OBJECT DETECTION DURING VEHICLE PARKING

• US 20150266509A1
• Filed: 06/19/2014
• Published: 09/24/2015
• Est. Priority Date: 03/22/2014
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Ignaczak, Brad, Ghneim, Maher, Murray, Andrew John, Vazquez, Tania
• Granted Patent: US 9,359,009 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means

Abstract

A computer in a vehicle is programmed to collect data related to an object; use the data to generate a virtual map of the object with respect to the vehicle; and provide output based on the virtual map that indicates a risk of the parking operation.

Claims

1. A system, comprising a computer in a vehicle, the computer comprising a processor and a memory, wherein the computer is programmed to:

collect data including at least a first datum and a second datum related to an object during a parking operation, wherein each of the two data is selected from the group consisting of an ultrasonic sensor distance measurement and an image;

use the data to generate a virtual map of the object with respect to the vehicle; and

provide output based on the virtual map that indicates a risk of the parking operation.

2. The system of claim 1, wherein the first datum is a distance measurement by an ultrasonic sensor, and the second datum is an image, wherein the computer is further programmed to:

classify the object using the image;

assign a height to the object based at least in part on the object classification; and

determine a horizontal distance of the object from the vehicle based at least in part on the distance measurement by the ultrasonic sensor and the height.

3. The system of claim 1, wherein the first datum is a first distance measurement by a first ultrasonic sensor, and the second datum is a distance measurement by a second ultrasonic sensor, wherein the computer is further programmed to:

determine a height of the object and determine a horizontal distance of the object from the vehicle based at least in part on the first datum, the second datum, a specified height of the first ultrasonic sensor, and a specified height of the second ultrasonic sensor.

4. The system of claim 1, wherein one of the first datum and the second datum is an image, wherein the computer is further programmed to:

classify the object using the image and determine three-dimensional coordinates of the object with respect to the vehicle based at least in part on the classification.

5. The system of claim 1, wherein the collected data includes global positioning system (GPS) data, vehicle speed data, and vehicle steering angle data.

6. The system of claim 1, wherein the output indicates the risk in relation to a representation of a component of the vehicle.

7. The system of claim 1, wherein the computer is further programmed to provide, based on the risk, an instruction to a vehicle controller to take an action.

8. The system of claim 1, wherein the computer is further programmed to identify the parking operation based on the collected data.

9. A system, comprising a computer in a vehicle, the computer comprising a processor and a memory, wherein the computer is programmed to:

collect data related to an object;

identify a parking operation based on the data;

use the data to generate a virtual map of the object with respect to the vehicle; and

provide output based on the virtual map that indicates a risk of the parking operation.

10. The system of claim 9, wherein the data includes at least one of a distance measurement by an ultrasonic sensor, an image, global positioning system (GPS) data, vehicle speed data, and vehicle steering angle data.

11. The system of claim 9, wherein the output indicates the risk in relation to a representation of a component of the vehicle.

12. The system of claim 9, wherein the computer is further programmed to provide, based on the risk, an instruction to a vehicle controller to take an action.

13. A method, carried out according to instructions stored in a computer in a vehicle comprising:

collecting data including at least a first datum and a second datum related to an object during a parking operation, wherein each of the two data is selected from the group consisting of an ultrasonic sensor distance measurement and an image;

using the data to generate a virtual map of the object with respect to the vehicle; and

provide output based on the virtual map that indicates a risk of the parking operation.

14. The method of claim 13, wherein the first datum is a distance measurement by an ultrasonic sensor, and the second datum is an image, the method further comprising:

classify the object using the image;

assign a height to the object based at least in part on the object classification; and

determine a horizontal distance of the object from the vehicle based at least in part on the distance measurement by the ultrasonic sensor and the height.

15. The method of claim 13, wherein the first datum is a first distance measurement by a first ultrasonic sensor, and the second datum is a distance measurement by a second ultrasonic sensor, the method further comprising:

determine a height of the object and determine a horizontal distance of the object from the vehicle based at least in part on the first datum, the second datum, a specified height of the first ultrasonic sensor, and a specified height of the second ultrasonic sensor.

16. The method of claim 13, wherein one of the first datum and the second datum is an image, the method further comprising:

classify the object using the image and determine three-dimensional coordinates of the object with respect to the vehicle based at least in part on the classification.

17. The method of claim 13, wherein the collected data includes global positioning system (GPS) data, vehicle speed data, and vehicle steering angle data.

18. The method of claim 13, further comprising indicating the risk in relation to a representation of a component of the vehicle.

19. The method of claim 13, further comprising providing, based on the risk, an instruction to a vehicle controller to take an action.

20. The method of claim 13, further comprising identifying the parking operation based on the collected data.