Autonomous vehicle parking

• US 10,386,845 B1
• Filed: 01/18/2017
• Issued: 08/20/2019
• Est. Priority Date: 01/22/2016
• Status: Active Grant

• Current Assignee: State Farm Mutual Automobile Insurance Company (State Farm)
• Original Assignee: State Farm Mutual Automobile Insurance Company (State Farm)
• Inventors: Konrardy, Blake, Christensen, Scott T., Hayward, Gregory, Farris, Scott
• Primary Examiner(s): Cheung, Calvin
• Application Number:
  US15/409,163
• Time in Patent Office: 944 Days
• CPC Class Codes: B60L 53/36 by positioning the vehicle
• CPC Class Codes: B60L 58/12 responding to state of charge [SoC]
• CPC Class Codes: B60P 3/12 for salvaging damaged vehicles
• CPC Class Codes: B60R 16/0234 related to maintenance or repairing of vehicles
• CPC Class Codes: B60R 2021/0027 Post collision measures, e.g. notifying emergency services
• CPC Class Codes: B60R 2021/01013 Means for detecting collision, impending collision or roll-over
• CPC Class Codes: B60R 2025/1013 Alarm systems characterised by the type of warning signal, e.g. visual, audible
• CPC Class Codes: B60R 21/0136 responsive to actual contact with an obstacle , e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle monitoring crash strength in combination with passenger seat detection B60R21/01558
• CPC Class Codes: B60R 21/34 Protecting non-occupants of a vehicle, e.g. pedestrians B60R19/02 takes precedence
• CPC Class Codes: B60R 25/04 operating on the propulsion system, e.g. engine or drive motor
• CPC Class Codes: B60R 25/10 actuating a signalling device
• CPC Class Codes: B60R 25/1001 Alarm systems associated with another car fitting or mechanism, e.g. door lock or knob, pedals features related to the general power supply B60R25/1018
• CPC Class Codes: B60R 25/102 a signal being sent to a remote location, e.g. a radio signal being transmitted to a police station, a security company or the owner
• CPC Class Codes: B60R 25/104 characterised by the type of theft warning signal, e.g. visual or audible signals with special characteristics
• CPC Class Codes: B60R 25/252 Fingerprint recognition
• CPC Class Codes: B60R 25/255 Eye recognition
• CPC Class Codes: B60R 25/305 using a camera
• CPC Class Codes: B60R 25/31 of human presence inside or outside the vehicle
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 : including control of steering systems
• CPC Class Codes: B60W 2420/403 : Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 : Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2530/209 : Fuel quantity remaining in tank
• CPC Class Codes: B60W 2540/229 : Attention level, e.g. attentive to driving, reading or sleeping
• CPC Class Codes: B60W 2552/05 : Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/35 : Road bumpiness, e.g. potholes
• CPC Class Codes: B60W 2554/4026 : Cycles
• CPC Class Codes: B60W 2554/4029 : Pedestrians
• CPC Class Codes: B60W 2554/4041 : Position
• CPC Class Codes: B60W 2554/406 : Traffic density
• CPC Class Codes: B60W 2556/10 : Historical data
• CPC Class Codes: B60W 30/0956 : the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/12 : Lane keeping
• CPC Class Codes: B60W 30/16 : Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18163 : Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 40/04 : Traffic conditions
• CPC Class Codes: B60W 60/0023 : in response to energy consumption
• CPC Class Codes: B60W 60/0053 : from vehicle to occupant
• CPC Class Codes: B60W 60/0059 : Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
• CPC Class Codes: G01B 21/00 : Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
• CPC Class Codes: G01C 21/34 : Route searching; Route guidance
• CPC Class Codes: G01C 21/3415 : Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G01C 21/343 : Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips travelling salesman problem G06Q10/04; optimisation of routes G06Q10/047
