PARKING ASSIST SYSTEM

• US 20170015355A1
• Filed: 09/28/2016
• Published: 01/19/2017
• Est. Priority Date: 07/27/2009
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Marczok, Hagen, Goerg, Holger, Di Alberto, Paolo
• Granted Patent: US 9,868,463 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60Q 9/005 using a video camera
• CPC Class Codes: B60Q 9/006 using a distance sensor
• 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 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/8006 for monitoring and displaying scenes of vehicle interior, e.g. for monitoring passengers or cargo
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8086 for vehicle path indication
• CPC Class Codes: B62D 15/0275 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method for vision assisted parking of a vehicle includes displaying video images derived from image data captured by a camera. A controller is operated in a first mode to generate a first overlay that includes a parking space representation of a parking space where the vehicle may be parked, and that is overlayed on the displayed video images at an offset position and remains at the offset position while the driver maneuvers the vehicle to position the parking space representation at a target parking location. The controller is operated in a second mode to generate a second overlay that includes (i) a representation of a predicted rearward path of travel of the vehicle and (ii) a representation of a determined target path. The second overlay is adjusted responsive to steering of the vehicle while the driver follows the determined target path towards and into the target parking location.

Claims

1. A method for vision assisted parking of a vehicle, said method comprising:

capturing image data via a camera mounted at the vehicle and having a field of view rearward and sideward of the vehicle;

displaying video images at a display screen in the vehicle, wherein the video images are derived from image data captured by said camera;

operating a controller in a first mode responsive to a first user input, wherein the controller, when operating in the first mode, generates a first overlay that is overlayed on the video images displayed at the display screen;

wherein the first overlay comprises a parking space representation of a parking space where the vehicle may be parked, and wherein the first overlay is overlayed on the video images at an offset position so that the parking space representation appears offset a selected distance behind the vehicle and a selected distance laterally from the vehicle;

the first overlay remaining at the offset position at the display screen while a driver of the vehicle is maneuvering the vehicle to position the parking space representation at a target parking location that is located within the field of view of said camera and that is being displayed at the display screen;

operating the controller in a second mode responsive to a second user input, wherein the controller, when operating in the second mode, generates a second overlay that is overlayed on the video images displayed at the display screen;

predicting a rearward path of travel of the vehicle based on steering of the vehicle;

determining a target path for the vehicle to follow to maneuver the vehicle from its current location into the target parking location;

wherein the second overlay comprises (i) a representation of the predicted rearward path of travel of the vehicle and (ii) a representation of the determined target path; and

adjusting the second overlay responsive to steering of the vehicle while the driver is reversing the vehicle to generally follow the determined target path towards and into the target parking location.

2. The method of claim 1, wherein the parking space representation comprises (i) a polygonal representation that is offset the selected distance behind the vehicle and the selected distance laterally from the vehicle and (ii) a linear segment extending forward and rearward from the polygonal representation and along one side of the polygonal representation.

3. The method of claim 2, wherein the polygonal representation comprises a rectangular representation of a parking space in which the vehicle may be parked.

4. The method of claim 3, wherein the rectangular representation has a length that represents generally the length of the vehicle.

5. The method of claim 3, wherein the rectangular representation has a length that represents a length of a parking spot required for the vehicle to fit into.

6. The method of claim 3, wherein the rectangular representation has a width that represents generally the width of the vehicle.

7. The method of claim 2, wherein the linear segment extends along a side of the polygonal representation closest to the vehicle.

8. The method of claim 2, wherein the linear segment extends parallel to the target parking location.

9. The method of claim 1, wherein the target parking location is generally parallel to a direction of travel of the vehicle.

10. The method of claim 1, wherein the target parking location is generally perpendicular to a direction of travel of the vehicle.

11. The method of claim 1, wherein determining the target path is based on a location of the vehicle when the second user input is actuated for the controller to operate in the second mode.

12. The method of claim 1, wherein the determined target path for the vehicle and the predicted rearward path of travel of the vehicle are overlayed on the displayed video images to inform the driver of whether the predicted rearward path of travel substantially matches the determined target path.

13. The method of claim 1, wherein, while the driver is reversing the vehicle to follow the determined target path, the second overlay includes a representation of the progress of the vehicle along the determined target path.

