US 12,233,909 B2
Vehicle parking assist apparatus
Yu Hiei, Toyota (JP); Yusuke Kida, Tokyo (JP); and Daiki Maruki, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jul. 23, 2020, as Appl. No. 16/936,491.
Claims priority of application No. 2019-187982 (JP), filed on Oct. 11, 2019.
Prior Publication US 2021/0107524 A1, Apr. 15, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 30/06 (2006.01); G01C 21/30 (2006.01)
CPC B60W 60/0025 (2020.02) [B60W 30/06 (2013.01); G01C 21/30 (2013.01); B60W 2420/403 (2013.01); B60W 2552/00 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A vehicle parking assist apparatus comprising:
at least one camera mounted on a vehicle, wherein the at least one camera includes:
a front camera which takes a front image of a view ahead of the vehicle;
a rear camera which takes a rear image of a view behind the vehicle;
a left camera which takes a left image of a view at a left side of the vehicle; and
a right camera which takes a right image of a view at a right side of the vehicle; and
an electronic control unit configured to:
execute a process of registering a parking lot, including:
when the vehicle stops at a side of the parking lot to be registered, wherein the side of the parking lot includes an entrance of the parking lot, acquire features of the entrance of the parking lot from at least one of the right image or the left image taken by the at least one camera and register the acquired features as first features of the registered parking lot;
when the vehicle completes parking in the parking lot by a parking assist control, acquire the features of a ground of the parking lot at a parking complete position in the parking lot from the camera images currently taken by the at least one camera at a time when the parking of the vehicle is completed, and register the acquired features taken at the time when the parking of the vehicle is completed as second features of the registered parking lot;
execute a process of autonomous parking of the vehicle including:
when the right side or the left side of the vehicle faces a parking lot, determine whether the parking lot is the registered parking lot by comparing features in currently acquired camera images of an entrance of the parking lot and the registered first features that include the entrance of the registered parking lot; and
based upon the determination that the parking lot is the registered parking lot, perform the autonomous parking and while moving the vehicle by performing the autonomous parking, determine a positional relationship between the vehicle and the registered parking lot by comparing features in the currently acquired camera images obtained while performing the autonomous parking and the registered second features that were acquired at the time when the parking of the vehicle was completed previously.