US 12,344,233 B2
Parking assistance device
Yusuke Kiyokawa, Kariya (JP); Norio Imai, Kariya (JP); Yuki Minase, Toyota (JP); and Takuya Nakagawa, Nagoya (JP)
Assigned to AISIN CORPORATION, Aichi (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by AISIN CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 27, 2021, as Appl. No. 17/485,626.
Claims priority of application No. 2020-163394 (JP), filed on Sep. 29, 2020.
Prior Publication US 2022/0097686 A1, Mar. 31, 2022
Int. Cl. B60W 30/06 (2006.01); B60W 10/18 (2012.01)
CPC B60W 30/06 (2013.01) [B60W 10/18 (2013.01); B60W 2552/00 (2020.02); B60W 2710/18 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A parking assistance device comprising a central processing unit configured to:
detect a size of a parking space into which a vehicle is likely to be parked;
set a size of an extra space to be secured at a minimum between the vehicle and an object around the parking space while changing that size according to the detected size of the parking space; and
provide assistance in parking the vehicle into the parking space based on the set size of the extra space by autonomously controlling at least one of braking, acceleration, steering or shifting of the vehicle,
wherein the central processing unit is configured to set the size of the extra space to a first size when the size of the parking space is equal to or larger than a first threshold value, and to set the size of the extra space to a second size that is smaller than the first size when the size of the parking space is equal to or smaller than a second threshold value that is smaller than the first threshold value,
wherein the size of the extra space is set in a same direction to the first size and the second size.