Automated vehicle parking

• US 10,407,059 B2
• Filed: 11/14/2017
• Issued: 09/10/2019
• Est. Priority Date: 11/24/2015
• Status: Active Grant

• Current Assignee: Wellen Sham
• Original Assignee: Wellen Sham
• Inventors: Sham, Wellen
• Primary Examiner(s): Troost, Aaron L
• Application Number:
  US15/812,154
• Publication Number:
  US 20180072311A1
• Time in Patent Office: 665 Days
• Field of Search: None
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G01C 21/3685 the POI's being parking facilities
• CPC Class Codes: G01S 19/42 Determining position
• 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: G08G 1/146 where the parking area is a limited parking space, e.g. parking garage, restricted space
• CPC Class Codes: G08G 1/148 Management of a network of parking areas

Abstract

Systems and methods for automatically parking a vehicle are described including receiving a request from a user to park a vehicle. A database including parking availability information is searched based at least in part on the request and location information associated with the user. An available parking space is determined based on the results of the search, and information related to the available parking space is sent to the user. When confirmation is received from the user indicating that that the vehicle is to be parked in the available parking space, a status of the available parking space is changed to unavailable, and guidance information related to the available space to the user. The vehicle then autonomously navigates to the parking space using the guidance information.

Claims

1. A method of automatically parking a vehicle, comprising:

receiving a request from a user to automatically park a vehicle, the request including location information;

determining an available parking space based on location information;

generating guidance information related to the available space for execution by the vehicle, wherein the guidance information is configured to assist the vehicle to park itself in the available parking space without intervention by the user;

receiving parking line information from the vehicle, the parking line information including information regarding a side line of the available parking space;

determining that the vehicle has reached a predetermined point such that the vehicle may enter the available parking space;

generating instruction for execution by the vehicle instructing the vehicle to enter the available parking space; and

determining that the vehicle has parked in the available parking space based on the parking line information, wherein determining that the vehicle has parked in the available parking space based on the parking line information comprises;

determining a largest angle between the right wheel center line and the side line of the available parking space; and

determining a last turn point for a right rear wheel of the vehicle.

2. The method of claim 1, wherein the location information includes GPS coordinates, and the search returns results within a predetermined distance of the GPS coordinates.

3. The method of claim 1, further comprising determine that the vehicle has reached a predetermined point such that the vehicle may enter the available parking space.

4. The method of claim 1, further comprising receiving updated parking line information from the vehicle and the determination that the vehicle has parked in the available parking space is further based on the updated parking line information.

5. The method of claim 1, wherein the guidance information includes at least one of coordinates associated with the available parking space, directions associated with the available parking space, communication link information for a local auto-guidance system associated with the available parking space, or sensor and/or beacon identification associated with the available parking space.

6. The method of claim 1, wherein the parking line information includes information indicating a length between a right wheel center line and the side line of the available parking space.

7. The method of claim 1, further comprising charging the user a parking fee based at least in part on determining that the vehicle has arrived at the available parking space, determining that the vehicle has left the available parking space, or the confirmation from the user that the vehicle is to be parked in the available parking space.

8. An automatic parking system, comprising:

a positioning system configured to determine the location of a vehicle;

a communication interface configured to receive available parking space information and guidance information for execution by the vehicle, wherein the guidance information is configured to assist the vehicle to park itself in an available parking space indicated by the available parking space information without user intervention;

a user interface configured to allow a user to select at least one of the available parking space; and

a guidance system configured to;

generate guidance information for automatically driving a vehicle to the parking space selected via the user interface, wherein the guidance information is configured to assist the vehicle to park itself in the selected parking spot without intervention by the user;

receive parking line information from the vehicle, the parking line information including information regarding a side line of the available parking space;

generate instruction for execution by the vehicle instructing the vehicle to enter the available parking space; and

determine that the vehicle has parked in the available parking space based on the parking line information, wherein determining that the vehicle has parked in the available parking space based on the parking line information comprises;

determining a largest angle between the right wheel center line and the side line of the available parking space; and

determining a last turn point for a right rear wheel of the vehicle drive, based on the received guidance information, the vehicle to the available parking space selected via the user interface.

9. The system of claim 8, wherein the communication system is further configured to transmit a parking request including location information of the vehicle.

10. The system of claim 8, wherein the guidance system includes a movement sensor, a plurality of cameras, and a sensor configured to detect at least one of sound waves, radio waves, or non-visible light waves.

11. The system of claim 8, wherein the guidance system is configured to operate in at least a first mode for road driving and a second mode for driving in a parking structure.

12. The system of claim 11, wherein the second mode includes interpreting a data category that is not used in the first mode.

13. The system of claim 8, driving the vehicle to the available parking space includes determining that the vehicle is in proximity to the available parking space based on the guidance information and in response to the determination that the vehicle is in proximity to the available parking space, activate a camera of the vehicle such that the vehicle is further driven based on images captured by the camera of the vehicle.

14. An automatic parking system, comprising:

a communication interface configured to receive a parking request from a user, the parking request including location information; and

a processor configured to;

determine an available parking space based on location information;

generate guidance information related to the available space for execution by the vehicle, wherein the guidance information is configured to assist the vehicle to park itself in the available parking space without intervention by the user;

receive parking line information from the vehicle, the parking line information including information regarding a side line of the available parking space;

determine that the vehicle has reached a predetermined point such that the vehicle may enter the available parking space;

generate instruction for execution by the vehicle instructing the vehicle to enter the available parking space; and

determine that the vehicle has parked in the available parking space based on the parking line information, wherein determining that the vehicle has parked in the available parking space based on the parking line information comprises;

determine a largest angle between the right wheel center line and the side line of the available parking space; and

determine a last turn point for a right rear wheel of the vehicle.

15. The system of claim 14, wherein the location information includes GPS coordinates, and the search returns results within a predetermined distance of the GPS coordinates.

16. The system of claim 14, wherein the guidance information is configured to allow the vehicle to be automatically driven in a first mode to a predetermined location in proximity to the selected parking spot, and the system is further configured to support a second driving mode for terminal guidance of the vehicle into the parking spot.

17. The system of claim 16, wherein the second driving mode includes recognition of predetermined guidance markers or signals associated with the available parking spot;

and wherein the updated parking line information is received from the vehicle while the vehicle is in the second driving mode and includes information indicating a length between a right wheel center line and the side line of the available parking space.