14. The method of claim 1, wherein the controller is independently operable in the first mode and the second mode.

15. The method of claim 1, wherein the second user input comprises the vehicle shifting into a reverse gear.

16. The method of claim 1, wherein said camera comprises a rear backup camera.

17. A method for vision assisted parking of a vehicle, said method comprising:

capturing image data via a camera mounted at the vehicle and having a field of view rearward and sideward of the vehicle;

displaying video images at a display screen in the vehicle, wherein the video images are derived from image data captured by said camera;

operating a controller in a first mode responsive to a first user input, wherein the controller, when operating in the first mode, generates a first overlay that is overlayed on the video images displayed at the display screen;

wherein the first overlay comprises a parking space representation of a parking space where the vehicle may be parked, and wherein the first overlay is overlayed on the video images at an offset position so that the parking space representation appears offset a selected distance behind the vehicle and a selected distance laterally from the vehicle, and wherein the parking space representation comprises (i) a rectangular representation that is overlayed on the video images to appear offset the selected distance behind the vehicle and the selected distance laterally from the vehicle and (ii) a linear segment extending forward and rearward from the rectangular representation and along a side of the rectangular representation closest to the vehicle and parallel to the target parking location;

the first overlay remaining at the offset position at the display screen while a driver of the vehicle is maneuvering the vehicle to position the parking space representation at a target parking location that is located within the field of view of said camera and that is being displayed at the display screen;

operating the controller in a second mode responsive to the vehicle shifting into a reverse gear, wherein the controller, when operating in the second mode, generates a second overlay that is overlayed on the video images displayed at the display screen;

predicting a rearward path of travel of the vehicle based on steering of the vehicle;

determining a target path for the vehicle to follow to maneuver the vehicle from its current location into the target parking location;

wherein the second overlay comprises (i) a representation of the predicted rearward path of travel of the vehicle and (ii) a representation of the determined target path; and

adjusting the second overlay responsive to steering of the vehicle while the driver is reversing the vehicle to generally follow the determined target path towards and into the target parking location.

18. The method of claim 17, wherein the determined target path for the vehicle and the predicted rearward path of travel of the vehicle are overlayed on the displayed video images to inform the driver of whether the predicted rearward path of travel substantially matches the determined target path.

19. A method for vision assisted parking of a vehicle, said method comprising:

capturing image data via a camera mounted at the vehicle and having a field of view rearward and sideward of the vehicle;

displaying video images at a display screen in the vehicle, wherein the video images are derived from image data captured by said camera;

operating a controller in a first mode responsive to a first user input, wherein the controller, when operating in the first mode, generates a first overlay that is overlayed on the video images displayed at the display screen;

wherein the first overlay comprises a parking space representation of a parking space where the vehicle may be parked, and wherein the first overlay is overlayed on the video images at an offset position so that the parking space representation appears offset a selected distance behind the vehicle and a selected distance laterally from the vehicle, and wherein the parking space representation comprises (i) a polygonal representation that is overlayed on the video images to appear offset the selected distance behind the vehicle and the selected distance laterally from the vehicle and (ii) a linear segment extending forward and rearward from the polygonal representation and along one side of the polygonal representation;

the first overlay remaining at the offset position at the display screen while a driver of the vehicle is maneuvering the vehicle to position the parking space representation at a target parking location that is located within the field of view of said camera and that is being displayed at the display screen;

operating the controller in a second mode responsive to a second user input, wherein the controller, when operating in the second mode, generates a second overlay that is overlayed on the video images displayed at the display screen;

predicting a rearward path of travel of the vehicle based on steering of the vehicle;

determining a target path for the vehicle to follow to maneuver the vehicle from its current location into the target parking location;

wherein the second overlay comprises (i) a representation of the predicted rearward path of travel of the vehicle and (ii) a representation of the determined target path;

adjusting the second overlay responsive to steering of the vehicle while the driver is reversing the vehicle to generally follow the determined target path towards and into the target parking location; and

wherein, while the driver is reversing the vehicle to follow the determined target path, the second overlay includes a representation of the progress of the vehicle along the determined target path.

20. The method of claim 19, wherein the linear segment extends along a side of the polygonal representation closest to the vehicle, and wherein the linear segment extends parallel to the target parking location.