US Patent 10442464 Parking assistance apparatus, on-vehicle camera, vehicle, and parking assistance method

A parking assistance apparatus includes a processor and a memory. The processor extracts a parking space from a surrounding image of a vehicle and generates an image in which a target parking position is in overlap with the parking space, the surrounding image being captured by an imaging apparatus provided in the vehicle. The memory stores history information associating a parking position of the vehicle with the parking space. The processor adjusts a position of the target parking position in the image on the basis of the history information.