US 12,128,880 B2
Parking assistance device
Takuya Nakagawa, Nagoya (JP); Asuka Shimizu, Nagoya (JP); and Norio Imai, Anjyo (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 22, 2022, as Appl. No. 17/950,436.
Claims priority of application No. 2021-157781 (JP), filed on Sep. 28, 2021.
Prior Publication US 2023/0101882 A1, Mar. 30, 2023
Int. Cl. B60Q 1/48 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/06 (2006.01); B60W 50/08 (2020.01); G08G 1/14 (2006.01); B60W 50/00 (2006.01)
CPC B60W 30/06 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/085 (2013.01); B60W 2050/0063 (2013.01); B60W 2552/50 (2020.02); B60W 2554/802 (2020.02); B60W 2710/207 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A parking assistance device comprising:
a driving device configured to apply driving force to driving wheels of wheels of a host vehicle;
a braking device configured to apply braking force to the wheels;
a steering device configured to control a steering angle of steered wheels of the wheels;
a surroundings sensor configured to acquire target information, the target information being information about targets around the host vehicle; and
a parking assistance control device mounted on the host vehicle and configured to perform parking assistance control, the parking assistance control being configured
to detect a parkable area based on the target information, the parkable area being an area where the host vehicle is able to be parked,
to cause the host vehicle to move from an initial position into the parkable area by controlling the driving device, the braking device, and the steering device, the initial position being a position of the host vehicle at a time when the parkable area is detected, and
when the parking assistance control device detects, based on the target information, that a stopper is installed in the parkable area, to cause the host vehicle to stop with a position and direction of the host vehicle with respect to the stopper matching a predetermined position and direction,
wherein the parking assistance control device is configured to cause the host vehicle to stop with a distance between a predetermined first reference point of the host vehicle and the stopper matching a first predetermined value so that the host vehicle is forward parked in a state in which a front end of a part that is on a front side of the host vehicle and is lower than the stopper is separated from the stopper.