• CPC Class Codes: G01C 21/3438 : Rendez-vous, i.e. searching a destination where several users can meet, and the routes to this destination for these users; Ride sharing, i.e. searching a route such that at least two users can share a vehicle for at least part of the route
• CPC Class Codes: G01C 21/3453 : Special cost functions, i.e. other than distance or default speed limit of road segments
• CPC Class Codes: G01C 21/3461 : Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
• CPC Class Codes: G01C 21/3469 : Fuel consumption; Energy use; Emission aspects
• CPC Class Codes: G01C 21/3617 : using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement
• CPC Class Codes: G01C 21/362 : received from an external device or application, e.g. PDA, mobile phone or calendar application
• CPC Class Codes: G01C 21/3697 : Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• CPC Class Codes: G01S 19/13 : Receivers
• CPC Class Codes: G01S 19/42 : Determining position
• CPC Class Codes: G05B 15/02 : electric
• CPC Class Codes: G05B 23/0245 : based on a qualitative model, e.g. rule based; if-then decisions
• CPC Class Codes: G05D 1/0011 : associated with a remote control arrangement
• CPC Class Codes: G05D 1/0055 : with safety arrangements
• CPC Class Codes: G05D 1/0212 : with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• 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 1/0246 : using a video camera in combination with image processing means
• 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 1/0285 : using signals transmitted via a public communication network, e.g. GSM network
• CPC Class Codes: G05D 1/0287 : involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16
• CPC Class Codes: G05D 1/0289 : with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G05D 1/0293 : Convoy travelling
• CPC Class Codes: G05D 1/0295 : by at least one leading vehicle of the fleet
• CPC Class Codes: G05D 1/223 : Command input arrangements on the remote controller, e.g. joysticks or touch screens
• CPC Class Codes: G05D 1/227 : Handing over between remote control and on-board control; Handing over between remote control arrangements
• CPC Class Codes: G05D 1/228 : Command input arrangements located on-board unmanned vehicles
• CPC Class Codes: G05D 1/247 : using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
• CPC Class Codes: G05D 1/249 : from positioning sensors located off-board the vehicle, e.g. from cameras
• CPC Class Codes: G05D 1/617 : Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80
• CPC Class Codes: G05D 1/646 : Following a predefined trajectory, e.g. a line marked on the floor or a flight path
• CPC Class Codes: G05D 1/69 : Coordinated control of the position or course of two or more vehicles
• CPC Class Codes: G05D 1/692 : involving a plurality of disparate vehicles
• CPC Class Codes: G05D 1/693 : for avoiding collisions between vehicles
• CPC Class Codes: G05D 1/695 : for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
• CPC Class Codes: G05D 1/697 : for rendezvous of two or more vehicles, e.g. for in-flight refuelling docking at a base station G05D1/661
• CPC Class Codes: G06F 11/3688 : for test execution, e.g. scheduling of test suites
• CPC Class Codes: G06F 11/3692 : for test results analysis
• CPC Class Codes: G06F 16/2455 : Query execution
• CPC Class Codes: G06F 16/90335 : Query processing
• CPC Class Codes: G06F 17/00 : Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: G06F 21/32 : using biometric data, e.g. fingerprints, iris scans or voiceprints
• CPC Class Codes: G06F 21/55 : Detecting local intrusion or implementing counter-measures
• CPC Class Codes: G06F 2221/034 : Test or assess a computer or a system
