# US 12,110,055 B1 · Driver in the loop parallel parking assistance system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,055 B1 - Document ID: US12110055B1 - Status: Granted - Kind: B1 - Application number: 18/299,263 - Filed: 2023-04-12 - Published: 2024-10-17 - Granted: 2024-10-08 - Earliest claimed: 2023-04-12 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Magdalena M Parkila; Avesta Goodarzi; Norman J Weigert; Michael J Bliss - Web page: https://patentgrep.com/patent/US12110055B1 ## CPC - B62D 15/028: {Guided parking by providing commands to the driver, e.g. acoustically or optically} - B62D 15/0285: {Parking performed automatically} - 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 Method for providing parallel parking assistance including generating an augmented video stream including an overhead view video stream, a graphical representation of a host vehicle, and a first arrow for indicating an initial position of the host vehicle, generating, by a processor, a first control signal indicative of a first steering angle in response to receiving a first confirmation signal from a user interface indicative of a confirmation of the initial position of the host vehicle, generating, by the processor, a second control signal indicative of a second steering angle in response to a change in yaw reaching a first desired yaw, generating, by the processor, a second arrow to be overlaid on the overhead view video stream indicative of a distance between the host vehicle and a curb, generating, by the processor, a third control signal indicative of a third steering angle in response to receiving a second confirmation signal from the user interface indicative of a confirmation of the distance between the host vehicle and the curb. ## Claims ### Claim 1 An apparatus comprising: a plurality of cameras for capturing a plurality of video streams; an image processor for generating an overhead view video stream in response to the plurality of video streams; a processor configured for performing a parking assist algorithm including: generating an augmented video stream including the overhead view video stream, a graphical representation of a host vehicle, and a first arrow for indicating an initial position of the host vehicle; for generating a first control signal indicative of a first steering angle in response to receiving a first confirmation signal from a user interface indicative of a confirmation of the initial position of the host vehicle; for generating a second control signal indicative of a second steering angle in response to a change in yaw reaching a first desired yaw; generating a second arrow to be overlaid on the overhead view video stream indicative of a distance between the host vehicle and a curb; generating a third control signal indicative of a third steering angle in response to receiving a second confirmation signal from the user interface indicative of a confirmation of the distance between the host vehicle and the curb; and providing a user feedback indicative of a completion of the parking assist algorithm in response to the change in yaw reaching a second desired yaw. ### Claim 2 (depends on 1) The apparatus of claim 1 wherein the change in yaw is determined against an initial host vehicle yaw established at the initial position of the host vehicle. ### Claim 3 (depends on 1) The apparatus of claim 1 wherein the second desired yaw is zero degrees. ### Claim 4 (depends on 1) The apparatus of claim 1 wherein the first desired yaw is 45 degrees. ### Claim 5 (depends on 1) The apparatus of claim 1 further including a steering controller for adjusting a steering angle of a host vehicle steering mechanism in response to the first control signal, the second control signal and the third control signal. ### Claim 6 (depends on 1) The apparatus of claim 1 wherein the first confirmation signal is generated in response to a host vehicle driver depressing a touch sensitive display at a point where the first arrow is displayed. ### Claim 7 (depends on 1) The apparatus of claim 1 wherein a tip of the first arrow is aligned with a left rear corner of a forward parked vehicle shown on the augmented video stream. ### Claim 8 (depends on 1) The apparatus of claim 1 wherein the processor is further operative for generating a throttle control signal for controlling a reversing of the host vehicle during the parking assist algorithm. ### Claim 9 (depends on 1) The apparatus of claim 1 further configured for suspending the parking assist algorithm in response to receiving a braking indicator indicative of a host vehicle brake pedal being depressed. ### Claim 10 A method for performing a parking assist algorithm comprising: generating, by an image processor, an augmented video stream including an overhead view video stream, a graphical representation of a host vehicle, and a first arrow for indicating an initial position of the host vehicle; generating, by a processor, a first control signal indicative of a first steering angle in response to receiving a first confirmation signal from a user interface indicative of a confirmation of the initial position of the host vehicle; generating, by the processor, a second control signal indicative of a second steering angle in response to a change in yaw reaching a first desired yaw; generating, by the processor, a second arrow to be overlaid on the overhead view video stream indicative of a distance between the host vehicle and a curb; generating, by the processor, a third control signal indicative of a third steering angle in response to receiving a second confirmation signal from the user interface indicative of a confirmation of the distance between the host vehicle and the curb; and providing, by the processor, a user feedback indicative of a completion of the parking assist algorithm in response to the change in yaw reaching a second desired yaw. ### Claim 11 (depends on 10) The method of claim 10 wherein the overhead view video stream is generated in response to a compilation of a plurality of video streams received from a plurality of vehicle cameras having overlapping fields of views. ### Claim 12 (depends on 10) The method of claim 10 further including controlling a steering controller for adjusting a host vehicle steering angle in response to the first control signal, the second control signal, and the third control signal. ### Claim 13 (depends on 10) The method of claim 10 wherein the second desired yaw is equal to an initial yaw determined at the initial position of the host vehicle. ### Claim 14 (depends on 10) The method of claim 10 wherein the processor is further configured for generating a throttle control signal for controlling a reversing maneuver of the host vehicle during performance of the parking assist algorithm. ### Claim 15 (depends on 10) The method of claim 10 wherein the processor is further configured for suspending the parking assist algorithm in response to receiving a braking indicator indicative of a host vehicle brake pedal being depressed. ### Claim 16 (depends on 10) The method of claim 10 wherein the first confirmation signal is generated in response to a host vehicle driver depressing a touch sensitive display at a point where the first arrow is displayed. ### Claim 17 (depends on 10) The method of claim 10 wherein the second confirmation signal is generated in response to a host vehicle driver depressing a touch sensitive display at a location where the second arrow is displayed. ### Claim 18 (depends on 10) The method of claim 10 wherein the processor is further configured for generating a user steering prompt indicative of a steering angle in response to the first control signal, the second control signal and the third control signal. ### Claim 19 A vehicle control system comprising: a vehicle camera system for generating an overhead view video of a host vehicle environment; an image processor for generating an augmented image including the overhead view video, a graphical representation of a host vehicle, a first arrow and a second arrow; a display for displaying the augmented image; a user input for generating a first user confirmation signal in response to a first user input and a second user confirmation signal in response to a second user input; a processor for: coupling a request to display the first arrow to the image processor indicative of an initial position of the host vehicle; generating a first control signal indicative of a first steering angle in response to receiving a first confirmation signal from a user interface indicative of a confirmation of the initial position of the host vehicle; generating, by the processor, a second control signal indicative of a second steering angle in response to a change in yaw reaching a first desired yaw; coupling a request to display the second arrow to the image processor indicative of a distance between the host vehicle and a curb; generating, by the processor, a third control signal indicative of a third steering angle in response to receiving a second confirmation signal from the user interface indicative of a confirmation of the distance between the host vehicle and the curb; and providing, by the processor, a user feedback indicative of a completion of the parking assist algorithm in response to the change in yaw reaching a second desired yaw. ### Claim 20 (depends on 19) The vehicle control system of claim 19, wherein the user feedback is overlaid on the overhead view video displayed on the display.