Parking spot identification for vehicle park-assist

• US 10,628,687 B1
• Filed: 10/12/2018
• Issued: 04/21/2020
• Est. Priority Date: 10/12/2018
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Krekel, Markus, Matuk, Cinderella, Benmimoun, Ahmed, Kuhnert, Lars
• Primary Examiner(s): Wang, Quan-Zhen
• Assistant Examiner(s): Black-Childress, Rajsheed O
• Application Number:
  US16/159,300
• Publication Number:
  US 20200117925A1
• Time in Patent Office: 557 Days
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/55 using telemetry
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 40/107 Longitudinal acceleration
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• 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 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06V 20/586 of parking space

Abstract

Method and apparatus are disclosed for parking spot identification for vehicle park-assist. An example vehicle includes range-detection sensors, an acceleration sensor, an autonomy unit to perform park-assist, and a controller. The controller is configured to determine, via the acceleration sensor, whether the vehicle is accelerating. The controller also is to, responsive to determining that the vehicle is not accelerating, identify potential parking spots for the park-assist via the range-detection sensors. The controller also is to, responsive to detecting that the vehicle is accelerating, suppress identification of the potential parking spots.

Claims

1. A vehicle comprising:

range-detection sensors;

an acceleration sensor;

an autonomy unit to perform park-assist; and

a controller configured to;

determine, via the acceleration sensor, whether the vehicle is accelerating;

responsive to determining that the vehicle is not accelerating, identify potential parking spots for the park-assist via the range-detection sensors; and

responsive to detecting that the vehicle is accelerating, suppress identification of the potential parking spots,

wherein, when the vehicle is in one of a plurality of lanes designated for a same direction-of-travel, the controller is configured to suppress the identification of potential parallel parking spots along a side of the vehicle while detecting one or more of the plurality of lanes on the side of the vehicle.

2. The vehicle of claim 1, wherein the acceleration sensor includes a vehicle speed sensor.

3. The vehicle of claim 1, wherein the acceleration sensor includes an accelerator pedal position sensor.

4. The vehicle of claim 1, further including a display to present a representation of a parking spot identified by the controller.

5. The vehicle of claim 4, wherein the autonomy unit is to perform the park-assist to park the vehicle in the parking spot identified by the controller.

6. The vehicle of claim 1, wherein the controller is configured to suppress the identification of the potential parking spots responsive to determining, via the range-detection sensors, that the vehicle is passing or being passed by another vehicle.

7. The vehicle of claim 1, further including a GPS receiver to identify a vehicle location, wherein the controller is configured to determine whether to suppress the identification of the potential parking spots based on the vehicle location.

8. The vehicle of claim 7, further including a communication module to retrieve parking information for the vehicle location, wherein the controller is configured to determine whether to suppress the identification of the potential parking spots for the vehicle location based on the parking information.

9. The vehicle of claim 1, wherein the controller is configured to suppress the identification of a potential perpendicular parking spot in front of the vehicle responsive to detecting that the vehicle is located on a road.

10. The vehicle of claim 9, wherein the controller is configured to suppress the identification of the potential perpendicular parking spot for remote park-assist.

11. The vehicle of claim 1, further including a steering wheel angle sensor, wherein the controller is configured to suppress the identification of a potential perpendicular parking spot in front of the vehicle upon determining, via the steering wheel angle sensor and the range-detection sensors, that the vehicle is turning away from the potential perpendicular parking spot.

12. The vehicle of claim 11, wherein the controller is configured to suppress the identification of the potential perpendicular parking spot based on the steering wheel angle sensor in response to detecting that the vehicle is at least one of within a parking lot and approaching a bend in a road.

13. The vehicle of claim 1, wherein the controller is configured to override suppressing the identification of the potential parking spots responsive to determining that a current driving pattern of the vehicle corresponds with a parking lot.

14. A vehicle comprising:

range-detection sensors;

an acceleration sensor;

an autonomy unit to perform park-assist; and

a controller configured to;

determine, via the acceleration sensor, whether the vehicle is accelerating;

responsive to determining that the vehicle is not accelerating, identify potential parking spots for the park-assist via the range-detection sensors;

responsive to detecting that the vehicle is accelerating, suppress identification of the potential parking spots; and

responsive to detecting that the vehicle is located on a road, suppress the identification of a potential perpendicular parking spot in front of the vehicle.

15. A vehicle comprising:

range-detection sensors;

an acceleration sensor;

an autonomy unit to perform park-assist;

a steering wheel angle sensor; and

a controller configured to;

determine, via the acceleration sensor, whether the vehicle is accelerating;

responsive to determining that the vehicle is not accelerating, identify potential parking spots for the park-assist via the range-detection sensors;

responsive to detecting that the vehicle is accelerating, suppress identification of the potential parking spots; and

suppress the identification of a potential perpendicular parking spot in front of the vehicle upon determining, via the steering wheel angle sensor and the range-detection sensors, that the vehicle is turning away from the potential perpendicular parking spot.

16. A vehicle comprising:

range-detection sensors;

an acceleration sensor;

an autonomy unit to perform park-assist; and

a controller configured to;

determine, via the acceleration sensor, whether the vehicle is accelerating;

responsive to determining that the vehicle is not accelerating, identify potential parking spots for the park-assist via the range-detection sensors;

responsive to detecting that the vehicle is accelerating, suppress identification of the potential parking spots; and

responsive to determining that a current driving pattern of the vehicle corresponds with a parking lot, override suppressing the identification of the potential parking spots.