System and method for autonomous valet parking using plenoptic cameras

• US 9,557,741 B1
• Filed: 08/24/2015
• Issued: 01/31/2017
• Est. Priority Date: 08/24/2015
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Elie, Larry Dean, Rhode, Douglas Scott
• Primary Examiner(s): Frejd, Russell
• Application Number:
  US14/834,203
• Time in Patent Office: 526 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01B 11/22 for measuring depth
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06F 16/5854 using shape and object relationship
• CPC Class Codes: G06T 2207/10052 Images from lightfield camera
• CPC Class Codes: G06T 7/557 from light fields, e.g. from plenoptic cameras
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence
• CPC Class Codes: G08G 1/141 with means giving the indication of available parking spaces
• CPC Class Codes: G08G 1/143 inside the vehicles
• CPC Class Codes: G08G 1/144 on portable or mobile units, e.g. personal digital assistant [PDA]
• CPC Class Codes: G08G 1/146 where the parking area is a limited parking space, e.g. parking garage, restricted space
• CPC Class Codes: G08G 1/147 where the parking area is within an open public zone, e.g. city centre

Abstract

Exemplary embodiments provide systems and methods for autonomously valet parking a vehicle based on images obtained from a plurality of plenoptic (light field) cameras. According to one embodiment, an autonomous valet parking system comprises a plenoptic camera configured to: obtain an image external to a vehicle, and for the image, generate a depth map including location information for an object in the image; and a controller configured to: using the depth map, generate an occupancy map indicating whether each of a plurality of regions surrounding the vehicle is occupied; and using the occupancy map, control the vehicle to navigate to a desired parking space.

Claims

1. An autonomous parking system comprising:

a plenoptic camera configured to generate a depth map based on the image external to the vehicle, the depth map including location information for object in the image; and

a controller configured to;

using the depth map, generate an occupancy map indicating occupied regions in a plurality of concentric sets of regions surrounding the vehicle; and

using the occupancy map, control the vehicle to navigate to a desired parking space.

2. The system of claim 1, wherein the controller is configured to identify the desired parking space by analyzing the occupancy map to determine if the occupancy map includes unoccupied regions indicative of an available parking space.

3. The system of claim 2, wherein the controller is configured to designate the available parking space as the desired parking space.

4. The system of claim 1, wherein the desired parking space is a designated parking space having a location stored in a memory of the controller.

5. The system of claim 1, wherein the location information includes a distance from a point on a surface of the object to the plenoptic camera.

6. The system of claim 1, wherein the controller is configured to determine a location of the vehicle in a parking area by comparing any objects in the image to a plurality of objects included in a parking area map of a parking area.

7. The system of claim 6, wherein the controller is configured to, using the occupancy map, the location of the vehicle, and the parking area map, navigate the vehicle to a location within the parking area where parking spaces are located.

8. The system of claim 7, wherein the controller is configured to identify the desired parking space by analyzing the occupancy map to determine if the occupancy map includes unoccupied regions indicative of an available parking space.

9. The system of claim 8, wherein the controller is configured to designate the available parking space as the desired parking space.

10. The system of claim 1, wherein each of the regions in the plurality of concentric sets of regions are defined to have a length of ten centimeters.

11. An autonomous parking method comprising:

generating, by a plenoptic camera, a depth map based on the image external to the vehicle, the depth map including location information for object in the image;

using the depth map, generating an occupancy map indicating occupied regions in a plurality of concentric sets of regions surrounding the vehicle; and

using the occupancy map, controlling, by the controller, the vehicle to navigate to a desired parking space.

12. The method of claim 11, which includes identifying, by the controller, the desired parking space by analyzing the occupancy map to determine if the occupancy map includes unoccupied regions indicative of an available parking space.

13. The method of claim 12, which includes designating, by the controller, the available parking space as the desired parking space.

14. The method of claim 11, wherein the desired parking space is a designated parking space having a location stored in a memory of the controller.

15. The method of claim 11, wherein the location information includes a distance from a point on a surface of the object to the plenoptic camera.

16. The method of claim 11, which includes determining, by the controller, a location of the vehicle in a parking area by comparing any objects in the image to a plurality of objects included in a parking area map of a parking area.

17. The method of claim 16, which includes navigating, by the controller and using the occupancy map, the location of the vehicle, and the parking area map, the vehicle to a location within the parking area where parking spaces are located.

18. The method of claim 17, which includes identifying, by the controller, the desired parking space by analyzing the occupancy map to determine if the includes unoccupied regions indicative of an available parking space.

19. The method of claim 18, which includes designating, by the controller, the available parking space as the desired parking space.

20. The method of claim 11, wherein each of the regions in the plurality of concentric sets of regions are defined to have a length of ten centimeters.