US 12,352,857 B2
Parking assist apparatus
Motonari Obayashi, Nagakute (JP); Takuya Nakagawa, Nagoya (JP); and Yoshiki Hayakawa, Kariya (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 14, 2023, as Appl. No. 18/467,486.
Claims priority of application No. 2022-167558 (JP), filed on Oct. 19, 2022.
Prior Publication US 2024/0134043 A1, Apr. 25, 2024
Prior Publication US 2024/0230894 A9, Jul. 11, 2024
Int. Cl. B60W 30/06 (2006.01); G01S 15/931 (2020.01); G06V 20/58 (2022.01)
CPC G01S 15/931 (2013.01) [B60W 30/06 (2013.01); B60W 2420/403 (2013.01); B60W 2420/54 (2013.01); G06V 20/586 (2022.01)] 4 Claims
OG exemplary drawing
 
1. A parking assist apparatus comprising:
a sensor for detecting an object by receiving a reflected wave from which a transmitted wave is reflected by the object; and
a controller for executing a parking assist control for automatically performing a part or all of operations necessary for parking a vehicle in a parking space set based on a detection result of the sensor, wherein
the controller is configured to:
provide a predetermined margin to a size of a peripheral object in a provisional direction in which the parking space is narrowed by providing the margin, the peripheral object existing in the periphery of the parking space and being an object detected by the sensor;
execute the parking assist control with using the size of the peripheral object to which the margin is provided; and
stop to provide the margin and execute the parking assistance control with using the size of the peripheral object detected by the sensor without providing the margin, when the size of the peripheral object detected by the sensor becomes larger, in the provisional direction, than the size of the peripheral object to which the margin is provided.