US 12,033,401 B2
Driving assistance device for vehicle
Reo Harada, Tokyo (JP); Masayoshi Koiji, Tokyo (JP); Otoki Yagi, Tokyo (JP); Tomomi Heta, Tokyo (JP); and Cong Kien Nguyen, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jun. 1, 2022, as Appl. No. 17/829,870.
Claims priority of application No. 2021-107501 (JP), filed on Jun. 29, 2021.
Prior Publication US 2022/0415060 A1, Dec. 29, 2022
Int. Cl. G01C 21/00 (2006.01); G01C 21/34 (2006.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); B62D 15/02 (2006.01)
CPC G06V 20/586 (2022.01) [G01C 21/3461 (2013.01); G06V 20/588 (2022.01); B62D 15/027 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A driving assistance device for a vehicle, the driving assistance device comprising:
a traveling environment recognizer configured to recognize traveling environment information related to an outside of the vehicle;
a parking space detector configured to, in a case where the vehicle has entered a parking lot, detect parking spaces available to the vehicle based on the traveling environment information;
an evaluation value calculator configured to calculate an evaluation value for each of the parking spaces, the evaluation value reflecting an exit hindrance factor as an evaluation item; and
a parking space setter configured to select, with priority, a parking space for parking the vehicle from among the parking spaces based on the evaluation value for each of the parking space,
wherein the evaluation value of the parking space calculated by the evaluation value calculator is higher than the evaluation value for any remaining parking space.