US 12,172,634 B2
Parking assistance method and parking assistance device
Takafumi Tokuhiro, Kanagawa Ken (JP); Masashi Hoshino, Tokyo To (JP); and Satoshi Fukumoto, Tokyo To (JP)
Assigned to Panasonic Automotive Systems Co., Ltd., Kanagawa (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Jul. 26, 2022, as Appl. No. 17/873,924.
Claims priority of application No. 2021-141604 (JP), filed on Aug. 31, 2021.
Prior Publication US 2023/0068889 A1, Mar. 2, 2023
Int. Cl. B60W 30/06 (2006.01); B60W 50/14 (2020.01); G06V 20/56 (2022.01)
CPC B60W 30/06 (2013.01) [B60W 50/14 (2013.01); G06V 20/56 (2022.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2540/215 (2020.02); B60W 2556/10 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A parking assistance method of performing autonomous travel of a vehicle based on a travel route generated using teaching travel by a driver, the parking assistance method comprising:
acquiring an absolute position and an azimuth in a travel direction of the vehicle;
determining, based on the absolute position and the azimuth in the travel direction, whether or not the vehicle is located and oriented with a prescribed azimuth in a prescribed position, which are registered in association with the travel route; and
outputting, when the vehicle is located and oriented with the prescribed azimuth in the prescribed position, a notification to a user to prompt an operation to start parking assistance.