• CPC Class Codes: G06F 30/15 : Vehicle, aircraft or watercraft design
• CPC Class Codes: G06F 30/20 : Design optimisation, verification or simulation optimisation, verification or simulation of circuit designs G06F30/30
• CPC Class Codes: G06N 20/00 : Machine learning
• CPC Class Codes: G06Q 10/1095 : Meeting or appointment
• CPC Class Codes: G06Q 10/20 : Administration of product repair or maintenance
• CPC Class Codes: G06Q 30/0284 : Time or distance, e.g. usage of parking meters or taximeters
• CPC Class Codes: G06Q 30/0645 : Rental transactions; Leasing transactions
• CPC Class Codes: G06Q 40/08 : Insurance
• CPC Class Codes: G06Q 50/163 : Real estate management
• CPC Class Codes: G06Q 50/265 : Personal security, identity or safety
• CPC Class Codes: G06Q 50/40 : Business processes related to the transportation industry shipping G06Q10/083
• CPC Class Codes: G07C 5/006 : Indicating maintenance
• CPC Class Codes: G07C 5/008 : communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G07C 5/0808 : Diagnosing performance data testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005
• CPC Class Codes: G07C 5/0816 : Indicating performance data, e.g. occurrence of a malfunction
• CPC Class Codes: G07C 5/0841 : Registering performance data recording measured values G01D; information storage G11B
• CPC Class Codes: G07C 9/00563 : using personal physical data of the operator, e.g. finger prints, retinal images, voicepatterns
• CPC Class Codes: G08B 21/00 : Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
• CPC Class Codes: G08B 21/02 : Alarms for ensuring the safety of persons
• CPC Class Codes: G08B 21/18 : Status alarms G08B21/02 takes precedence
• CPC Class Codes: G08B 25/00 : Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
• CPC Class Codes: G08B 25/014 : Alarm signalling to a central station with two-way communication, e.g. with signalling back
• CPC Class Codes: G08G 1/017 : identifying vehicles G08G1/015, G08G1/054 take precedence
• CPC Class Codes: G08G 1/0965 : responding to signals from another vehicle, e.g. emergency vehicle
• CPC Class Codes: G08G 1/096725 : where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096783 : where the origin of the information is a roadside individual element
• CPC Class Codes: G08G 1/143 : inside the vehicles
• CPC Class Codes: G08G 1/146 : where the parking area is a limited parking space, e.g. parking garage, restricted space
• CPC Class Codes: G08G 1/148 : Management of a network of parking areas
• CPC Class Codes: G08G 1/161 : Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/20 : Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: G08G 1/205 : Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
• CPC Class Codes: G16Y 10/80 : Homes; Buildings
• CPC Class Codes: G16Y 30/00 : IoT infrastructure
• CPC Class Codes: H04L 12/2803 : Home automation networks
• CPC Class Codes: H04L 12/2816 : Controlling appliance services of a home automation network by calling their functionalities arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station; in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom H04Q9/00
• CPC Class Codes: H04L 12/2825 : Reporting to a device located outside the home and the home network access arrangements H04L12/2856; for remote control or remote monitoring of applications H04L67/025; telephonic communication systems adapted for combination with telemetering systems H04M11/002
• CPC Class Codes: H04L 67/12 : specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04L 67/306 : User profiles
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source
• CPC Class Codes: Y02A 10/40 : Controlling or monitoring, e.g. of flood or hurricane; Forecasting, e.g. risk assessment or mapping
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 : Electric charging stations

