System and method for autonomous valet parking using plenoptic cameras

Patent metadata

Field	Value
Publication number	US-9809218-B2
Application number	US-201715418577-A
Country	US
Kind code	B2
Filing date	Jan 27, 2017
Priority date	Aug 24, 2015
Publication date	Nov 7, 2017
Grant date	Nov 7, 2017

Abstract

Exemplary embodiments provide systems and methods for autonomously valet parking a vehicle based on images obtained from a plurality of plenoptic (light field) cameras. An example vehicle includes a plenoptic camera to obtain an image external to the vehicle and a controller. The controller is to autonomously navigate a vehicle toward a parking space identified as unoccupied and generate, based on the image, an occupancy map indicating occupied regions in a plurality of concentric regions. The controller also is to determine whether the parking space is available based on the occupancy map and send, in response to determining the parking space is unavailable, an error message to a driver.

First claim

What is claimed is:

1. A vehicle comprising:
a plenoptic camera to obtain an image external to the vehicle;
a controller to:
autonomously navigate a vehicle toward a parking space identified as unoccupied;
generate, based on the image, an occupancy map indicating occupied regions in a plurality of concentric regions;
determine whether the parking space is available based on the occupancy map; and
send, in response to determining the parking space is unavailable, an error message to a driver.

2. The vehicle of claim 1 , wherein the controller is configured to autonomously navigate the vehicle into the parking space in response to determining the parking space is available.

3. The vehicle of claim 1 , wherein the plenoptic camera generates a depth map based on the image and the controller generates the occupancy map based on the depth map.

4. The vehicle of claim 1 , wherein, to autonomously navigate the vehicle toward the parking space, the controller is configured to determine a location of the vehicle and determine a location of the parking space identified as being unoccupied.

5. The vehicle of claim 4 , wherein the controller receives the location of the vehicle via a global positioning system.

6. The vehicle of claim 4 , the location of the parking space determined by the controller is stored in memory.

7. The vehicle of claim 4 , wherein, to determine the location of the parking space, the controller is configured to analyze the occupancy map to determine if the occupancy map includes an unoccupied region indicative of an available parking space.

8. The vehicle of claim 4 , wherein the controller navigates the vehicle toward the parking space based on the occupancy map, the location of the vehicle, and the location of the parking space.

9. The vehicle of claim 1 , wherein the controller determines that the parking space is unavailable when at least one of another vehicle and a garbage can is positioned within the parking space.

10. The vehicle of claim 1 , wherein the controller sends the error message to the driver via a cell phone.

11. A method for autonomously parking vehicles, the method comprising:
obtaining an image via a plenoptic camera of a vehicle;
autonomously navigating, via a controller, the vehicle toward a parking space identified as unoccupied;
generating, based on the image, an occupancy map indicating occupied regions in a plurality of concentric regions;
determining whether the parking space is available based on the occupancy map; and
sending an error message in response to determining the parking space is unavailable.

12. The method of claim 11 , further including autonomously navigating the vehicle into the parking space in response to determining the parking space is available.

13. The method of claim 11 , further including generating, via the plenoptic camera, a depth map based on the image and generating, via the controller, the occupancy map based on the depth map.

14. The method of claim 11 , further including determining a location of the vehicle and a location of the parking space to autonomously navigate the vehicle toward the parking space.

15. The method of claim 14 , further including receiving the location of the vehicle via a global positioning system.

16. The method of claim 14 , further including retrieving the location of the parking space from a memory.

17. The method of claim 14 , furthering including analyzing the occupancy map to determine if the occupancy map includes an unoccupied region indicative of an available parking space to determine the location of the parking space.

18. The method of claim 14 , wherein navigating the vehicle toward the parking space is based on the occupancy map, the location of the vehicle, and the location of the parking space.

19. The method of claim 11 , wherein determining whether the parking space is unavailable includes identifying when at least one of another vehicle and a garbage can is positioned within the parking space.

20. The vehicle of claim 11 , wherein sending the error message includes sending the error message to a driver via a cell phone.

Assignees

• Ford Global Tech Llc

Inventors

• Elie Larry Dean
• Rhode Douglas Scott

Classifications

• G06T2207/10052

  Images from lightfield camera · CPC title

• B60W30/06 Primary

  Automatic manoeuvring for parking · CPC title

• B62D15/0285

  Parking performed automatically · CPC title

• G06K9/00812

  Physics · mapped topic

• G08G1/143

  inside the vehicles · CPC title