# US 12,214,777 B2 · Parking assist method and parking assist device

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- Number: US 12,214,777 B2
- Document ID: US12214777B2
- Status: Granted
- Kind: B2
- Application number: 18/578,758
- Filed: 2021-07-30
- Published: 2024-11-07
- Granted: 2025-02-04
- Earliest claimed: 2021-07-30
- Assignees: Nissan Motor Co., Ltd.
- Applicants: Nissan Motor Co., Ltd.
- Inventors: Yasuhiro Suzuki; Yusuke Musha; Ryota Yamanaka; Satoshi Muramatsu
- Web page: https://patentgrep.com/patent/US12214777B2

## CPC

- B60W 30/06: Automatic manoeuvring for parking
- B62D 15/0285: {Parking performed automatically}
- B60W 30/143: {Speed control (B60W30/16 takes precedence)}
- B60W 50/08: Interaction between the driver and the control system
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B60W 2050/146: {Display means}
- B60W 2540/16: Ratio selector position
- B60W 2554/802: Longitudinal distance
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- B60W 2720/10: Longitudinal speed
- 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)

## Abstract

A parking assist method performs a parking assist control of a host vehicle based on a target travel path when a distance between a self-position and a target parking position is determined to be equal to or less than a first predetermined distance, a parking assist permission condition is satisfied, and a shift operation for switching direction has been detected. The parking assist permission condition is satisfied where either a condition in which a predetermined time or longer has elapsed since the host vehicle departed from the target parking position, or a condition in which the distance between the self-position and the target parking position since the host vehicle departed from the target parking position exceeds a second predetermined distance that is equal to or less than the first predetermined distance. The parking assist control is suppressed when the parking assist permission condition is not satisfied.

## Claims

### Claim 1

A parking assist method comprising:
detecting a self-position that is a current position of a host vehicle;
calculating a target travel path from the self-position to a target parking position;
determining a distance between the self-position and the target parking position;
determining whether a shift operation for switching direction has been detected;
determining whether a parking assist permission condition is satisfied, the parking assist permission condition being either a condition in which a predetermined time or longer has elapsed since the host vehicle departed from the target parking position, or a condition in which the distance between the self-position and the target parking position since the host vehicle departed from the target parking position exceeds a second predetermined distance that is equal to or less than a first predetermined distance;
determining that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance, determining that the parking assist permission condition is satisfied, and determining that the shift operation for switching direction has been detected, performing the parking assist control of the host vehicle based on the target travel path upon determining that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance, upon determining that the parking assist permission condition is satisfied, and upon determining that the shift operation for switching direction has been detected; and
determining that the parking assist permission condition is not satisfied, determining that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance, and determining that the shift operation for switching direction is detected, suppressing the parking assist control upon determining that the parking assist permission condition is not satisfied even upon determining that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance and upon determining that the shift operation for switching direction is detected.

### Claim 2 (depends on 1)

The parking assist method according to claim 1, wherein
the parking assist control controls the host vehicle so as to travel along the target travel path.

### Claim 3 (depends on 2)

The parking assist method according to claim 2, wherein
upon determining that the parking assist permission condition is not satisfied, the parking assist control reduces a speed of the host vehicle traveling along the target travel path to a greater extent than when the parking assist permission condition is satisfied.

### Claim 4 (depends on 3)

The parking assist method according to claim 3, wherein
the parking assist control is prohibited upon determining that the parking assist permission condition is not satisfied.

### Claim 5 (depends on 1)

The parking assist method according to claim 1, wherein
the parking assist control displays the target travel path and the position of the host vehicle on a display device that is visible to an occupant.

### Claim 6 (depends on 5)

The parking assist method according to claim 5, wherein
displaying of the target travel path and the position of the host vehicle on the display device is prohibited upon determining that the parking assist permission condition is not satisfied.

### Claim 7

A parking assist device comprising:
a sensor or positioning device configured to detect a self-position that is a current position of a host vehicle; and
a controller configured to:
calculate a target travel path from the self-position to a target parking position;
determine a distance between the self-position and the target parking position;
determine a distance between the self-position and the target parking position;
determine whether a shift operation for switching direction has been detected;
determine whether a parking assist permission condition is satisfied, the parking assist permission condition being either a condition in which a predetermined time or longer has elapsed since the host vehicle departed from the target parking position, or a condition in which the distance between the self-position and the target parking position since the host vehicle departed from the target parking position exceeds a second predetermined distance that is equal to or less than a first predetermined distance;
determine that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance, determine that the parking assist permission condition is satisfied, and determine that the shift operation for switching direction has been detected, performing the parking assist control of the host vehicle based on the target travel path upon determining that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance, upon determining that the parking assist permission condition is satisfied, and upon determining that the shift operation for switching direction has been detected; and
determine that the parking assist permission condition is not satisfied, determine that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance, and determine that the shift operation for switching direction is detected, suppressing the parking assist control upon determining that the parking assist permission condition is not satisfied even upon determining that the distance between the self-position and the target parking position is equal to or less than the first predetermined distance and upon determining that the shift operation for switching direction is detected.