US 12,174,028 B2
Parking assistance device
Hiroki Inagaki, Kariya (JP); Yusuke Kiyokawa, Kariya (JP); Norio Imai, Kariya (JP); Takuya Nakagawa, Nagoya (JP); and Motonari Obayashi, Nagakute (JP)
Assigned to AISIN CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by AISIN CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 27, 2022, as Appl. No. 17/953,727.
Claims priority of application No. 2021-162025 (JP), filed on Sep. 30, 2021.
Prior Publication US 2023/0093819 A1, Mar. 30, 2023
Int. Cl. G01C 21/34 (2006.01); G06V 20/58 (2022.01)
CPC G01C 21/3461 (2013.01) [G06V 20/586 (2022.01)] 3 Claims
OG exemplary drawing
 
1. A parking assistance device comprising:
an obstacle detection unit configured to detect an obstacle around a vehicle;
a boundary detection unit configured to detect a boundary of a parking section; and
a target position determination unit configured to determine a target position of a movement route of the vehicle based on the detected boundary, wherein
the target position determination unit recognizes, as a wheel stopper, the obstacle detected in a detection area that is set at a position in the parking section on a back side of an entrance and exit of the parking section based on the detected boundary, regardless of a height of the obstacle.