US 12,380,708 B2
Parking assistance device
Yoji Inui, Kariya (JP); Shota Sobue, Kariya (JP); Masaki Furukawa, Kariya (JP); Naoki Yamamura, Kariya (JP); Yuya Shimohira, Kariya (JP); Masataka Yamamoto, Kariya (JP); and Ryutaro Kato, Kariya (JP)
Assigned to AISIN CORPORATION, Kariya (JP)
Filed by AISIN CORPORATION, Kariya (JP)
Filed on Oct. 8, 2020, as Appl. No. 17/065,972.
Claims priority of application No. 2019-188129 (JP), filed on Oct. 11, 2019.
Prior Publication US 2021/0110179 A1, Apr. 15, 2021
Int. Cl. G06V 20/58 (2022.01); B60W 30/00 (2006.01); G06V 20/56 (2022.01); G08G 1/14 (2006.01); H04N 23/90 (2023.01)
CPC G06V 20/586 (2022.01) [B60W 30/00 (2013.01); G06V 20/588 (2022.01); G08G 1/143 (2013.01); H04N 23/90 (2023.01)] 4 Claims
OG exemplary drawing
 
1. A parking assistance device that recognizes a parking stall where a vehicle is to be parked, comprising:
at least four cameras that take images of the outside of the vehicle;
a setting unit that sets, based on a preset setting condition, a camera which is to take an image used for recognizing the parking stall; and
a detection unit that detects the parking stall based on the image taken by the set camera,
wherein the at least four cameras include a front-side camera configured to capture an image of a front side of the vehicle, a rear-side camera configured to capture an image of a rear side of the vehicle, a left-side camera that captures an image of a left side of the vehicle, and a right-side camera that captures an image of a right side of the vehicle,
wherein the setting condition is set according to a parking mode in which the vehicle is to be parked into the parking stall and a pulling out mode in which the vehicle is to be pulled out from the parking stall, and
the parking mode characterized by a left-side imaging range of the left-side camera, a right-side imaging range of the right-side camera, and one of a front-side imaging range by the front side camera or a rear-side imaging range by the rear-side camera are correspondingly set as a detection area of the parking stall for a respective forward or backward entrance perpendicular parking; and
the front-side imaging range by the front-side camera, the rear-side imaging range by the rear-side camera, the left-side imaging range by the left-side camera, and the right-side imaging range by the right-side camera are set as the detection area of the parking stall for backward and forward entrance parallel parkings;
the pulling out mode characterized by the front-side imaging range by the front-side camera, the rear-side imaging range by the rear-side camera, the left-side imaging range by the left-side camera, and the right-side imaging range by the right-side camera are set as the detection area of the parking stall for forward and backward pulling out parallel parkings, and
the left-side imaging range by the left-side camera, the right-side imaging range by the right-side camera, and one of the front-side imaging range by the front-side camera or the rear-side imaging range by the rear-side camera are correspondingly set as a detection area of the parking stall for a respective forward or backward pulling out perpendicular parking.