US 12,122,300 B2
Parking assistance method and parking assistance device
Yasuhiro Suzuki, Kanagawa (JP); Ko Sato, Kanagawa (JP); Daisuke Tanaka, Kanagawa (JP); Yasuhiro Sakurai, Kanagawa (JP); Ryota Yamanaka, Kanagawa (JP); and Junya Kobayashi, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP)
Appl. No. 16/627,129
Filed by Nissan Motor Co., Ltd., Yokohama (JP)
PCT Filed Jul. 7, 2017, PCT No. PCT/JP2017/025003
§ 371(c)(1), (2) Date Dec. 27, 2019,
PCT Pub. No. WO2019/008759, PCT Pub. Date Jan. 10, 2019.
Prior Publication US 2020/0180510 A1, Jun. 11, 2020
Int. Cl. B60R 1/27 (2022.01); G08G 1/14 (2006.01); H04N 23/698 (2023.01); H04N 23/90 (2023.01)
CPC B60R 1/27 (2022.01) [G08G 1/143 (2013.01); H04N 23/698 (2023.01); B60R 2300/806 (2013.01); H04N 23/90 (2023.01)] 18 Claims
OG exemplary drawing
 
1. A parking assistance method for a parking assistance device that is capable of detecting an empty parking space around a host vehicle and is capable of displaying a first assistance icon at a position of the empty parking space in a surrounding image that is a view of an area including the host vehicle from above, the first assistance icon indicating the empty parking space, the parking assistance method comprising:
detecting the empty parking space;
when detecting the empty parking space, determining whether the host vehicle has stopped;
determining whether or not to superimpose the first assistance icon at the position of the empty parking space in the surrounding image based on whether the host vehicle has stopped;
when determining that the host vehicle is stopped, displaying the surrounding image with the first assistance icon superimposed on the surrounding image at the position of the empty parking space;
after starting display of the first assistance icon, causing the first assistance icon to remain displayed until a speed of the host vehicle becomes greater than or equal to a specified speed;
terminating the display of the first assistance icon when the speed of the host vehicle becomes greater than or equal to the specified speed, wherein the specified speed is a speed at which a positional deviation is prevented, the position deviation being between the position of the empty parking space and a position of the first assistance icon due to at least one of a measurement error of a wheel speed sensor of the host vehicle, a self-position estimation error of an odometry of the host vehicle, or an error in detecting the empty parking space;
prior to terminating the display of the first assistance icon, when an occupant of the host vehicle selects the empty parking space indicated by the first assistance icon via an input interface, setting a target parking position to the empty parking space selected by the occupant;
generating a parking trajectory from a parking start position to the target parking position; and
starting an automatic parking control along the generated parking trajectory.