{
  "$type": "site.standard.document",
  "description": "A parking assistance device includes: an obstacle detection unit (141) detecting an obstacle (303); a target position determination unit (143) determining a target position (P3) between a first virtual obstacle (311), based on a first obstacle, and a second virtual obstacle (312) based on a second…",
  "path": "/patents/931217",
  "publishedAt": "2017-02-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60Q9/005",
    "AISIN SEIKI [JP]"
  ],
  "textContent": "A parking assistance device includes: an obstacle detection unit (141) detecting an obstacle (303); a target position determination unit (143) determining a target position (P3) between a first virtual obstacle (311), based on a first obstacle, and a second virtual obstacle (312) based on a second obstacle being lined up with the first obstacle in a first direction; and a route determination unit (144) determining a first route (RTP1) from the position of a vehicle (1) to the target position, and that, when while the vehicle travels along the determined first route, the obstacle detection unit has detected a third obstacle positioned between the first and second obstacles and closer to the first obstacle than the second obstacle, enlarges the first virtual obstacle, and determines a second route (RTP2) that avoids the enlarged first virtual obstacle and is set from the position of the vehicle to the target position.",
  "title": "PARKING ASSISTANCE DEVICE"
}