Object detection during vehicle parking

Patent metadata

Field	Value
Publication number	US-9359009-B2
Application number	US-201414309081-A
Country	US
Kind code	B2
Filing date	Jun 19, 2014
Priority date	Mar 22, 2014
Publication date	Jun 7, 2016
Grant date	Jun 7, 2016

Abstract

A computer in a vehicle is programmed to collect data related to an object; use the data to generate a virtual map of the object with respect to the vehicle; and provide output based on the virtual map that indicates a risk of the parking operation.

First claim

The invention claimed is:

1. A system, comprising a computer in a vehicle, the computer comprising a processor and a memory, wherein the computer is programmed to:
collect data including at least a first distance measurement by a first ultrasonic sensor and a second distance measurement by a second ultrasonic sensor related to an object during a parking operation;
determine a height of the object and determine a horizontal distance of the object from the vehicle based at least in part on the first distance measurement, the second distance measurement, a specified height on the vehicle of the first ultrasonic sensor, and a specified height on the vehicle of the second ultrasonic sensor;
use the data to generate a virtual map of the object with respect to the vehicle; and
provide output based on the virtual map that indicates a risk of the parking operation.

2. The system of claim 1 , wherein the data includes an image, wherein the computer is further programmed to:
classify the object using the image and determine three-dimensional coordinates of the object with respect to the vehicle based at least in part on the classification.

3. The system of claim 1 , wherein the collected data includes global positioning system (GPS) data, vehicle speed data, and vehicle steering angle data.

4. The system of claim 1 , wherein the output indicates the risk in relation to a representation of a component of the vehicle.

5. The system of claim 1 , wherein the computer is further programmed to provide, based on the risk, an instruction to a vehicle controller to take an action.

6. The system of claim 1 , wherein the computer is further programmed to identify the parking operation based on the collected data.

7. A system, comprising a computer in a vehicle, the computer comprising a processor and a memory, wherein the computer is programmed to:
collect data related to an object, wherein the data includes at least a first distance measurement by a first ultrasonic sensor and a second distance measurement by a second ultrasonic sensor;
identify a parking operation based on the data;
determine a height of the object and determine a horizontal distance of the object from the vehicle based at least in part on the first distance measurement, the second distance measurement, a specified height on the vehicle of the first ultrasonic sensor, and a specified height on the vehicle of the second ultrasonic sensor;
use the data to generate a virtual map of the object with respect to the vehicle; and
provide output based on the virtual map that indicates a risk of the parking operation.

8. The system of claim 7 , wherein the data includes at least one of an image, global positioning system (GPS) data, vehicle speed data, and vehicle steering angle data.

9. The system of claim 7 , wherein the output indicates the risk in relation to a representation of a component of the vehicle.

10. The system of claim 7 , wherein the computer is further programmed to provide, based on the risk, an instruction to a vehicle controller to take an action.

11. A method, carried out according to instructions stored in a computer in a vehicle, comprising:
collecting data including at least a first distance measurement by a first ultrasonic sensor and a second distance measurement by a second ultrasonic sensor related to an object during a parking operation;
determining a height of the object and determining a horizontal distance of the object from the vehicle based at least in part on the first distance measurement, the second distance measurement, a specified height on the vehicle of the first ultrasonic sensor, and a specified height on the vehicle of the second ultrasonic sensor;
using the data to generate a virtual map of the object with respect to the vehicle; and
provide output based on the virtual map that indicates a risk of the parking operation.

12. The method of claim 11 , wherein the data includes an image, the method further comprising:
classify the object using the image and determine three-dimensional coordinates of the object with respect to the vehicle based at least in part on the classification.

13. The method of claim 11 , wherein the collected data includes global positioning system (GPS) data, vehicle speed data, and vehicle steering angle data.

14. The method of claim 11 , further comprising indicating the risk in relation to a representation of a component of the vehicle.

15. The method of claim 11 , further comprising providing, based on the risk, an instruction to a vehicle controller to take an action.

16. The method of claim 11 , further comprising identifying the parking operation based on the collected data.

Assignees

• Ford Global Tech Llc

Inventors

• Ignaczak Brad
• Ghneim Maher
• Murray Andrew John
• Vazquez Tania

Classifications

• G01S15/86

  Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection · CPC title

• G01S15/876

  Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S15/872 takes precedence) · CPC title

• G01S15/931

  of land vehicles · CPC title

• G01S2015/934

  for measuring the depth, i.e. width, not length, of the parking space · CPC title

• G01S7/54

  with receivers spaced apart · CPC title