US 12,424,095 B2
Parking assistance method, parking assistance apparatus, and non-transitory computer readable recording medium
Tatsuya Sugano, Shizuoka-ken (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on May 24, 2023, as Appl. No. 18/201,335.
Claims priority of application No. 2022-098852 (JP), filed on Jun. 20, 2022.
Prior Publication US 2023/0410652 A1, Dec. 21, 2023
Int. Cl. G08G 1/14 (2006.01)
CPC G08G 1/145 (2013.01) [G08G 1/143 (2013.01); G08G 1/144 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A method for assisting parking of a vehicle in a parking lot, the method comprising the steps of:
generating node information from a start position to an end position of a leaving operation of the vehicle when a leaving of the vehicle from the parking lot is started;
generating, based on the node information, a travel trajectory;
calculating a reference distance which is a distance between a start node being a node corresponding to the start position and a reference node being a node located in front of the vehicle among nodes located on a drive aisle of the parking lot;
calculating, for respective target nodes, an aisle distance which is a distance from the reference node to a respective target node, the target nodes being nodes from the reference node to an end node being a node corresponding to the end position;
identifying a specific node which is a node whose aisle distance is most approximate to the reference distance among the target nodes;
transmitting, to the vehicle, the node information regarding the start node and regarding the target nodes from the specific node to the end node; and
controlling a vehicle to travel in accordance with the travel trajectory, the travel trajectory reaching a center of the drive aisle with a constant curvature from the start node.