Systems and methods for detecting available parking spots with optional pull-through parking spots

Patent metadata

Field	Value
Publication number	US-12427973-B2
Application number	US-202318221216-A
Country	US
Kind code	B2
Filing date	Jul 12, 2023
Priority date	Jul 12, 2023
Publication date	Sep 30, 2025
Grant date	Sep 30, 2025

Abstract

In some implementations, the device may include receiving, via one or more image sensors, one or more images of a parking area. In addition, the device may include determining, based on the one or more images, a first available parking spot. The device may include determining a second available parking spot adjacent to the first available parking spot, where the second available parking spot is a pull-through parking spot accessible by maneuvering through the first available parking spot. Moreover, the device may include displaying to a user, via a vehicle interface, the one or more images of the parking area, an indication of a location of the pull-through parking spot. Also, the device may include receiving, via the vehicle interface, a selection to park the vehicle in the pull-through parking spot. Further, the device may include parking the vehicle in the pull-through parking, where the parking is performed autonomously.

First claim

What is claimed is:

1. A method for autonomous pull-through parking, the method comprising:
receiving, via one or more image sensors associated with a vehicle, in response to an activation of a parking assist mode, one or more images of a parking area;
determining, based on the one or more images, a first available parking spot;
determining, based on the first available parking spot, a second available parking spot adjacent the first available parking spot, wherein the second available parking spot is a pull-through parking spot accessible by maneuvering through the first available parking spot;
displaying to a user, via a vehicle interface, the one or more images of the parking area, an indication of a location of the pull-through parking spot, and an indication that the pull-through parking spot is available to park in;
receiving, from the user, via the vehicle interface, a selection to park the vehicle in the pull-through parking spot; and
parking the vehicle in the pull-through parking spot by maneuvering the vehicle through the first available parking spot, wherein the parking is performed autonomously in response to the selection received by the user via the vehicle interface.

2. The method of claim 1 , the method further comprising:
redirecting, autonomously, the first vehicle to the first available parking spot in response to a detection of another vehicle maneuvering into the pull-through parking spot.

3. The method of claim 1 , wherein the one or more image sensors includes at least one of an ultrasonic sensor and a camera sensor.

4. The method of claim 3 , the method further comprising:
determining, based on the one or more images, a third available parking spot;
determining, based on the third available parking spot, a fourth available parking spot adjacent the third available parking spot, wherein the fourth available parking spot is a second pull-through parking spot accessible by maneuvering through the third available parking spot; and
determining, based on data from the one or more image sensors, that the second pull-through parking spot is a false pull-through parking spot based on a detection of an impediment which prevents the vehicle from maneuvering to the second pull-through parking spot by maneuvering through the third available parking spot.

5. The method of claim 4 , the method further comprising:
displaying, to the user via the vehicle interface, an indication that the second pull-through parking spot is a false pull-through parking spot.

6. The method of claim 4 , wherein the impediment is confirmed by the user and may include at least one of a raised divider, a sign post, an uneven-slope, a ditch, a pot-hole, a small vehicle, and a curb.

7. The method of claim 1 , wherein the one or more images of the parking area are stitched together to form a top-down view of the parking area.

8. The method of claim 7 , wherein the top-down view of the parking area is overlaid with information related to the location of the first available parking spot and the pull-through parking spot.

9. A device for autonomous pull-through parking comprising:
one or more processors configured to:
receive, via one or more image sensors associated with a vehicle, in response to an activation of a parking assist mode, one or more images of a parking area;
determine, based on the one or more images, a first available parking spot;
determine, based on the first available parking spot, a second available parking spot adjacent the first available parking spot, wherein the second available parking spot is a pull-through parking spot accessible by maneuvering through the first available parking spot;
display to a user, via a vehicle interface, the one or more images of the parking area, an indication of a location of the pull-through parking spot, and an indication that the pull-through parking spot is available to park in;
receive, from the user, via the vehicle interface, a selection to park the vehicle in the pull-through parking spot; and
park the vehicle in the pull-through parking spot by maneuvering the vehicle through the first available parking spot, wherein the parking is performed autonomously in response to the selection received by the user via the vehicle interface.

10. The device of claim 9 , wherein the one or more processors are further configured to:
redirect, autonomously, the first vehicle to the first available parking spot in response to a detection of another vehicle maneuvering into the pull-through parking spot.

11. The device of claim 9 , wherein the one or more image sensors includes at least one of an ultrasonic sensor and a camera sensor.

12. The device of claim 11 , wherein the one or more processors are further configured to:
determine, based on the one or more images, a third available parking spot;
determine, based on the third available parking spot, a fourth available parking spot adjacent the third available parking spot, wherein the fourth available parking spot is a second pull-through parking spot accessible by maneuvering through the third available parking spot;
determine, based on data from the one or more image sensors, that the second pull-through parking spot is a false pull-through parking spot based on a detection of an impediment which prevents the vehicle from maneuvering to the second pull-through parking spot by maneuvering through the third available parking spot; and
display, to the user via the vehicle interface, an indication that the second pull-through parking spot is a false pull-through parking spot.

13. The device of claim 12 , wherein the impediment is confirmed by the user and may include at least one of a raised divider, a sign post, an uneven-slope, a ditch, a pot-hole, a small vehicle, and a curb.

14. The device of claim 9 , wherein the one or more images of the parking area are stitched together to form a top-down view of the parking area, and wherein the top-down view of the parking area is overlaid with information related to the first available parking spot and the pull-through parking spot.

15. A device for autonomous pull-through parking comprising:
one or more processors configured to:
receive, via one or more image sensors associated with a vehicle, in response to an activation of a parking assist mode, one or more images of a parking area;
determine, based on the one or more images, a first available parking spot;
determine, based on the first available parking spot, a second available parking spot adjacent the first available parking spot, wherein the second available parking spot is a pull-through parking spot accessible by maneuvering through the first available parking spot;
display to a user, via a vehicle interface, the one or more images of the parking area, an indication of a location of the pull-through parking spot, and an indication that the pull-through parking spot is available to park in;
receive, from the user, via the vehicle interface, a selection to park the vehicle in the pull-through parking spot; and
park the vehicle in the pull-through parking spot by maneuvering the vehicle through the first available parking spot, wherein the parking is performed autonomously in response to the selection received by the user via the vehicle interface.

16. The device of claim 15 , wherein the one or more image sensors includes at least one of an ultrasonic sensor and a camera sensor.

17. The device of claim 16 , wherein the one or more processors are further configured to:
determine, based on the one or more images, a third available parking spot;
determine, based on

Assignees

• Valeo Schalter & Sensoren Gmbh

Inventors

• Scott Daniel Bartram

Classifications

• G08G1/143 Primary

  inside the vehicles · CPC title

• B60W2420/54

  Audio sensitive means, e.g. ultrasound · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• B60W2050/146

  Display means · CPC title

• B60W50/14

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