Autonomously guiding a vehicle to a desired parking location selected with a remote device

Patent metadata

Field	Value
Publication number	US-2020207333-A1
Application number	US-201816237539-A
Country	US
Kind code	A1
Filing date	Dec 31, 2018
Priority date	Dec 31, 2018
Publication date	Jul 2, 2020
Grant date	—

Abstract

A vehicle for autonomously parking in a desired parking location selected via a remote device. The vehicle includes a first camera, a vehicle control system, and a first electronic processor. The first electronic processor is configured to receive a first image from the first camera, determine a plurality of features in the first image, and receive, from the remote device, a second image and the desired parking location in the second image. The first electronic processor is also configured to determine a plurality of features in the second image, match the determined features in the second image to determined features in the first image, and determine a location of the vehicle relative to the desired parking location. The first electronic processor is further configured to determine a route to the desired parking location from a current location of the vehicle and autonomously maneuver the vehicle to the desired parking location.

First claim

1 . A vehicle for autonomously parking in a desired parking location selected via a remote device, the vehicle comprising:
a first camera; a vehicle control system; and a first electronic processor configured to
receive a first image from the first camera;
determine a plurality of features in the first image;
receive, from the remote device, a second image and the desired parking location in the second image;
determine a plurality of features in the second image;
match the determined features in the second image to determined features in the first image;
determine a location of the vehicle relative to the desired parking location using the matched features;
determine, using the location of the desired parking location relative to the location of the vehicle, a route to the desired parking location from a current location of the vehicle; and
autonomously maneuver, using the vehicle control system, the vehicle to the desired parking location.

2 . The vehicle according to claim 1 , wherein the first electronic processor is further configured to display the desired parking location via a first display device included in the vehicle.

3 . The vehicle according to claim 1 , wherein the first electronic processor is further configured to determine a different route to the desired parking location when an obstacle is detected on the route to the desired parking location.

4 . The vehicle according to claim 1 , wherein the first electronic processor is further configured to:
compare the received location of the remote device to the current location of the vehicle; and when the location of the remote device and the current location of the vehicle are not approximately the same, move the vehicle to a location that is approximately the same as the location of the remote device, provide instructions to a driver of the vehicle to move the vehicle a location that is approximately the same as the location of the remote device, or both.

5 . The vehicle according to claim 1 , wherein the vehicle is communicatively coupled to the remote device and the remote device includes
a second camera; a second display device; and a second electronic processor configured to
receive the second image from the second camera;
display the second image on the second display device; and
receive a selection of the desired parking location in the second image.

6 . The vehicle according to claim 5 , wherein the second electronic processor is further configured to
display an image including the determined route, wherein the determined route is represented as a graphical object overlaid on the image; and receive a selection of a different route, when the graphical object is moved on the second display device, via an input device of the remote device.

7 . The vehicle according to claim 1 , wherein the first electronic processor is further configured to
send an image including the determined route to the remote device; and when confirmation of the determined route is received from the remote device, autonomously maneuver the vehicle to the desired parking location, via the determined route; and when a different route is received from the remote device, autonomously maneuver the vehicle to the desired parking location, via the different route.

8 . The vehicle according to claim 1 , wherein the remote device receives the second image from one of the group consisting of a camera associated with a map application and a camera associated with a security application.

9 . The vehicle according to claim 1 , the first electronic processor further configured to
when less than a predetermined number of features in the first image are matched to features in the second image, send the first image to the remote device; receive from the remote device a selection of a desired parking location in the first image; autonomously maneuver the vehicle to the desired parking location in the first image.

10 . A method of autonomously controlling a vehicle to move to a desired parking location selected via a remote device, the method comprising:
receiving, with a first electronic processor, a first image from a first camera included in the vehicle; determining, with the first electronic processor, a plurality of features in the first image; receiving, from the remote device, a second image and the desired parking location in the second image; determining, with the first electronic processor, a plurality of features in the second image; matching, with the first electronic processor, the determined features in the second image to determined features in the first image; determining, with the first electronic processor, a location of the desired parking location relative to the vehicle using the matched features; determining, with the first electronic processor, using the location of the desired parking location relative to the vehicle, a route to the desired parking location from a current location of the vehicle; and autonomously maneuvering, with a vehicle control system, the vehicle to the desired parking location.

11 . The method according to claim 10 , the method further comprising displaying the desired parking location via a first display device included in the vehicle.

12 . The method according to claim 10 , the method further comprising determining a different route to the desired parking location when an obstacle is detected on the route to the desired parking location.

13 . The method according to claim 10 , the method further comprising
comparing the received location of the remote device to the current location of the vehicle; and when the location of the remote device and the current location of the vehicle are not approximately the same, moving the vehicle to a location that is approximately the same as the location of the remote device, providing instructions to a driver of the vehicle to move the vehicle a location that is approximately the same as the location of the remote device, or both.

14 . The method according to claim 10 , the method further comprising
receiving, with a second electronic processor included in the remote device, the second image from a second camera; displaying, with the second electronic processor, the second image on a second display device; and receiving, with the second electronic processor, a selection of the desired parking location in the second image.

15 . The method according to claim 14 , the method further comprising
displaying, on the second display device, an image including the determined route, wherein the determined route is represented as a graphical object overlaid on the image; and receiving, with the first electronic processor, a selection of a different route, when the graphical object is moved on the second display device, via an input device of the remote device.

16 . The method according to claim 10 , the method further comprising
sending an image including the determined route to the remote device; and when confirmation of the determined route is received from the remote device, autonomously maneuvering the vehicle to the desired parking location, via the determined route; and when a different route is received from the remote device, autonomously maneuvering the vehicle to the desired parking location, via the different route.

17 . The method according to claim 10 , wherein the remote device receives the second image from one of the group consisting of a camera associated with a map application and a camera associated with a security application.

18 . The method according

Assignees

• Bosch Gmbh Robert

Inventors

• Miller James Stephen
• Amaya Correa Sergio Andrés

Classifications

• G05D1/0242 Primary

  using non-visible light signals, e.g. IR or UV signals · CPC title

• B62D15/0285

  Parking performed automatically · CPC title

• B62D15/027

  Parking aids, e.g. instruction means · CPC title

• G08G1/144 Primary

  on portable or mobile units, e.g. personal digital assistant [PDA] · CPC title

• G01C21/3623

  using a camera or code reader, e.g. for optical or magnetic codes · CPC title