Abstract

Methods and systems autonomously parking and retrieving vehicles are disclosed. Available parking spaces or parking facilities may be identified, and the vehicle may be navigated to an available space from a drop-off location without passengers. Special-purpose sensors, GPS data, or wireless signal triangulation may be used to identify vehicles and available parking spots. Upon a user request or a prediction of upcoming user demand, the vehicle may be retrieved autonomously from a parking space. Other vehicles may be autonomously moved to facilitate parking or retrieval.

Claims

1. A computer-implemented method for automatically parking a vehicle capable of autonomous operation at a parking facility, comprising:

receiving, at one or more processors via a communication network, a request for a parking space for the vehicle, wherein the request indicates a destination;

sending, from the one or more processors via the communication network, an indication of a drop-off location based upon the destination, which drop-off location is remote from the parking facility;

determining, by the one or more processors, whether at least one parking space is available at the parking facility;

when the parking facility is determined to have at least one parking space available;

reserving, by the one or more processors, a requested parking space associated with a specific location within the parking facility based upon an estimate of a parking time duration the vehicle is expected to remain in the parking facility;

sending, from the one or more processors via the communication network, an indication that the requested parking space is available at the parking facility;

causing, by the one or more processors, a vehicle control system of the vehicle to operate the vehicle autonomously from the drop-off location to the requested parking space and park at the requested parking space; and

when the parking facility is determined not to have at least one parking space available;

determining, by the one or more processors, an alternative parking facility, and

sending, from the one or more processors via the communication network, an indication of the alternative parking facility.

2. The computer-implemented method of claim 1, wherein:

determining whether at least one parking space is available at the parking facility includes determining a location of the requested parking space at the parking facility when the parking facility is determined to have at least one parking space available; and

sending the indication that the requested parking space is available at the parking facility includes sending an indication of the location of the requested parking space.

3. The computer-implemented method of claim 1, wherein:

the parking facility is equipped with a plurality of sensors to determine whether each of a plurality of parking spaces is occupied; and

the determination of whether at least one parking space is available is based upon sensor data received from the plurality of sensors.

4. The computer-implemented method of claim 1, wherein determining whether at least one parking space is available at the parking facility includes:

receiving, at the one or more processors, location data from geolocation units within each of a plurality of vehicles parked within the parking facility; and

comparing, by the one or more processors, the received location data with locations of a plurality of parking spaces within the parking facility to determine whether at least one of the plurality of parking spaces has no corresponding location data from the plurality of vehicles.

5. The computer-implemented method of claim 1, further comprising, when the parking facility is determined to have at least one parking space available:

causing, by the one or more processors, the vehicle control system of the vehicle to operate the vehicle autonomously to the drop-off location; and

causing, by the one or more processors, the vehicle to stop at the drop-off location to allow one or more passengers to exit the vehicle.

6. The computer-implemented method of claim 1, further comprising, when the parking facility is determined to have at least one parking space available:

after the vehicle is parked at the requested parking space, causing, by the one or more processors, an additional vehicle control system of an additional vehicle to park the additional vehicle in a location that blocks movement of the vehicle.

7. The computer-implemented method of claim 1, further comprising, when the parking facility is determined to have at least one parking space available:

determining, by the one or more processors, a location of the requested parking space; and

causing, by the one or more processors, a vehicle control system of the vehicle to operate the vehicle autonomously from a drop-off location to the requested parking space without any passengers,

wherein the requested parking space is located within a portion of the parking facility where passenger access is restricted.

8. The computer-implemented method of claim 7, wherein the requested parking space is configured in such proximity to other parking spaces that there is insufficient room to open one or more doors of the vehicle when parked in the requested parking space.

9. The computer-implemented method of claim 1, wherein determining the alternative parking facility includes determining that at least one parking space is available at the alternative parking facility.

10. The computer-implemented method of claim 1, further comprising:

determining, by the one or more processors, the parking facility from a plurality of parking facilities based upon one or more of the following;

price, distance from a current location of the vehicle, distance from a destination location of the vehicle, or accessibility of the vehicle while parked.

11. The computer-implemented method of claim 1, further comprising, when the parking facility is determined to have at least one parking space available:

determining, by the one or more processors, that one or more parked vehicles must be moved to permit access to the requested parking space by the vehicle;

determining, by the one or more processors, a movement plan including routes for movement of the one or more parked vehicles; and

causing, by the one or more processors, vehicle control systems of the one or more parked vehicles to operate autonomously according to the movement plan.

12. The computer-implemented method of claim 11, wherein:

the movement plan further includes a route for movement of the vehicle; and

the vehicle is caused to move according to the movement plan.

