Vehicle parking assist apparatus
AssigneeToyota Jidosha Kabushiki Kaisha
InventorYu Hiei
Life of this patent
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Abstract
A vehicle parking assist apparatus acquires a camera image when the vehicle stops by a non-determined parking lot and acquires feature points of a ground of an entrance of the non-determined parking lot as non-compared entrance feature points from the camera image. The vehicle parking assist apparatus determines whether the non-determined parking lot is a registered parking lot by comparing information on the non-compared entrance feature points with registered entrance feature point information. The vehicle parking assist apparatus executes a parking assist control with using the currently-acquired parking lot information and the registered parking lot information when the vehicle parking assist apparatus determines that the non-determined parking lot is the registered parking lot.
Claims9
A vehicle parking assist apparatus comprising an electronic control unit which can execute a parking assist control to autonomously park a vehicle in a parking lot by using images taken by at least one camera mounted on the vehicle to take the images of views surrounding the vehicle,
- wherein:
- the electronic control unit is configured to:
- memorize features of a ground at a position of starting to execute the parking assist control as parking lot information;
- determine whether the features of the ground surrounding the vehicle are already memorized as the parking lot information, based on the features of the ground surrounding the vehicle and the features of the ground memorized as the parking lot information;
- and
- start to execute the parking assist control, using the memorized parking lot information when the electronic control unit determines that the features of the ground surrounding the vehicle are already memorized as the parking lot information.
Dependencies are inferred from the claim text.