Autonomous parking of vehicles in perpendicular parking spots

• US 10,281,921 B2
• Filed: 10/02/2017
• Issued: 05/07/2019
• Est. Priority Date: 10/02/2017
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Simmons, Kyle, Xu, Li, Blue, Douglas, Tseng, Hongtei Eric
• Primary Examiner(s): Nguyen, Tan Q
• Application Number:
  US15/723,104
• Publication Number:
  US 20190101925A1
• Time in Patent Office: 582 Days
• Field of Search: 701 25
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• 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: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931

Abstract

Method and apparatus are disclosed for autonomous parking of vehicles in perpendicular parking spots. An example vehicle includes a front corner, a sensor, and a parking controller. The parking controller is to detect, via the sensor, a perpendicular parking spot and determine a linear parking path located within the perpendicular parking spot along which the front corner is to travel. The parking controller also is to determine an approaching turn path to the linear parking path and autonomously turn along the approaching turn path and the linear parking path into the perpendicular parking spot.

Claims

1. A vehicle comprising:

a front corner;

a sensor; and

a parking controller to;

detect, via the sensor, a perpendicular parking spot;

determine a linear parking path located within the perpendicular parking spot along which the front corner is to travel;

determine an approaching turn path to the linear parking path; and

autonomously turn along the approaching turn path and the linear parking path into the perpendicular parking spot.

2. The vehicle of claim 1, wherein the sensor is selected from the group consisting of a radar sensor, a lidar sensor, and an ultrasonic sensor.

3. The vehicle of claim 1, wherein the sensor is to detect an object near the perpendicular parking spot.

4. The vehicle of claim 3, wherein the parking controller is to determine a location of the object near the perpendicular parking spot.

5. The vehicle of claim 4, wherein the parking controller determines the approaching turn path to avoid the object near the perpendicular parking spot.

6. The vehicle of claim 1, further including a camera to detect at least one of the perpendicular parking spot and an object near the perpendicular parking spot.

7. The vehicle of claim 1, wherein the approaching turn path determined by the parking controller is limited by a minimum turning radius.

8. The vehicle of claim 1, wherein, to determine the linear parking path, the parking controller is to determine an end of the linear parking path at which a vehicle orientation enables entry into the perpendicular parking spot along the linear parking path.

9. The vehicle of claim 1, wherein, to determine the approaching turn path, the parking controller detects a current vehicle position and identifies a vehicle orientation at an end of the linear parking path that enables entry into the perpendicular parking spot along the linear parking path.

10. The vehicle of claim 9, wherein the parking controller identifies a path line relative to the perpendicular parking spot and along which an initial turn point of the approaching turn path is located.

11. The vehicle of claim 10, wherein the parking controller determines whether the approaching turn path is capable of being a 1-point turn based upon the current vehicle position and the vehicle orientation at the end of the linear parking path.

12. The vehicle of claim 11, wherein, responsive to determining the approaching turn path is capable of being a 1-point turn, the parking controller:

determines the approaching turn path as a 1-point turn from the path line to the vehicle orientation at the end of the linear parking path;

identifies the initial turn point along the path line; and

determines an initial path from the current vehicle position to the initial turn point.

13. The vehicle of claim 11, wherein, responsive to determining the approaching turn path is not capable of being a 1-point turn, the parking controller determines whether the approaching turn path is capable of being a 2-point turn based upon the current vehicle position and the vehicle orientation at the end of the linear parking path.

14. The vehicle of claim 13, wherein, responsive to determining the approaching turn path is capable of being a 2-point turn, the parking controller:

determines the approaching turn path as a 2-point turn from the path line to the vehicle orientation at the end of the linear parking path;

identifies the initial turn point along the path line; and

determines an initial path from the current vehicle position to the initial turn point.

15. The vehicle of claim 13, wherein, responsive to determining the approaching turn path is not capable of being a 2-point turn, the parking controller determines whether the approaching turn path is capable of being a 3-point turn based upon the current vehicle position and the vehicle orientation at the end of the linear parking path.

16. The vehicle of claim 15, wherein, responsive to determining the approaching turn path is capable of being a 3-point turn, the parking controller:

determines the approaching turn path as a 3-point turn from the path line to the vehicle orientation at the end of the linear parking path;

identifies the initial turn point along the path line; and

determines an initial path from the current vehicle position to the initial turn point.

17. A method comprising:

detecting a perpendicular parking spot via a camera of a vehicle;

determining, via a processor, a linear parking path located within the perpendicular parking spot along which a front corner of the vehicle is to travel;

determining, via the processor, an approaching turn path to the linear parking path; and

autonomously turning along the approaching turn path and the linear parking path into the perpendicular parking spot.

18. The method of claim 17, further including:

detecting, via the camera, an object near the perpendicular parking spot;

identifying a location of the object; and

determining the approaching turn path to avoid the object.

19. The method of claim 17, further including:

detecting a current vehicle position; and

identifying a vehicle orientation at an end of the linear parking path that enables entry into the perpendicular parking spot along the linear parking path.

20. The method of claim 19, further including determining whether the approaching turn path is capable of being at least one of a 1-point turn, a 2-point turn, and a 3-point turn based upon the current vehicle position, the vehicle orientation at the end of the linear parking path, and a minimum turning radius of the vehicle.