US 11,987,233 B2
Route generation device, parking assist apparatus, route generation method, and parking assist method
Kenta Katsu, Tokyo (JP); Takashi Matsumoto, Tokyo (JP); Takahisa Aoyagi, Tokyo (JP); Masataka Shirozono, Tokyo (JP); and Hiroshi Yamada, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Appl. No. 17/781,218
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Jan. 17, 2020, PCT No. PCT/JP2020/001423
§ 371(c)(1), (2) Date May 31, 2022,
PCT Pub. No. WO2021/144944, PCT Pub. Date Jul. 22, 2021.
Prior Publication US 2022/0410873 A1, Dec. 29, 2022
Int. Cl. B60W 30/06 (2006.01); B60W 10/20 (2006.01); B62D 5/04 (2006.01); B62D 15/02 (2006.01)
CPC B60W 30/06 (2013.01) [B60W 10/20 (2013.01); B62D 5/0496 (2013.01); B62D 15/0285 (2013.01); B60W 2510/20 (2013.01); B60W 2556/45 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A route generation device comprising at least one processor configured to:
obtain a steering loaded state of a vehicle;
obtain a position of a parking slot near the vehicle;
obtain a position of the vehicle;
calculate, based on the steering loaded state, a maximum number of static steering turnabouts up to which static steering of the vehicle can be performed between the position of the vehicle and the position of the parking slot; and
generate a parking guidance route in which static steering is performed until a number of static steering turnabouts performed starting from the position of the vehicle reaches the maximum number of static steering turnabouts, based on the position of the vehicle, the position of the parking slot, and the maximum number of static steering turnabouts.