# US 9,751,562 B2 · Park exit assist system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,562 B2 - Document ID: US9751562B2 - Status: Granted - Kind: B2 - Application number: 14/850,319 - Filed: 2015-09-10 - Published: 2016-03-17 - Granted: 2017-09-05 - Earliest claimed: 2014-09-12 - Assignees: Aisin Seiki Kabushiki Kaisha; Toyota Jidosha Kabushiki Kaisha - Applicants: Aisin Seiki Kabushiki Kaisha; Toyota Jidosha Kabushiki Kaisha - Inventors: Tomohisa Yamashita; Masaya Kato; Hiroyuki Tachibana; Motokatsu Tomozawa; Motonari Obayashi; Hironobu Ishijima; Keisuke Oyama - Web page: https://patentgrep.com/patent/US9751562B2 ## CPC - B62D 15/027: {Parking aids, e.g. instruction means} - 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 A park exit assist system includes an electronic control unit. The electronic control unit is configured to detect a situation around a host vehicle parked or stopped in a parking/stopping area on a roadside. The electronic control unit is configured to calculate, on the basis of a detected result of the situation around the host vehicle, a park exit guidance path along which the host vehicle is moved out of the parking/stopping area to a traffic road and in which a steering angle becomes neutral at the time when a roadside front end of the host vehicle advances into the traffic road. The electronic control unit is configured to guide the host vehicle from the parking/stopping area toward the traffic road by at least executing steering control along the park exit guidance path. ## Claims ### Claim 1 A park exit assist system comprising: an electronic control unit configured to: detect a situation around a host vehicle parked or stopped in a parking/stopping area on a roadside; calculate, on the basis of a detected result of the situation around the host vehicle, a park exit guidance path along which the host vehicle is moved out of the parking/stopping area to a traffic road and in which a steering angle becomes neutral at a time of completion of park exit guidance when a roadside front end of the host vehicle advances into the traffic road; and guide the host vehicle from the parking/stopping area toward the traffic road by at least executing steering control along the park exit guidance path. ### Claim 2 (depends on 1) The park exit assist system according to claim 1, wherein the electronic control unit is configured to, when the electronic control unit receives an operation input of a steering wheel in a middle of guiding the host vehicle along the park exit guidance path, complete guiding the host vehicle on an assumption that a request to guide the host vehicle has been cancelled. ### Claim 3 (depends on 2) The park exit assist system according to claim 2, wherein the electronic control unit is configured to, when the electronic control unit receives an operation input of an accelerator in the middle of guiding the host vehicle along the park exit guidance path, complete guiding the host vehicle on the assumption that the request to guide the host vehicle has been cancelled. ### Claim 4 (depends on 3) The park exit assist system according to claim 3, wherein the electronic control unit is configured to, when the calculated park exit guidance path is a path along which the steering angle becomes neutral before the roadside front end of the host vehicle completes advancing into the traffic road from the parking/stopping area, assume that guiding of the host vehicle has completed when the steering angle becomes neutral through guiding based on the park exit guidance path. ### Claim 5 (depends on 2) The park exit assist system according to claim 2, wherein the electronic control unit is configured to, when the calculated park exit guidance path is a path along which the steering angle becomes neutral before the roadside front end of the host vehicle completes advancing into the traffic road from the parking/stopping area, assume that guiding of the host vehicle has completed when the steering angle becomes neutral through guiding based on the park exit guidance path. ### Claim 6 (depends on 1) The park exit assist system according to claim 1, wherein the electronic control unit is configured to, when the electronic control unit receives an operation input of an accelerator in a middle of guiding the host vehicle along the park exit guidance path, complete guiding the host vehicle on an assumption that a request to guide the host vehicle has been cancelled. ### Claim 7 (depends on 1) The park exit assist system according to claim 1, wherein the electronic control unit is configured to, when the calculated park exit guidance path is a path along which the steering angle becomes neutral before the roadside front end of the host vehicle completes advancing into the traffic road from the parking/stopping area, assume that guiding of the host vehicle has completed when the steering angle becomes neutral through guiding based on the park exit guidance path. ### Claim 8 (depends on 1) The park exit assist system according to claim 1, wherein the electronic control unit is configured to, when the electronic control unit cannot calculate a park exit guidance path in which the steering angle becomes neutral at the time when the roadside front end of the host vehicle advances into the traffic road, provide a user with information for paying attention to the steering angle.