone, searches for available parking spaces between the previously double-parked vehicles, and selects a parking space that is larger than a predetermined size among the available parking spaces as the parking spot. ### Claim 12 (depends on 3) The parking control apparatus of claim 3, wherein the processor, when double-parking in the parking zone, selects the parking spot in a center of the parking zone in consideration of a space capable of moving forward or backward to control double-parking. ### Claim 13 (depends on 1) The parking control apparatus of claim 1, wherein the processor generates a parking trajectory for parking a host vehicle at the parking spot, controls the host vehicle depending on the parking trajectory, and outputs an alarm command after completion of double-parking at the parking spot. ### Claim 14 (depends on 12) The parking control apparatus of claim 12, wherein the processor determines a possibility of collision when moving it forward or backward after completing double-parking at the parking spot. ### Claim 15 (depends on 14) The parking control apparatus of claim 14, wherein the processor, when there is a possibility of collision, corrects a position by moving the host vehicle in the longitudinal or lateral direction at the parking spot to avoid the collision. ### Claim 16 (depends on 15) The parking control apparatus of claim 15, wherein the processor, after correction of the position, outputs a final alarm command informing that the double-parking has been completed. ### Claim 17 (depends on 1) The parking control apparatus of claim 1, wherein the processor, when performing the double-parking control of a host vehicle at the parking spot, performs double-parking control based on one of a semi-automatic mode or a fully automatic mode selected by a user. ### Claim 18 A parking control method comprising: searching, by a processor, for a parking space in a parking lot; generating, by the processor, an outline based on previously parked vehicles when there is no free parking space; generating, by the processor, a target reference based on the outline; selecting, by the processor, a parking spot for double-parking based on the target reference; and performing, by the processor, double-parking control on the parking spot; wherein generating the target reference includes generating the target reference between the double-parking guide line and the outline, and generating the target reference parallel to the double-parking guide line when a double-parking guide line is detected in searching for the parking space. ### Claim 19 (depends on 18) The parking control method of claim 18, wherein generating the target reference the further includes generating a target reference to be parallel to a parking dividing line in a longitudinal direction by separating it by a predetermined distance from a point that is closest to a driving passage in the outline when no double-parking guide line is detected in searching for the parking space.