Parking obstruction locator and height estimator

• US 9,718,404 B2
• Filed: 10/01/2015
• Issued: 08/01/2017
• Est. Priority Date: 10/01/2015
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, Inc. (Ford Motor Company)
• Inventors: Nallapa, Venkatapathi Raju, Banvait, Harpreetsingh, Micks, Ashley Elizabeth, Myers, Scott Vincent
• Primary Examiner(s): Phan, Hai
• Assistant Examiner(s): Tang, Son M
• Application Number:
  US14/872,816
• Publication Number:
  US 20170096102A1
• Time in Patent Office: 670 Days
• Field of Search: 340435-440
• CPC Class Codes: B60Q 9/002 for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle warning arrangements in garages E04H6/42
• CPC Class Codes: B60Q 9/005 using a video camera
• CPC Class Codes: B60Q 9/006 using a distance sensor
• CPC Class Codes: B60Q 9/007 providing information about the distance to an obstacle, e.g. varying sound
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

Systems, methods and apparatuses are disclosed for assessing whether a vehicle will make contact with an obstacle. The systems, methods, and apparatuses may include an obstacle sensing component configured to determine a location and a dimension of an obstacle, a vehicle sensing component configured to determine a height of a point of the vehicle relative to the ground, and a notification component configured to provide an indication of a presence of the obstacle to assist a human driver or an automated driving system in parking the vehicle without making contact with the obstacle.

Claims

1. A system comprising:

an obstacle sensing component configured to determine a location and a dimension of an obstacle, wherein the dimension comprises a height of the obstacle with respect to a ground surface;

a vehicle sensing component configured to determine a height of a point on a vehicle relative to the ground surface, wherein the vehicle sensing component determines the height based on sensor data;

a drive history component configured to;

update a drive history to include an indication of a presence and the height of the obstacle in response to the vehicle parking at a location near the obstacle;

retain the location of the obstacle in memory in response to parking the vehicle or the vehicle being turned off; and

check the drive history for information about any obstacles near the parking location in response to the vehicle or driver preparing to exit the parking location; and

a notification component configured to provide an indication of a presence of the obstacle to assist a driver or vehicle in exiting the parking location without making contact with the obstacle.

2. The system of claim 1, wherein the obstacle sensing component receives data from one or more of a radar system, an ultrasound system, a LIDAR system, a camera system, a GPS system, and a vehicle data storage device.

3. The system of claim 1, wherein the vehicle sensing component receives data from one or more of a radar system, an ultrasound system, a LIDAR system, a camera system, a GPS system, a vehicle data storage device, and a CAN bus.

4. The system of claim 1, wherein the notification component further provides an indication of a likelihood that the vehicle will make contact with the obstacle if the vehicle passes over the obstacle.

5. The system of claim 1, wherein the notification component directs an active suspension component of the vehicle to adjust the height of the vehicle such that a portion of a vehicle body can drive over the obstacle without making contact with the obstacle.

6. The system of claim 1, further comprising a processor component configured to determine whether the vehicle will make contact with the obstacle by outputting a multi-axis location of the obstacle and a height of the obstacle with reference to a body coordinate system of the vehicle to determine whether a portion of a vehicle body can travel over the obstacle without making contact with the obstacle.

7. The system of claim 1, wherein the drive history component is further configured to store an indication that the vehicle is likely to make contact with the obstacle or a required adjustment to a vehicle height to avoid making contact with the obstacle.

8. The system of claim 1, further comprising an obstacle detection component configured to detect a presence of an obstacle.

9. The system of claim 8, wherein the obstacle detection component is further configured to utilize a vehicle location and stored drive history data to detect a presence of an obstacle.

10. A method comprising:

detecting a presence of an obstacle;

receiving an indication of one or more of a location of the obstacle and a dimension of the obstacle;

determining a height of a point on a vehicle relative to the ground;

determining whether the point on the vehicle is likely to make contact with the obstacle;

updating a drive history to include an indication of a presence and the height of the obstacle in response to the vehicle parking at a location near the obstacle;

retaining the location of the obstacle in memory in response to parking the vehicle or the vehicle being turned off;

checking the drive history for information about any obstacles near the parking location in response to the vehicle or driver preparing to exit the parking location;

notifying a driver of one or more of the presence of the obstacle, the location of the obstacle, the dimension of the obstacle, or whether the point on the vehicle is likely to make contact with the obstacle to assist a driver or vehicle in exiting the parking location.

11. The method of claim 10, wherein receiving the indication of one or more of the location and the dimension comprises receiving data from one or more of a radar system, an ultrasound system, a LIDAR system, a camera system, a GPS system, and a vehicle data storage device.

12. The method of claim 10, wherein determining the height of the point on the vehicle relative to the ground comprises determining based on data from one or more of a radar system, an ultrasound system, a LIDAR system, a camera system, a GPS system, a vehicle data storage device, and a CAN bus.

13. The method of claim 10, further comprising directing an active suspension system of the vehicle to adjust a height of the vehicle such that a portion of the vehicle can drive over the obstacle without making contact with the obstacle.

14. The method of claim 10, wherein notifying the driver comprises providing one or more of a visual indication and an audio indication.

15. The method of claim 10, further comprising assisting the driver in parking the vehicle without making contact with the obstacle.

16. The method of claim 10, wherein detecting the presence of the obstacle comprises recalling drive history data indicating the presence of the obstacle at the vehicle'"'"'s location.

17. The method of claim 10, further comprising updating a drive history to indicate one or more of a likelihood that a portion of the vehicle will make contact with the obstacle and a required adjustment to a vehicle height such that a portion of the vehicle can drive over the obstacle without making contact with the obstacle.

18. The method of claim 10, wherein determining whether the point on the vehicle is likely to make contact with the obstacle comprises outputting a multi-axis location of the obstacle and a height of the obstacle with reference to a body coordinate system of the vehicle to determine whether the point on the vehicle can travel over the obstacle without making contact with the obstacle.

19. The method of claim 10, further comprising directing an automated driving system in parking the vehicle without making contact with the obstacle or assisting a human driver in parking the vehicle without making contact with the obstacle.

20. The method of claim 10, wherein notifying the driver comprises providing an indication of a multi-axis location of the obstacle and a multi-axis height of the obstacle relative to a vehicle body coordinate system.