Active park assist object detection

Patent metadata

Field	Value
Publication number	US-9696420-B2
Application number	US-201313859128-A
Country	US
Kind code	B2
Filing date	Apr 9, 2013
Priority date	Apr 9, 2013
Publication date	Jul 4, 2017
Grant date	Jul 4, 2017

Abstract

A method of assessing an area for parking a vehicle includes ultrasonically scanning the area to obtain ultrasonic data, radar scanning the area to obtain radar data, and determining whether to park the vehicle in the area based on both the ultrasonic data and the radar data.

First claim

The invention claimed is:

1. A method of assessing a parking spot for parking a vehicle comprising:
scanning the parking spot with ultrasonic sensors to obtain ultrasonic data;
scanning the parking spot with radar sensors to obtain radar data;
utilizing a computer to identify a first object as a likely curb if identified only in the ultrasonic data and to determine to accept or reject the parking spot based on both the ultrasonic data and the radar data; and
parking the vehicle in response to accepting the parking spot.

2. The method of claim 1 , further comprising utilizing the computer to determine whether another object is detected in the radar data and at the same location as the likely curb and, if so, the method further comprises utilizing the computer to determine the first object as a wall.

3. The method of claim 1 , further comprising utilizing the computer to:
assess if a curb has been identified, and if so, then the method further comprises utilizing the computer to determine whether a second object identification can be made using both the ultrasonic data and the radar data; and
utilizing the computer to assess whether no second object identification has been made using both the ultrasonic data and the radar data, and if not, then the method further comprises utilizing the computer to accept the parking spot for the vehicle.

4. The method of claim 1 , further comprising utilizing the computer to assess whether a second object identification has been made using both the ultrasonic data and the radar data, and if so, then the method further comprises utilizing the computer to assess whether the second object is nearer to the vehicle than the curb, or farther from the vehicle than the curb.

5. The method of claim 4 , further comprising utilizing the computer to:
assess if the second object is nearer to the vehicle than the curb;
determine whether the second object defines a portion of a parking spot;
assess if the second object is farther from the vehicle than the curb; and
reject the second object as an obstruction in the parking spot in response to the second object being farther away from the vehicle than the curb.

6. The method of claim 1 , wherein the step of utilizing the computer to determine to accept or reject the parking spot further comprises utilizing the computer to assess whether any obstructions are found in the parking spot using both the ultrasonic data and the radar data.

7. A non-transitory computer-readable medium tangibly embodying computer-executable instructions comprising steps to:
assess a possible parking spot for a vehicle;
acquire ultrasonic scanning data of the spot;
acquire radar scanning data of the spot;
identify a first object as a likely curb if identified only in the ultrasonic data;
determine to accept or reject a parking spot based on both the ultrasonic and radar data; and
parking the vehicle in response to accepting the parking spot.

8. The computer-readable medium of claim 7 , the instructions further comprising steps to determine whether another object is detected in the radar scanning data and at the same location as the likely curb and, if so, further determine the first object as a wall.

9. The computer-readable medium of claim 7 , the instructions further comprising steps to:
assess if a curb has been identified, and if so, then determine whether a second object identification can be made using both the ultrasonic scanning data and the radar scanning data; and
assess whether no second object identification has been made using both the ultrasonic scanning data and the radar scanning data, and if not, then the method further comprises accepting the possible parking spot as a parking spot for the vehicle.

10. The computer-readable medium of claim 7 , the instructions further comprising steps to assess whether a second object identification has been made using both the ultrasonic scanning data and the radar scanning data, and if so, then further assess whether the second object is nearer to the vehicle than the curb, or farther from the vehicle than the curb.

11. The computer-readable medium of claim 9 , the instructions further comprising steps to:
assess if the second object is nearer to the vehicle than the curb, then determine whether the second object defines a portion of the possible parking spot; and
assess if the second object is farther from the vehicle than the curb, then reject the second object as an obstruction in the area.

12. The computer-readable medium of claim 9 , the instructions further comprising steps to determine whether to park in the possible parking spot by further assessing whether any obstructions are found in the possible parking spot using both the ultrasonic data and the radar data.

13. A host vehicle comprising:
an ultrasonic scanner;
a radar scanner; and
a computer programmed to:
acquire ultrasonic data of an area,
acquire radar data of the area,
identify a first object as a likely curb if identified only in the ultrasonic data,
determine to accept or reject a possible parking spot based on the ultrasonic data and on the radar data, and
park the host vehicle in response to accepting the possible parking spot.

14. The host vehicle of claim 13 , wherein the computer is further programmed to determine whether another object is detected in the radar data and at the same location as the likely curb and, if so, further determine the first object as a wall.

15. The host vehicle of claim 13 , wherein the computer is further programmed to:
assess if a curb has been identified, and if so, then determine whether a second object identification can be made using both the ultrasonic data and the radar data; and
assess whether no second object identification has been made using both the ultrasonic data and the radar data, and if not, then accept the possible parking spot as a parking spot for the vehicle.

16. The host vehicle of claim 13 , wherein the computer is further programmed to:
assess whether a second object identification has been made using both the ultrasonic data and the radar data, and if so, then further assess whether the second object is nearer to the vehicle than the curb, or farther from the vehicle than the curb; or
assess if the second object is nearer to the vehicle than the curb, then determine whether the second object defines a portion of the possible parking spot, and assess if the second object is farther from the vehicle than the curb, then reject the second object as an obstruction in the area.

17. The host vehicle of claim 13 , wherein the computer is further programmed to determine whether to park in the possible parking spot by being further programmed to assess whether any obstructions are found in the area using both the ultrasonic data and the radar data.

Assignees

• Ford Global Tech Llc

Inventors

• Shaffer Aric David
• Stempnik Vern
• Choi Brian
• Crawford Mark

Classifications

• G01S2013/9314

  Parking operations · CPC title

• G01S13/862

  Combination of radar systems with sonar systems · CPC title

• G01S2013/93274

  on the side of the vehicles · CPC title

• G01S13/86 Primary

  Combinations of radar systems with non-radar systems, e.g. sonar, direction finder · CPC title

• G01S2015/933

  for measuring the dimensions of the parking space when driving past · CPC title