13. The computer-implemented method of claim 1, further comprising:

determining, by the one or more processors, the estimate of the parking time duration for the vehicle,

wherein determining whether a least one parking space is available at the parking facility includes determining whether a parking space matching the estimate of the parking time duration is available in a parking queue, the parking queue being either a first-in first-out (FIFO) queue or a last-in first-out (LIFO) queue.

14. A computer system for automatically parking a vehicle capable of autonomous operation at a parking facility, comprising:

one or more processors;

a communication unit configured to communicate between the one or more processors and a computing device associated with the vehicle via a communication network; and

a program memory coupled to the one or more processors and storing executable instructions that, when executed by the one or more processors, cause the computer system to;

receive a request for a parking space for the vehicle at the communication unit via the communication network, wherein the request indicates a destination;

send an indication of a drop-off location based upon the destination via the communication network, which drop-off location is remote from the parking facility;

determine whether at least one parking space is available at the parking facility;

when the parking facility is determined to have at least one parking space available;

reserve a requested parking space associated with a specific location within the parking facility based upon an estimate of a parking time duration the vehicle is expected to remain in the parking facility;

send an indication that the requested parking space is available at the parking facility from the communication unit via the communication network;

cause a vehicle control system of the vehicle to operate the vehicle autonomous from the drop-off location to the requested parking space and park at the requested parking space; and

when the parking facility is determined not to have at least one parking space available;

determine an alternative parking facility, and

send an indication of the alternative parking facility from the communication unit via the communication network.

15. The computer system of claim 14, wherein the program memory further stores executable instructions that cause the computer system to, when the parking facility is determined to have at least one parking space available:

cause the vehicle control system of the vehicle to operate the vehicle autonomously to the drop-off location; and

cause the vehicle to stop at the drop-off location to allow one or more passengers to exit the vehicle.

16. The computer system of claim 14, wherein the program memory further stores executable instructions that cause the computer system to, when the parking facility is determined to have at least one parking space available:

determine that one or more parked vehicles must be moved to permit access to the requested parking space by the vehicle;

determine a movement plan including routes for movement of the one or more parked vehicles; and

cause vehicle control systems of the one or more parked vehicles to operate autonomously according to the movement plan.

17. The computer system of claim 14, wherein the executable instructions that cause the computer system to determine whether at least one parking space is available at the parking facility further cause the computer system to:

receive location data from geolocation units within each of a plurality of vehicles parked within the parking facility; and

compare the received location data with locations of a plurality of parking spaces within the parking facility to determine whether at least one of the plurality of parking spaces has no corresponding location data from the plurality of vehicles.

18. A tangible, non-transitory computer-readable medium storing instructions for automatically parking a vehicle capable of autonomous operation at a parking facility that, when executed by at least one processor of a computer system, cause the computer system to:

receive a request for a parking space for the vehicle from a computing device associated with the vehicle via a communication network, wherein the request indicates a destination;

send an indication of a drop-off location based upon the destination via the communication network, which drop-off location is remote from the parking facility;

determine whether at least one parking space is available at the parking facility;

when the parking facility is determined to have at least one parking space available;

reserve a requested parking space associated with a specific location within the parking facility based upon an estimate of a parking time duration the vehicle is expected to remain in the parking facility;

send an indication that the requested parking space is available at the parking facility to the computing device associated with the vehicle via the communication network;

cause a vehicle control system of the vehicle to operate the vehicle autonomous from the drop-off location to the requested parking space and park at the requested parking space; and

when the parking facility is determined not to have at least one parking space available;

determine an alternative parking facility, and

send an indication of the alternative parking facility to the computing device associated with the vehicle via the communication network.

19. The tangible, non-transitory computer-readable medium of claim 18, further storing instructions that cause the computer system to, when the parking facility is determined to have at least one parking space available:

determine that one or more parked vehicles must be moved to permit access to the requested parking space by the vehicle;

determine a movement plan including routes for movement of the one or more parked vehicles; and

cause vehicle control systems of the one or more parked vehicles to operate autonomously according to the movement plan.