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1. (WO2018159177) VEHICLE AUTOMATED PARKING SYSTEM AND METHOD

Pub. No.:    WO/2018/159177    International Application No.:    PCT/JP2018/002602
Publication Date: Sat Sep 08 01:59:59 CEST 2018 International Filing Date: Sat Jan 20 00:59:59 CET 2018
IPC: G01C 21/00
B62D 15/02
Applicants: MITSUBISHI ELECTRIC CORPORATION
Inventors: IWANA, Haruyuki
FENG, Chen
TAGUCHI, Yuichi
Title: VEHICLE AUTOMATED PARKING SYSTEM AND METHOD
Abstract:
A system for parking a vehicle within a parking space (PS) controls motion of the vehicle according to a first parking path (FPP) ending at a target state and determines a second parking path (SPP) from a current to the target states using a model of the PS. The system acquires images of the PS using sensor(s) during the motion of the vehicle along the FPP and constructs the model using the images. The model is used to generate a set of virtual images of the environment of the PS as viewed from a set of virtual viewpoints defining states of the vehicle outside of the FPP. The current state of the vehicle is determined by comparing a current image of the PS from the sensor while the vehicle is in the current state with virtual images. The SPP is determined from the current to the target states.