Patent ID: 6898527

Claim:
A parking assisting device comprising: a first distance sensor for measuring a distance to an obstacle on a side of a vehicle; a second distance sensor for measuring a moving distance of the vehicle; yaw angle detecting means for detecting a yaw angle of the vehicle; guiding means for outputting guiding information on a driving operation to a driver; and a controller for grasping an initial stop position based on the distance to the obstacle on the side of the vehicle measured by the first distance sensor and the moving distance of the vehicle measured by the second distance sensor at a time of an advancing operation of the vehicle until reaching the initial stop position, for calculating a track for back parking as two circular arcs having predetermined radii respectively which are circumscribed to each other based on the distance to the obstacle on the side of the vehicle measured by the first distance sensor, and for providing to the driver via the guiding means a steering wheel cutting position based on an angle corresponding to a point in which the two circular arcs are circumscribed and the yaw angle detected by the yaw angle detecting means.