US 11,807,226 B2
Parking assistance apparatus
Satoshi Fukumoto, Tokyo (JP); and Takanobu Ito, Kanagawa (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Filed by PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Filed on Jun. 14, 2022, as Appl. No. 17/840,204.
Application 17/840,204 is a continuation of application No. 16/531,457, filed on Aug. 5, 2019, granted, now 11,390,270.
Claims priority of application No. 2018-147488 (JP), filed on Aug. 6, 2018.
Prior Publication US 2022/0306087 A1, Sep. 29, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/06 (2006.01)
CPC B60W 30/06 (2013.01) [B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2554/00 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A parking control method for a parking control circuit mounted on a vehicle,
the parking control circuit including an input circuit coupled with an imaging device to capture an ambient image of the vehicle, and an output circuit coupled with a steering actuator performing steering of the vehicle,
the parking control method comprising:
detecting a first parking space based on the ambient image of the vehicle captured by the imaging device;
controlling at least the steering actuator of the vehicle to cause the vehicle to be parked in the first parking space;
detecting a second parking space based on the ambient image of the vehicle captured by the imaging device, while the vehicle is travelling into the first parking space, the second parking space being adjacent to the first parking space in a travelling direction of the vehicle, the second parking space being farther than the first parking space from the vehicle; and
controlling at least the steering actuator of the vehicle to cause the vehicle to be parked in the second parking space.