Using cameras for detecting objects near a vehicle

Patent metadata

Field	Value
Publication number	US-10852741-B2
Application number	US-201715610412-A
Country	US
Kind code	B2
Filing date	May 31, 2017
Priority date	May 31, 2016
Publication date	Dec 1, 2020
Grant date	Dec 1, 2020

Abstract

A method for autonomously controlling a vehicle is disclosed. In some examples, a vehicle can maneuver out of a parking space in an autonomous and unmanned operation. While parking, the vehicle can capture first one or more images of its surroundings and store the images in a memory included in the vehicle. Upon starting up, the vehicle can capture second one or more images of its surroundings and compare them to the first one or more images to determine if there is an object, person, or animal proximate to the vehicle, for example. In some examples, in accordance with a determination that there is no object, person, or vehicle present that was not present during parking, the vehicle can autonomously move from the parking space with or without a user present in the vehicle.

First claim

What is claimed is:

1. A method of controlling a vehicle, the method comprising:
capturing one or more first images of the vehicle's surroundings with one or more external cameras of the vehicle;
storing the one or more first images in a memory included in the vehicle;
receiving an input corresponding to a request to move the vehicle;
in response to receiving the input: capturing one or more second images of the vehicle's surroundings with the one or more external cameras;
comparing the one or more second images to the one or more first images and determining whether there are differences between the one or more second images and the one or more first images; and
in accordance with a determination that there are not differences between the one or more second images and the one or more first images, autonomously moving the vehicle in accordance with the input, and in accordance with a determination that there are differences between the one or more second images and the one or more first images, determining whether the differences are indicative of an object proximate to the vehicle;
wherein: capturing the one or more first images occurs while performing a parking operation for the vehicle; storing the one or more first images occurs upon completion of the parking operation; and receiving the input corresponding to the request to move the vehicle occurs after the completion of the parking operation.

2. The method of claim 1 , further comprising: in accordance with a determination that the differences between the one or more second images and the one or more first images are indicative of an object proximate to the vehicle, transmitting the one or more second images to a mobile device associated with a user of the vehicle; after transmitting the one or more second images to the mobile device, receiving a first input from the mobile device; and in response to receiving the first input from the mobile device: in accordance with a determination that the first input corresponds to a request to move the vehicle, autonomously moving the vehicle; and in accordance with a determination that the first input corresponds to a request to not move the vehicle, preventing the vehicle from moving.

3. The method of claim 1 , further comprising: in accordance with a determination that the differences between the one or more second images and the one or more first images are indicative of an object proximate to the vehicle, generating one or more of a visual or auditory alert; after generating the one or more of the visual or auditory alert, determining whether the object is still proximate to the vehicle; in accordance with a determination that the object is no longer proximate to the vehicle, autonomously moving the vehicle; and in accordance with a determination that the object is still proximate to the vehicle: preventing the vehicle from moving; and transmitting a notification of the proximate object to a mobile device associated with a user of the vehicle.

4. The method of claim 1 , further comprising: in accordance with a determination that the differences are indicative of an object proximate to the vehicle: selecting a path of vehicle motion in a direction such that the vehicle will avoid the object; and autonomously moving the vehicle along the selected path.

5. The method of claim 1 , wherein determining whether the differences between the one or more second images and the one or more first images are indicative of an object proximate to the vehicle includes sampling data from one or more of a LIDAR sensor and an ultrasonic sensor.

6. The method of claim 1 , wherein determining whether the differences between the one or more second images and the one or more first images are indicative of an object proximate to the vehicle includes sampling data from one or more of a GPS sensor, a clock, and weather data.

7. The method of claim 1 , further comprising: in accordance with a determination that the differences are not indicative of an object proximate to the vehicle, autonomously moving the vehicle; and in accordance with a determination that the differences are indicative of an object proximate to the vehicle, preventing the vehicle from moving.

8. The method of claim 1 , wherein the input corresponding to the request to move the vehicle comprises an input received from a mobile device associated with a user of the vehicle to move the vehicle to a location of the user.

9. The method of claim 1 , wherein determining whether the differences are indicative of an object proximate to the vehicle includes determining a probability that the differences are indicative of an object proximate to the vehicle; and in accordance with a determination that the probability is above a first probability threshold, preventing the vehicle from moving; and in accordance with a determination the probability is below a second probability threshold, autonomously moving the vehicle.

10. The method of claim 1 , further comprising: after storing the one or more first images and before capturing the one or more second images: turning off a power supply of the vehicle; and after turning off the power supply of the vehicle, turning on the power supply of the vehicle.

11. The method of claim 1 , wherein determining whether there are differences between the one or more second images and the one or more first images comprises disregarding differences outside of a predetermined region of the images corresponding to an area within a threshold distance of the vehicle.

12. The method of claim 1 , wherein determining whether the differences between the one or more second images and the one or more first images are indicative of an object proximate to the vehicle comprises: processing the one or more second images to identify one or more objects in the one or more second images; in accordance with a determination that at least one of the one or more objects in the one or more second images is proximate to the vehicle, determining that the differences between the one or more second images and the one or more first images are indicative of an object proximate to the vehicle; and in accordance with a determination that the one or more objects in the one or more second images are not proximate to the vehicle: determining that the differences between the one or more second images and the one or more first images are not indicative of an object proximate to the vehicle; and autonomously moving the vehicle in accordance with the input.

13. The method of claim 12 , wherein autonomously moving the vehicle comprises selecting a path for the vehicle based at least in part on object identification performed using the one or more first images before the input corresponding to the request to move the vehicle was received.

14. A vehicle comprising:
one or more external cameras;
a memory;
a controller operatively coupled to the one or more external cameras; and
a processor operatively coupled to the controller and the one or more external cameras, the processor configured to perform a method comprising:
capturing one or more first images of the vehicle's surroundings with the one or more external cameras;
storing the one or more first images in the memory;
receiving an input corresponding to a request to move the vehicle;
in response to receiving the input: capturing one or more second images of the vehicle's surroundings with the one or more external cameras; comparing the one or more second images to the one or more first images to determine whether there are differences between the one or more second images and the one or more first images;
in accordance with a determination that there are not differ

Assignees

• Faraday & Future Inc

Inventors

• Bae Hong S
• Batur Aziz Umit
• Fischer Evan Roger
• Jeromin Oliver Max

Classifications

• G06V20/58 Primary

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title

• G06V10/751

  Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching · CPC title

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60R1/00 Primary

  Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles · CPC title