PARKING ASSIST SYSTEM WITH ANNOTATED MAP GENERATION

• US 20150344028A1
• Filed: 06/01/2015
• Published: 12/03/2015
• Est. Priority Date: 06/02/2014
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Gieseke, Achim, Biemer, Michael, Pflug, Goerg, Goseberg, Frank, Boegel, Ruediger
• Granted Patent: US 10,328,932 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2555/00 Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically

Abstract

A driver assistance system of a vehicle includes at least one vehicle environmental sensor having a field of sensing exterior of the vehicle. A sensor data processor is operable to process sensor data captured by the sensor. When the vehicle is operated, the sensor data processor receives captured sensor data that is representative of the vehicle surrounding scene. The sensor data processor fuses the sensor data with map data to generate an annotated master map of the scene captured by the sensor. A display device is operable to display information for viewing by a driver of the vehicle. The displayed information is derived at least in part from the annotated master map and is displayed for viewing by the driver of the vehicle who is executing a maneuver of the vehicle.

Claims

1. A driver assistance system of a vehicle, said driver assistance system comprising:

at least one vehicle environmental sensor disposed at a vehicle equipped with said vision system and having a field of sensing exterior of the equipped vehicle;

a sensor data processor operable to process sensor data captured by said at least one sensor;

wherein, when the equipped vehicle is operated, said sensor data processor receives sensor data captured by said at least one sensor that is representative of the equipped vehicle surrounding scene, and wherein said sensor data processor fuses said sensor data with map data to generate an annotated master map of the scene captured by said at least one sensor;

a display device operable to display information for viewing by a driver of the equipped vehicle; and

wherein the displayed information is derived at least in part from the annotated master map and is displayed for viewing by the driver of the equipped vehicle who is executing a maneuver of the equipped vehicle.

2. The driver assistance system of claim 1, wherein said sensor data is selectively filtered by a filter before being fused into the annotated master map.

3. The driver assistance system of claim 2, wherein said filter comprises a neural grid with neurons having filter parameters.

4. The driver assistance system of claim 2, wherein said filter comprises a classifier having filter parameters learned and optimized during a learning procedure.

5. The driver assistance system of claim 4, wherein said classifier comprises one of a Baysien type classifier and an Adaboost type classifier.

6. The driver assistance system of claim 2, wherein said filter is selectivity controlled by parameters derived from at least one of static sensor properties and dynamic sensor properties.

7. The driver assistance system of claim 6, wherein said filter is selectivity controlled by parameters derived from static sensor properties and wherein said static sensor properties comprises at least a lens map function.

8. The driver assistance system of claim 6, wherein said filter is selectivity controlled by parameters derived from static sensor properties and wherein said static sensor properties comprises at least an ultrasonic sensor sensitivity coil.

9. The driver assistance system of claim 6, wherein said filter is selectivity controlled by parameters derived from dynamic sensor properties and wherein said dynamic sensor properties comprises how steady said sensor'"'"'s map cell frame-wise classification is over time.

10. The driver assistance system of claim 6, wherein said filter is selectivity controlled by parameters derived from dynamic sensor properties and wherein said dynamic sensor properties comprises a time period which has lapsed upon the last sample time of said specific sensor.

11. The driver assistance system of claim 1, wherein said at least one sensor comprises at least one camera having an exterior field of view at the equipped vehicle and wherein said data processor comprises an image data processor, and wherein the maneuver comprises a parking maneuver of the equipped vehicle.

12. The driver assistance system of claim 1, wherein said at least one sensor comprises a plurality of cameras having respective exterior fields of view at the equipped vehicle and wherein said data processor comprises an image data processor operable to process image data captured by said cameras.

13. The driver assistance system of claim 1, wherein the annotated master map is input to a consecutive classification system trained for predicting probable parking spaces according to the annotated master map element'"'"'s scene arrangement.

14. The driver assistance system of claim 13, wherein said consecutive classification system comprises one of a Baysien type classifier and an Adaboost type classifier.

15. The driver assistance system of claim 1, wherein said processor is operable to process sensor data that were pre-processed by another processor.

16. A vision system of a vehicle, said vision system comprising:

a camera disposed at a vehicle equipped with said vision system and having a field of view rearward of the equipped vehicle;

an image processor operable to process image data captured by said camera;

wherein, when the equipped vehicle is parked, with a forward vehicle parked in front of the equipped vehicle and a rearward vehicle parked behind the equipped vehicle, said vision system is operable to determine a forward limit of the parking space responsive to the driver of the equipped vehicle driving the equipped vehicle forward until the front end of the equipped vehicle is close to the forward vehicle; and

wherein, responsive to said image processor and to the determined forward limit of the parking space, said vision system is operable to control the equipped vehicle when the equipped vehicle is leaving the parking space.

17. The vision system of claim 16, wherein said vision system is operable to determine when a tire of the equipped vehicle contacts a curb responsive to a tire pressure sensor of the equipped vehicle.

18. The vision system of claim 16, wherein said vision system is operable to determine when a tire of the equipped vehicle contacts a curb responsive to a suspension sensor of the equipped vehicle.

19. The vision system of claim 16, wherein a rearward limit of the parking space is established at least in part by the driver of the equipped vehicle driving the equipped vehicle rearward until the rear end of the equipped vehicle is close to the rearward vehicle.

20. A driver assistance system of a vehicle, said driver assistance system comprising:

a plurality of cameras disposed at a vehicle equipped with said vision system and having respective fields of view exterior of the equipped vehicle;

an image data processor operable to process image data captured by said cameras;

wherein, when the equipped vehicle is operated, said image data processor receives image data captured by said cameras that is representative of the equipped vehicle surrounding scene, and wherein said image data processor fuses captured image data with map data to generate an annotated master map of the scene captured by said cameras;

a display device operable to display information for viewing by a driver of the equipped vehicle; and

wherein the displayed information is derived at least in part from the annotated master map and is displayed for viewing by the driver of the equipped vehicle who is executing a parking maneuver of the equipped vehicle.