# US 12,600,348 B2 · Parking assistance device

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,600,348 B2
- Document ID: US12600348B2
- Status: Granted
- Kind: B2
- Application number: 18/691,173
- Filed: 2022-09-26
- Published: 2024-11-21
- Granted: 2026-04-14
- Earliest claimed: 2021-09-29
- Assignees: Aisin Corporation
- Applicants: Aisin Corporation
- Inventors: Yusuke Kiyokawa
- Web page: https://patentgrep.com/patent/US12600348B2

## CPC

- B60W 30/06: Automatic manoeuvring for parking
- B62D 15/0285: {Parking performed automatically}
- B60W 40/02: related to ambient conditions
- B60W 60/00: Drive control systems specially adapted for autonomous road vehicles
- G01C 21/26: specially adapted for navigation in a road network
- 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: 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)
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- 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})

## Abstract

A parking assistance device is provided and includes an image acquisition unit that acquires a captured image from an imaging unit imaging surrounding circumstances of a vehicle. A setting unit sets at a start of parking assistance, a reference movement target position of the vehicle in a parking space defined by a pair of spaced dividing lines included in the captured image, and sets, after the start of the parking assistance, a movement target position of the vehicle in the parking space included in the captured image. Further, at predetermined control periods, a correction unit corrects the movement target position, based on the reference movement target position, a position acquisition unit that acquires the current position of the vehicle, and a guidance control unit that controls the vehicle to the corrected movement target position, based on the corrected movement target position and the current position.

## Claims

### Claim 1

A parking assistance device, comprising:
an image acquisition unit configured to acquire a captured image from an imaging unit configured to image surrounding circumstances of a vehicle;
a setting unit configured to set, at a start of parking assistance, a reference movement target position of the vehicle in a parking space defined by a pair of spaced dividing lines included in the captured image, and set, after the start of the parking assistance, a movement target position of the vehicle in the parking space defined by the pair of dividing lines included in the captured image, at predetermined control periods;
a correction unit configured to correct the movement target position, based on the reference movement target position;
a position acquisition unit configured to acquire a current position of the vehicle; and
a guidance control unit configured to perform control to guide the vehicle to the corrected movement target position, based on the corrected movement target position and the current position,
wherein the shorter a distance from the vehicle to the movement target position, the smaller the correction unit makes an amount of correction by which to correct the movement target position.

### Claim 2

A parking assistance device, comprising:
an image acquisition unit configured to acquire a captured image from an imaging unit configured to image surrounding circumstances of a vehicle;
a setting unit configured to set, at a start of parking assistance, a reference movement target position of the vehicle in a parking space defined by a pair of spaced dividing lines included in the captured image, and set, after the start of the parking assistance, a movement target position of the vehicle in the parking space defined by the pair of dividing lines included in the captured image, at predetermined control periods;
a correction unit configured to correct the movement target position, based on the reference movement target position;
a position acquisition unit configured to acquire a current position of the vehicle; and
a guidance control unit configured to perform control to guide the vehicle to the corrected movement target position, based on the corrected movement target position and the current position, wherein
when the vehicle moves in a turning path in a direction to approach the movement target position during the parking assistance,
the correction unit performs correction to bring the movement target position closer to the reference movement target position when the movement target position is farther from a turning center of the turning path than the reference movement target position, and
the correction unit does not correct the movement target position when the movement target position is closer to the turning center of the turning path than the reference movement target position.

### Claim 3 (depends on 1)

The parking assistance device according to claim 1, wherein when an amount of
correction by which to correct the movement target position increases over time as a result of calculation, the correction unit maintains the amount of correction without increasing the amount of correction.

### Claim 4

A parking assistance device, comprising:
an image acquisition unit configured to acquire a captured image from an imaging unit configured to image surrounding circumstances of a vehicle;
a setting unit configured to set, at a start of parking assistance, a reference movement target position of the vehicle in a parking space defined by a pair of spaced dividing lines included in the captured image, and set, after the start of the parking assistance, a movement target position of the vehicle in the parking space defined by the pair of dividing lines included in the captured image, at predetermined control periods;
a correction unit configured to correct the movement target position, based on the reference movement target position;
a position acquisition unit configured to acquire a current position of the vehicle; and
a guidance control unit configured to perform control to guide the vehicle to the corrected movement target position, based on the corrected movement target position and the current position,
wherein when the correction unit has recognized a new dividing line in the captured image, the correction unit resets an amount of correction by which to correct the movement target position.

### Claim 5 (depends on 1)

The parking assistance device according to claim 1, wherein when an angle formed by a direction in which the vehicle moves and a direction in which the pair of dividing lines extend becomes equal to or less than a predetermined angle, the correction unit finishes correction of the movement target position.

### Claim 6 (depends on 1)

The parking assistance device according to claim 1, wherein the setting unit recognizes the start of the parking assistance, based on at least one of a fact that a shift operation part has been in a predetermined position, and a fact that a parking assistance start operation has been performed by a user.

### Claim 7 (depends on 1)

The parking assistance device according to claim 1, wherein when correcting the movement target position, based on the reference movement target position, the correction unit corrects the movement target position to the reference movement target position itself, or corrects the movement target position to bring the movement target position closer to the reference movement target position.