US 12,291,265 B2
Parking assist method and parking assist device
Takafumi Tokuhiro, Kanagawa Ken (JP)
Assigned to Panasonic Automotive Systems Co., Ltd., Kanagawa (JP)
Filed by PANASONIC AUTOMOTIVE SYSTEMS CO., LTD., Kanagawa (JP)
Filed on Jun. 7, 2024, as Appl. No. 18/737,424.
Application 18/737,424 is a continuation of application No. 17/813,228, filed on Jul. 18, 2022, granted, now 12,037,043.
Claims priority of application No. 2021-151489 (JP), filed on Sep. 16, 2021.
Prior Publication US 2024/0326912 A1, Oct. 3, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B62D 15/02 (2006.01); B60W 30/06 (2006.01); B60W 50/14 (2020.01); G06V 20/58 (2022.01)
CPC B62D 15/028 (2013.01) [B60W 30/06 (2013.01); B60W 50/14 (2013.01); G06V 20/586 (2022.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2540/215 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A parking assist method for performing autonomous driving of a vehicle on a basis of teacher driving by a driver, the parking assist method comprising:
acquiring, from an imaging device installed in the vehicle, first captured images obtained by imaging a periphery of the vehicle in time series according to movement of the vehicle during the teacher driving;
generating, on a basis of the first captured images, a first enlarged overhead image of a display target range viewed from above, the display target range covering a travel route of the vehicle in the teacher driving and a periphery of the travel route;
causing a display device to display the first enlarged overhead image;
moving the vehicle to a parking position by autonomous driving based on the travel route;
acquiring, from the imaging device, second captured images obtained by imaging the periphery of the vehicle in time series according to movement of the vehicle during the autonomous driving;
generating an overhead image from the second captured images;
generating a second enlarged overhead image by synthesizing the overhead image with the first enlarged overhead image; and
causing the display device to display the second enlarged overhead image.