# US 12,183,198 B2 · Control device, control method, and computer-readable recording medium

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- Number: US 12,183,198 B2
- Document ID: US12183198B2
- Status: Granted
- Kind: B2
- Application number: 18/121,871
- Filed: 2023-03-15
- Published: 2023-10-05
- Granted: 2024-12-31
- Earliest claimed: 2022-03-30
- Assignees: Honda Motor Co., Ltd.
- Applicants: Honda Motor Co., Ltd.
- Inventors: Masafumi Sagara; Tatsuro Fujiwara; Mizuki Owada
- Web page: https://patentgrep.com/patent/US12183198B2

## CPC

- G08G 1/143: {inside the vehicles}
- B60W 30/06: Automatic manoeuvring for parking
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B60W 60/0025: {specially adapted for specific operations}
- B62D 15/0285: {Parking performed automatically}
- G06V 20/586: {of parking space}
- B60W 2050/146: {Display means}
- B60W 2420/403: Image sensing, e.g. optical camera
- 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})
- 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 control device includes circuitry configured to: detect a first parking candidate position based on external environment recognition data of a moving body and a second parking candidate position registered in advance by a user of the moving body; cause a display device to display detected parking candidate positions; receive, from a user of the moving body, selection of a target parking position from among the displayed parking candidate positions; and park the moving body at the selected target parking position. The circuitry causes to display the second parking candidate position preferentially over the first parking candidate position, when the first parking candidate position and the second parking candidate position are detected and the first parking candidate position and the second parking candidate position overlap each other.

## Claims

### Claim 1

A control device comprising circuitry configured to:
detect a first parking candidate position based on external environment recognition data of a moving body and a second parking candidate position registered in advance by a user of the moving body;
cause a display device to display detected parking candidate positions;
receive, from a user of the moving body, selection of a target parking position from among the displayed parking candidate positions; and
park the moving body at the selected target parking position, wherein
the circuitry causes to display the second parking candidate position preferentially over the first parking candidate position, when the first parking candidate position and the second parking candidate position are detected and the first parking candidate position and the second parking candidate position overlap each other.

### Claim 2 (depends on 1)

The control device according to claim 1, wherein
when the first parking candidate position and the second parking candidate position are detected and the first parking candidate position and the second parking candidate position overlap each other, the circuitry causes to display the first parking candidate position in a more inconspicuous manner than the first parking candidate position when the first parking candidate position and the second parking candidate position do not overlap each other.

### Claim 3 (depends on 2)

The control device according to claim 2, wherein
when the first parking candidate position and the second parking candidate position are detected and the first parking candidate position and the second parking candidate position overlap each other, the circuitry hides the first parking candidate position overlapping the second parking candidate position.

### Claim 4 (depends on 3)

The control device according to claim 3, wherein
when the first parking candidate position and the second parking candidate position are detected and the first parking candidate position and the second parking candidate position do not overlap each other, the circuitry causes to display the first parking candidate position and the second parking candidate position.

### Claim 5 (depends on 4)

The control device according to claim 4, wherein
when the first parking candidate position and the second parking candidate position are detected and the first parking candidate position and the second parking candidate position do not overlap each other, the circuitry causes to display the first parking candidate position and the second parking candidate position in different modes.

### Claim 6 (depends on 1)

The control device according to claim 1, wherein
the first parking candidate position is detected based on at least one of detection of a parking frame and detection of a vacant parking space.

### Claim 7 (depends on 1)

The control device according to claim 1, wherein
the second parking candidate position is detected based on a comparison between feature points of external environment recognition data registered by the user in advance and feature points of current external environment recognition data.

### Claim 8

A control method performed by a processor of a control device, comprising:
detecting a first parking candidate position based on external environment recognition data of a moving body and a second parking candidate position registered in advance by a user of the moving body;
causing a display device to display detected parking candidate positions:
receiving, from a user of the moving body, selection of a target parking position from among the displayed parking candidate positions; and
parking the moving body at the selected target parking position, wherein
the control method comprises causing to display the second parking candidate position preferentially over the first parking candidate position, when the first parking candidate position and the second parking candidate position are detected and the first parking candidate position and the second parking candidate position overlap each other in a case where the parking candidate positions are displayed on the display device.

### Claim 9

A non-transitory computer-readable recording medium that stores a control program for causing a processor of a control device to execute a process, the process comprising:
detecting a first parking candidate position based on external environment recognition data of a moving body and a second parking candidate position registered in advance by a user of the moving body;
causing a display device to display detected parking candidate positions;
receiving, from a user of the moving body, selection of a target parking position from among the displayed parking candidate positions; and
parking the moving body at the selected target parking position, wherein
the process comprises causing to display the second parking candidate position preferentially over the first parking candidate position when the first parking candidate position and the second parking candidate position are detected and the first parking candidate position and the second parking candidate position overlap each other in a case where the parking candidate positions are displayed on the display device.