Patent ID: 9547796
Date: 2017-01-17
CPC Classifications: B60R,G06K,G08G

Claim:
1. A parking assistance apparatus for providing parking assistance for a self-vehicle using image information displayed inside the self-vehicle, the apparatus comprising: a memory storing past aerial photographs of a number of parking areas acquired by at least one camera; and a computer configured to: detect a position of the self-vehicle; access the past aerial photographs stored in the memory; based on the stored past aerial photographs and the detected position of the self-vehicle, generate an aerial photograph corresponding to the detected position of the self-vehicle; store the aerial photograph corresponding to the detected position of the self-vehicle; create a distance map on a basis of distance measurement data acquired by scanning a periphery of the self-vehicle using a distance measurement sensor mounted on the self-vehicle, the distance measurement data indicating a distance between the self-vehicle and a peripheral object; update the stored aerial photograph, on a basis of the created distance map, and generate a latest peripheral map; display, on a screen, the generated latest peripheral map generated; and interpolate a pseudo-image formed by folding back an image along a central line in a width direction or a length direction of a parked vehicle, as a region that is not sensed as a result of scanning of the parked vehicle by the distance measurement sensor.