Patent ID: 9727796
Date: 2017-08-08
CPC Classifications: B60R,B60T,B62D,G06K,G06T,H04N

Claim:
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.