Method and system for detecting gaps between objects

• US 8,269,616 B2
• Filed: 07/16/2009
• Issued: 09/18/2012
• Est. Priority Date: 07/16/2009
• Status: Active Grant

• Current Assignee: Toyota Motor Corporation
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Uehara, Yasuo
• Primary Examiner(s): Pham, Toan N
• Application Number:
  US12/504,635
• Publication Number:
  US 20110012718A1
• Time in Patent Office: 1,160 Days
• Field of Search: 340/435, 340/932.2, 340/436, 340/437, 340/438, 340/937, 348/744
• US Class Current: 340/435
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 7/411 Identification of targets based on measurements of radar reflectivity G01S7/415 takes precedence

Abstract

The present invention is directed to a method and system to determine gaps, such as parking spaces, between objects. A sensor acquires a set of scanning data. A noise filter unit filters the set of scanning data and a data derivative unit generates a set of derivative data from the set of scanning data. A data analysis unit determines locations of gaps by selectively analyzing the set of derivative data which exceed a first predetermined distance and/or a second predetermined distance. The gap definition unit determines the substantial locations, shapes, and sizes of the gaps based on the previously defined location from the data analysis unit. A report generation unit generates a report including the set of gaps defined by the gap definition unit. The report is displayed on a display in a color coded format easily visible and discernable to a driver of the automobile.

Claims

1. A method for detecting gaps between objects comprising:

acquiring a set of scanning data, each of the scanning data indicating, for a sequential location, a distance of a nearest object from a predetermined location;

filtering the set of scanning data to remove noise;

determining a set of derivative data from the set of scanning data;

analyzing the set of derivative data greater than a first predetermined distance;

defining a first set of gaps between objects based on the set of derivative data greater than the first predetermined distance; and

generating a report including the first set of gaps between objects.

2. The method of claim 1 wherein the step of determining the derivative of the set of scanning data includes determining the absolute derivative of the set of scanning data.

3. The method of claim 1 wherein the predetermined location is an automobile, and the first predetermined distance is at least a width of the automobile.

4. The method of claim 1 wherein the predetermined location is an automobile, and the first predetermined distance is at least a parking width of the automobile.

5. The method of claim 1 further comprising analyzing the set of derivative data greater than a second predetermined distance, the second predetermined distance being greater than the first predetermined distance.

6. The method of claim 5 further comprising:

defining a second set of gaps between objects based on the set of derivative data greater than the second predetermined distance; and

generating a report including the second set of gaps between objects.

7. The method of claim 6 wherein the predetermined location is an automobile, and the second predetermined distance is at least a length of the automobile.

8. The method of claim 6 wherein the predetermined location is an automobile, and the first predetermined distance is at least a parking width of the automobile.

9. The method of claim 6 wherein the first set of gaps are perpendicular parking spaces and the second set of gaps are parallel parking spaces.

10. The method of claim 1 wherein the step of filtering the set of scanning data to remove noise includes filtering the set of scanning data with a time domain frequency filter or a spatial domain frequency filter.

11. A method for detecting gaps between objects comprising:

acquiring a set of scanning data, each of the scanning data indicating, for an angular location, a distance of a nearest object from a predetermined location;

filtering the set of scanning data to remove noise;

determining a set of derivative data from the set of scanning data;

analyzing the set of derivative data greater than a first predetermined distance;

analyzing the set of derivative data greater than a second predetermined distance, the second predetermined distance being greater than the first predetermined distance;

defining a first set of gaps between objects based on the set of derivative data greater than the first predetermined distance;

defining a second set of gaps between objects based on the set of derivative data greater than the second predetermined distance; and

generating a report including the first set of gaps between objects and the second set of gaps between objects.

12. The method of claim 11 wherein the step of determining the derivative of the set of scanning data includes determining the absolute derivative of the set of scanning data.

13. The method of claim 11 wherein the predetermined location is an automobile, the first predetermined distance is at least a width of the automobile, and the second predetermined distance is at least a length of the automobile.

14. The method of claim 11 wherein the predetermined location is an automobile, the first predetermined distance is at least a parking width of the automobile, and the second predetermined distance is at least a parking length of the automobile.

15. The method of claim 11 wherein the step of filtering the set of scanning data to remove noise includes filtering the set of scanning data with a time domain frequency filter or a spatial domain frequency filter.

16. The method of claim 11 wherein the first set of gaps is perpendicular parking spaces and the second set of gaps is parallel parking spaces.

17. A system in an automobile for detecting gaps between objects comprising:

a sensor acquiring a set of scanning data, each of the scanning data indicating, for a sequential location, a distance of a nearest object from a predetermined location;

a noise filter unit communicatively coupled to the sensor filtering the set of scanning data to remove noise;

a data derivative unit communicatively coupled to the noise filter extracting a set of derivative data from the set of scanning data;

a data analysis unit communicatively coupled to the data derivative unit analyzing the set of derivative data greater than a first predetermined distance, and analyzing the set of derivative data greater than a second predetermined distance, the second predetermined distance being greater than the first predetermined distance;

a gap definition unit communicatively coupled to the data analysis unit defining a first set of gaps between objects based on the set of derivative data greater than the first predetermined distance, and defining a second set of gaps between objects based on the set of derivative data greater than the second predetermined distance; and

a report generation unit communicatively coupled to the gap generation unit generating a report including the first set of gaps between objects and the second set of gaps between objects.

18. The system of claim 17 wherein the data derivative unit extracts an absolute derivative of the set of scanning data to form the set of derivative data.

19. The method of claim 18 wherein the predetermined location is an automobile, the first predetermined distance is at least a parking width of the automobile, the second predetermined distance is at least a parking length of the automobile, the first set of gaps are perpendicular parking spaces, and the second set of gaps are parallel parking spaces.

20. The method of claim 19 wherein the step of filtering the set of scanning data to remove noise includes filtering the set of scanning data with a time domain frequency filter or a spatial domain frequency filter.