System and method for autonomous parking of a vehicle

• US 10,210,760 B2
• Filed: 09/21/2016
• Issued: 02/19/2019
• Est. Priority Date: 09/21/2016
• Status: Active Grant

• Current Assignee: New Eagle LLC (Woodward Incorporated)
• Original Assignee: Dura Operating LLC (Dura Automotive Systems)
• Inventors: Hoffman, Jr., Robert John, Unveren, Cumhur, Karjala, Sandeep
• Primary Examiner(s): Brushaber, Frederick M
• Application Number:
  US15/271,643
• Publication Number:
  US 20180082588A1
• Time in Patent Office: 881 Days
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: G01S 11/06 using intensity measurements
• CPC Class Codes: G01S 2205/01 specially adapted for specific applications
• CPC Class Codes: G01S 5/12 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method for autonomous parking of a vehicle includes requesting initiation of an autonomous parking routine; determining the location of a vehicle user of the vehicle comprising the steps of: (a) transmitting a signal by one of an electronic device in the immediate vicinity of the vehicle user and a vehicle transceiver; (b) receiving the signal by the other of the electronic device in the immediate vicinity of the vehicle user and the vehicle transceiver; (c) measuring the strength of the received signal; (d) determining a distance between the electronic device and transceiver based on the strength of the received signal; (e) correlating the distance between the electronic device and transceiver as the distance that the vehicle user is from the vehicle; and initiating the autonomous parking routine only if the vehicle user is determined to be within the vehicle or beyond a predetermined distance from the vehicle.

Claims

1. A method for autonomous parking of a vehicle, comprising the steps of:

requesting initiation of an autonomous parking routine;

determining a location of a vehicle user comprising the steps of;

(a) transmitting a signal by one of an electronic device in the immediate vicinity of the vehicle user and a vehicle transceiver,

(b) receiving the signal by the other of the electronic device in the immediate vicinity of the vehicle user and the vehicle transceiver,

(c) measuring the strength of the received signal,

(d) determining a distance between the electronic device and transceiver based on the strength of the received signal, and

(e) correlating the distance between the electronic device and vehicle transceiver as the distance that the vehicle user is from the vehicle;

initiating the autonomous parking routine to autonomously park the vehicle only if the vehicle user is determined to be one of within the vehicle or beyond a predetermined distance from the vehicle outside the vehicle; and

initiating movement of the autonomous vehicle along a calculated path of travel if the vehicle user is not within the calculated path of travel of the autonomous vehicle.

2. The method of claim 1, wherein the step of determining the location of the vehicle user of the vehicle further includes one of (i) determining the vehicle user to be within the vehicle if the strength of the received signal is above a predetermined value or (ii) determining the vehicle user to be outside the vehicle if the strength of the received signal is below the predetermined value.

3. The method of claim 2, wherein the step of determining the location of the vehicle user of the vehicle further includes:

measuring the strength of the received signal if the vehicle user is determined to be outside the vehicle; and

determining the distance the electronic device is away from the vehicle based on a predetermined relationship between the signal strength and the distance from vehicle.

4. The method of claim 3, further comprising the steps of:

(ii) activating a warning alert if the distance between the electronic device and the vehicle is at or less than the predetermined distance, or

(iii) initiating the autonomous parking routine if the distance between the electronic device and the vehicle is greater than the predetermined distance.

5. The method of claim 4, further comprising the steps of:

detecting a pedestrian in the vicinity of the vehicle outside the vehicle;

determining the distance between the pedestrian and the vehicle; and

one of

(iv) aborting the initiation of the autonomous parking routine and activating the warning alert if the pedestrian is detected within the predetermined distance from the vehicle, or

(v) initiating the autonomous parking routine if the distance between the pedestrian and the vehicle is greater than the predetermined distance.

6. The method of claim 5, wherein the step of detecting the pedestrian includes detecting the pedestrian with at least one vehicle sensor selected from a group of ranging sensors consisting of LiDAR, laser, sonar, and radar.

7. The method of claim 3, wherein the electronic device includes a portable electronic device selected from a group consisting of a key fob, an electronic tablet, a cellular phone, a smart phone, a smart watch, a laptop, and a portable transceiver.

8. The method of claim 7, further comprising the step of pairing an onboard controller with the portable electronic device.

9. The method of claim 3, wherein the predetermined relationship between the signal strength and the distance from vehicle is a lookup table correlating signal strengths with respective distances from the vehicle.

10. The method of claim 3, wherein the electronic device is transmitting the signal and the step of determining the location of the vehicle user further includes determining the direction of the electronic device relative to a side of the vehicle based on the distance of an antenna of a multi-antenna arrangement receiving the strongest signal from the electronic device.

11. A method of determining the location of a portable electronic device relative to an autonomous vehicle, comprising the steps of:

receiving a signal, by an antenna arrangement having a plurality of antennas mounted on the vehicle, transmitted by an electronic device paired with the vehicle;

measuring the strength of the signal received by each of the plurality of antennas;

determining the direction of the electronic device with respect to the autonomous vehicle based the locations of the antenna and the strength of the signal received by each antenna;

comparing the direction of the electronic device with a calculated path of travel for the autonomous vehicle; and

initiate movement of the autonomous vehicle along the calculated path of travel if the direction of the electronic device is not within the calculated path of travel of the autonomous vehicle.

12. The method of claim 11 further including the step of determining the distance of the electronic device from the vehicle based on the strength of the signal.

13. The method of claim 11, further including the step of determining the electronic device to be within the vehicle if the strength of the signal is above a predetermined value.

14. A system for locating a vehicle user in the vicinity of a vehicle, the system comprising:

an antenna arrangement adapted to receive a communication signal from a portable electronic device;

a receiver in communication with the antenna arrangement;

a plurality of ranging sensors adapted to detect pedestrians 360 degrees from the vehicle;

a controller communicatively coupled to the plurality of ranging sensors and receiver;

wherein the controller is configured to measure the strength of the signal and determined the distance of the portable electronic device from the vehicle based on the strength of the signal;

wherein the controller is further configured to initiate an autonomous parking routine to autonomously park the vehicle only if the portable electronic device is determined to be one of within the vehicle or beyond a predetermined distance from the vehicle outside the vehicle; and

wherein the controller is further configured to initiate movement of the autonomous vehicle along a calculated path of travel if the electronic device is not within the calculated path of travel of the autonomous vehicle.

15. The system of claim 14,

wherein the antenna arrangement comprises a plurality of antennas;

and

wherein the controller is further configured to determine the direction of the portable electronic device from the vehicle based on the respective portion of signal strength received from each of the plurality of antennas.

16. The system of claim 15, wherein the controller is further configured to analyze information from the ranging sensors determine a distance and a direction the pedestrian is from the vehicle.

17. The system of claim 16, wherein the controller is further configured to abort the autonomous parking routine and activate a vehicle alert system if the location of at least one of the portable electronic device and the pedestrian is determined to be within a predetermined distance and direction exterior of the vehicle.

18. The system of claim 16 wherein the plurality of ranging sensors is selected from a group consisting of LiDAR, laser, sonar, and radar.

19. The system of claim 16 wherein the portable electronic device is selected from a group consisting of a key fob, an electronic tablet, a cellular phone, a smart phone, a laptop, and a portable transceiver.