US 12,071,173 B2
Vehicle parking assist apparatus
Yu Hiei, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jun. 16, 2023, as Appl. No. 18/336,205.
Application 18/336,205 is a continuation of application No. 17/886,904, filed on Aug. 12, 2022, granted, now 11,718,343.
Application 17/886,904 is a continuation of application No. 16/939,564, filed on Jul. 27, 2020, granted, now 11,458,961, issued on Oct. 4, 2022.
Claims priority of application No. 2019-187980 (JP), filed on Oct. 11, 2019.
Prior Publication US 2023/0331302 A1, Oct. 19, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B62D 15/02 (2006.01); B60W 30/06 (2006.01); G06T 7/12 (2017.01); G06T 7/73 (2017.01); G06V 20/58 (2022.01); G08G 1/16 (2006.01); G06V 10/44 (2022.01)
CPC B62D 15/0285 (2013.01) [B60W 30/06 (2013.01); B62D 15/028 (2013.01); G06T 7/12 (2017.01); G06T 7/74 (2017.01); G06V 20/586 (2022.01); G08G 1/168 (2013.01); G06T 2207/10152 (2013.01); G06T 2207/30264 (2013.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01)] 9 Claims
OG exemplary drawing
 
1. A vehicle parking assist apparatus comprising an electronic control unit which can execute a parking assist control to autonomously park a vehicle in thea parking lot by using images taken by at least one camera mounted on the vehicle to take the images of views surrounding the vehicle,
wherein:
the electronic control unit is configured to:
memorize features of a ground at a position of starting to execute the parking assist control as parking lot information;
determine whether a position of the vehicle is memorized as the parking lot information, based on the features of the ground surrounding the vehicle taken by the at least one camera and the features of the ground memorized as the parking lot information; and
start to execute the parking assist control, using the memorized parking lot information when the electronic control unit determines that the position of the vehicle is memorized as the parking lot information.