Object detection during vehicle parking

• US 9,359,009 B2
• Filed: 06/19/2014
• Issued: 06/07/2016
• 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
• Primary Examiner(s): Alharbi, Adam
• Application Number:
  US14/309,081
• Publication Number:
  US 20150266509A1
• Time in Patent Office: 719 Days
• Field of Search: None
• 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 distance measurement by a first ultrasonic sensor and a second distance measurement by a second ultrasonic sensor related to an object during a parking operation;

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 distance measurement, the second distance measurement, a specified height on the vehicle of the first ultrasonic sensor, and a specified height on the vehicle of the second ultrasonic sensor;

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 data includes 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.

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

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

5. 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.

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

7. 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, wherein the data includes at least a first distance measurement by a first ultrasonic sensor and a second distance measurement by a second ultrasonic sensor;

identify a parking operation based on the data;

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 distance measurement, the second distance measurement, a specified height on the vehicle of the first ultrasonic sensor, and a specified height on the vehicle of the second ultrasonic sensor;

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.

8. The system of claim 7, wherein the data includes at least one of an image, global positioning system (GPS) data, vehicle speed data, and vehicle steering angle data.

9. The system of claim 7, wherein the output indicates the risk in relation to a representation of a component of the vehicle.

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

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

collecting data including at least a first distance measurement by a first ultrasonic sensor and a second distance measurement by a second ultrasonic sensor related to an object during a parking operation;

determining a height of the object and determining a horizontal distance of the object from the vehicle based at least in part on the first distance measurement, the second distance measurement, a specified height on the vehicle of the first ultrasonic sensor, and a specified height on the vehicle of the second ultrasonic sensor;

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.

12. The method of claim 11, wherein the data includes 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.

13. The method of claim 11, wherein the collected data includes global positioning system (GPS) data, vehicle speed data, and vehicle steering angle data.

14. The method of claim 11, further comprising indicating the risk in relation to a representation of a component of the vehicle.

15. The method of claim 11, further comprising providing, based on the risk, an instruction to a vehicle controller to take an action.

16. The method of claim 11, further comprising identifying the parking operation based on the collected data.