Granted Patent B2

US 12,586,470 · App. 18/774,251 · Granted Mar 24, 2026

Inventor: Koichiro Yamauchi (Tokyo-to, JP)

Assignees: TOYOTA JIDOSHA KABUSHIKI KAISHA; DENSO CORPORATION

G08G1/168G06F3/013

Abstract

Claims (17)

1 . An exit assist device comprising:

a processor configured to:

estimate a direction of a line of sight of a driver based on an image in which a vicinity of a driving seat is represented,

recognize multiple directions in which a vehicle can exit from a parking space, based on information representing surrounding environment of the vehicle,

decide on an exiting direction from among the multiple recognized directions in which the vehicle is to exit from the parking space, based on the direction of the line of sight of the driver,

generate a traveling route for the vehicle to exit from the parking space based on the exiting direction, and

notify an automatic control device of the traveling route, and in response, the automatic control device is configured to autonomously control the vehicle to exit from the parking space along the generated traveling route in accordance with the notification.

2 . The exit assist device according to claim 1 , wherein the processor is further configured to decide on the exiting direction as the direction with the longest time for orientation of the line of sight of the driver from among the multiple recognized directions.

3 . The exit assist device according to claim 1 , wherein the processor is further configured to:

detect a number of moves for which objects move around the vehicle, based on information representing surrounding environment of the vehicle, and

decide that the exiting direction is the direction opposite from the direction with the longest time for orientation of the line of sight of the driver from among the multiple recognized directions, when the detected number of moves exceeds a predetermined reference value, or decide that the exiting direction is the direction with the longest time for orientation of the line of sight of the driver from among the multiple recognized directions, when the detected number of moves does not exceed the reference value.

4 . An exit assist method which is carried out by an exit assist device and the method comprising:

estimating a direction of a line of sight of a driver based on an image in which a vicinity of a driving seat is represented;

recognize multiple directions in which a vehicle can exit from a parking space, based on information representing surrounding environment of the vehicle,

deciding on an exiting direction from among the multiple recognized directions in which the vehicle is to exit from the parking space, based on the direction of the line of sight of the driver;

generating a traveling route for the vehicle to exit from the parking space based on the exiting direction, and

notifying an automatic control device of the traveling route, and in response, the automatic control device is configured to autonomously control the vehicle to exit from the parking space along the generated traveling route in accordance with the notification.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (9)