{
  "$type": "site.standard.document",
  "description": "A parking assistance device for resetting a parking path when an obstacle is on the parking path includes a pull-out path computing unit that computes a pull-out path for pulling the vehicle out of the parking space based on parking space information and constraints regarding vehicle behavior, a…",
  "path": "/patents/1286524",
  "publishedAt": "2021-03-25T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/06",
    "CLARION CO., LTD."
  ],
  "textContent": "A parking assistance device for resetting a parking path when an obstacle is on the parking path includes a pull-out path computing unit that computes a pull-out path for pulling the vehicle out of the parking space based on parking space information and constraints regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions on the pull-out path, a reachable path computing unit that computes a reachable path for allowing the vehicle to reach at least one of the candidate connection positions from the initial position, a parking path setting unit that sets a parking path of from the initial position to the parking space by connecting the pull-out and reachable paths, and a path resetting unit that computes a parking path of from the stop position to the parking space, and sets the computed parking path as a new parking path.",
  "title": "PARKING ASSISTANCE DEVICE"
}