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Parking assistance system and parking assistance method

  • US 9,727,796 B2
  • Filed: 03/27/2014
  • Issued: 08/08/2017
  • Est. Priority Date: 03/29/2013
  • Status: Active Grant
First Claim
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1. A parking assistance system to assist parking a vehicle in a parking area, the parking assistance system comprising:

  • a camera; and

    a parking assistance device comprising a processor configured to execute instructions to;

    detect, from a camera image captured with the camera, marker candidates that are areas in each of which an intensity of a color component or an infrared (IR) component exceeds a threshold;

    calculate positions of the marker candidates in the camera image;

    determine whether the marker candidates are valid as the markers, based on the positions of the marker candidates and a predetermined positional relationship of the markers indicating the parking area;

    calculate a path along which the vehicle is to move, based on positions of the marker candidates which is determined to be valid as the markers and a current position of a vehicle; and

    indicate a steering angle for the vehicle to move along the path.

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