US 12,488,599 B2
Parking assistance device
Yoji Inui, Kariya (JP); Masaki Furukawa, Kariya (JP); Ryutaro Kato, Kariya (JP); and Yuya Shimohira, Kariya (JP)
Assigned to AISIN CORPORATION, Aichi (JP)
Appl. No. 18/692,890
Filed by AISIN CORPORATION, Aichi (JP)
PCT Filed Nov. 7, 2022, PCT No. PCT/JP2022/041352
§ 371(c)(1), (2) Date Mar. 18, 2024,
PCT Pub. No. WO2023/085228, PCT Pub. Date May 19, 2023.
Claims priority of application No. 2021-185915 (JP), filed on Nov. 15, 2021.
Prior Publication US 2025/0139989 A1, May 1, 2025
Int. Cl. G06V 20/58 (2022.01); G06T 7/13 (2017.01); G06T 7/60 (2017.01); G06T 7/73 (2017.01); G06V 10/44 (2022.01); G06V 10/60 (2022.01); B60W 30/06 (2006.01)
CPC G06V 20/586 (2022.01) [G06T 7/13 (2017.01); G06T 7/60 (2013.01); G06T 7/74 (2017.01); G06V 10/44 (2022.01); G06V 10/60 (2022.01); B60W 30/06 (2013.01); B60W 2420/403 (2013.01); G06T 2207/30264 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A parking assistance device comprising:
a candidate line detection unit that detects a candidate line that is a candidate for a boundary line in image data obtained by imaging a periphery of a vehicle;
a boundary line recognition unit that executes a determination process to determine whether or not a difference in luminance between areas on an outside of the candidate line in a width direction in the image data, the areas being on both sides of the candidate line, is equal to or larger than a luminance threshold, does not recognize the candidate line as a boundary line when determining that the difference in luminance is equal to or larger than the luminance threshold, and recognizes the candidate line as a boundary line when determining that the difference in luminance is less than the luminance threshold;
a parking target position setting unit that sets a parking target position on a basis of the boundary line; and
a movement control unit that moves the vehicle to the parking target position.