Patent ID: 6999003

Claim:
A parking assistance system provided in a subject vehicle, the system comprising: a first distance measuring unit that measures a distance from a side of the subject vehicle to a parked vehicle based on a time period from when transmitting a signal that is transmitted from the side with directionality to when receiving a reflected signal; a second distance measuring unit that measures an advance distance in an advance direction of the subject vehicle; a storing unit that associates parked-vehicle distance data with advance distance data to store the parked-vehicle distance data and the advance distance data, wherein the parked-vehicle distance data indicates distances that are repeatedly measured by the first distance measuring unit while the advance distance data indicates advance distances measured by the second distance measuring unit; a size determining unit that determines a size of the parked vehicle in the advance direction of the subject vehicle so that the size is shorter than a distance corresponding to the advance distance data; a setting unit that sets a target parking region adjacent to the parked vehicle based on the size, wherein the subject vehicle is expected to be parked in the target parking region; and an operation assisting unit that computes a positional relationship between the subject vehicle and the parked vehicle based on the parked-vehicle distance data and the advance distance data and then conducts an operation assistance for parking the subject vehicle in the target parking region.