CN-121986046-A - System and method for controlling a vehicle based on a determination that another vehicle is intended to park

Abstract

Methods and systems for autonomously controlling a first vehicle when a preceding vehicle intends to park. The image sensor is mounted to the first vehicle and configured to generate image data associated with a scene surrounding the first vehicle, wherein the scene includes a front vehicle positioned in front of the first vehicle. The processor is mounted to the first vehicle and communicatively coupled to the image sensor. The processor is programmed to process the image data to identify a plurality of parking spaces, a first roadway lane adjacent to the plurality of parking spaces, and a second roadway lane adjacent to the first roadway lane. The processor determines a speed of the preceding vehicle and classifies the preceding vehicle as being intended to stop based on the sensed condition. In response to the preceding vehicle being classified as being intended to park, the processor issues a command to maneuver the vehicle accordingly.

Inventors

• T. Heitzman

Assignees

• 法雷奥开关和传感器有限责任公司

Dates

Publication Date

20260505

Application Date

20240925

Priority Date

20231010

Claims (20)

1. 1. A system for autonomously controlling a first vehicle when a preceding vehicle is intended to be parked, the system comprising: An image sensor mounted to the first vehicle and configured to generate image data associated with a scene surrounding the first vehicle, wherein the scene includes the preceding vehicle in front of the first vehicle, and A processor mounted to the first vehicle and communicatively coupled to the image sensor, wherein the processor is programmed to: Processing the image data to identify a plurality of parking spaces, a first road lane adjacent to the plurality of parking spaces, and a second road lane adjacent to the first road lane; processing the image data to determine a speed of the preceding vehicle; classifying the lead vehicle as having a parking intent based at least on (1) the lead vehicle traveling in the first road lane and (2) the speed of the lead vehicle being less than a speed threshold, and Responsive to the preceding vehicle being classified as having a stopping intent, the first vehicle is caused to travel out of the first road lane and into the second road lane.
2. 2. The system of claim 1, wherein the processor is further programmed to: Processing the image data to identify one of the plurality of parking spaces as an available parking space; In response to (1) the second road lane having a direction of travel opposite the first road lane or (2) another vehicle being present in the second road lane in the scene, prohibiting the first vehicle from traveling out of the first road lane and into the second road lane, and The first vehicle is stopped before reaching the available parking space until the preceding vehicle has driven out of the first road lane and into the available parking space.
3. 3. The system of claim 1, wherein the speed threshold is dependent on a speed limit associated with the first and second roadway lanes, and less than a speed limit associated with the first and second roadway lanes.
4. 4. The system of claim 1, wherein the processor is programmed to classify the lead vehicle as having a parking intent based additionally on an acceleration or deceleration pattern of the lead vehicle.
5. 5. The system of claim 1, wherein the processor is programmed to classify the lead vehicle as having a parking intent based additionally on the lead vehicle maintaining its position in the first road lane.
6. 6. The system of claim 1, wherein the image sensor comprises at least one of a camera, a lidar sensor, a radar sensor, or an ultrasonic sensor.
7. 7. The system of claim 1, wherein the processor is further programmed to rely on a high definition map to determine that the lead vehicle is traveling in the first road roadway adjacent to the plurality of parking spaces.
8. 8. A system for autonomously controlling a first vehicle when a preceding vehicle is intended to be parked, the system comprising: An image sensor mounted to the first vehicle and configured to generate image data associated with a scene surrounding the first vehicle, wherein the scene includes the preceding vehicle in front of the first vehicle, and A processor mounted to the first vehicle and communicatively coupled to the image sensor, wherein the processor is programmed to: processing the image data to identify a plurality of parking spaces, a first road lane adjacent to the plurality of parking spaces, and a second road lane adjacent to the first road lane, wherein one of the plurality of parking spaces is identified as an available parking space; processing the image data to determine a speed of the preceding vehicle; classifying the lead vehicle as having a parking intent based at least on (1) the lead vehicle traveling in the first road lane and (2) the speed of the lead vehicle being less than a speed threshold, and The first vehicle is caused to stop before reaching the available parking space based on the preceding vehicle being classified as having a parking intent.
9. 9. The system of claim 8, wherein the processor is further programmed to keep the first vehicle stopped until the preceding vehicle has driven out of the first roadway lane and into the available parking space.
10. 10. The system of claim 8, wherein the processor is further programmed to prohibit the first vehicle from driving out of the first road lane and into the second road lane in response to (1) the second road lane having an opposite direction of travel than the first road lane or (2) another vehicle being present in the second road lane in the scene.
11. 11. The system of claim 8, wherein the processor is further programmed to cause the first vehicle to drive out of the first roadway lane and into the second roadway lane in response to the preceding vehicle being classified as having a parking intent.
12. 12. The system of claim 8, wherein the speed threshold is dependent on a speed limit associated with the first and second roadway lanes, and less than a speed limit associated with the first and second roadway lanes.
13. 13. The system of claim 8, wherein the processor is programmed to classify the lead vehicle as having a parking intent based additionally on an acceleration or deceleration pattern of the lead vehicle.
14. 14. The system of claim 8, wherein the processor is programmed to classify the lead vehicle as having a parking intent based additionally on the lead vehicle maintaining its position in the first road lane.
15. 15. The system of claim 8, wherein the image sensor comprises at least one of a camera, a lidar sensor, a radar sensor, or an ultrasonic sensor.
16. 16. A method for autonomously controlling a first vehicle when a preceding vehicle intends to park, the method comprising: receiving image data from an image sensor mounted on a first vehicle, wherein the image data is associated with a scene surrounding the first vehicle, and wherein the scene includes the front vehicle located in front of the first vehicle; Processing the image data to identify a plurality of parking spaces, a first road lane adjacent to the plurality of parking spaces, and a second road lane adjacent to the first road lane; determining a speed of the preceding vehicle based on the image data; classifying the lead vehicle as having a parking intent based at least on (1) the lead vehicle traveling in the first road lane and (2) the speed of the lead vehicle being less than a speed threshold, and Responsive to the first vehicle being classified as having a parking intent, autonomously maneuvering the first vehicle out of the first roadway lane and into the second roadway lane.
17. 17. The method of claim 16, further comprising: Processing the image data to identify one of the plurality of parking spaces as an available parking space; In response to (1) the second road lane having a direction of travel opposite the first road lane or (2) another vehicle being present in the second road lane in the scene, prohibiting the first vehicle from traveling out of the first road lane and into the second road lane, and The first vehicle is autonomously stopped before the first vehicle reaches the available parking space until the preceding vehicle has driven off the first road and into the available parking space.
18. 18. The method of claim 16, wherein classifying the preceding vehicle as having a parking intent is further based on a pattern of acceleration or deceleration of the preceding vehicle.
19. 19. The method of claim 16, wherein classifying the lead vehicle as having a parking intent is further based on a turn signal on the lead vehicle being in an activated state.
20. 20. The method of claim 16, wherein classifying the lead vehicle as having a parking intent is further based on the lead vehicle maintaining its position in the first road lane.

Description

System and method for controlling a vehicle based on a determination that another vehicle is intended to park Technical Field The present disclosure relates to systems and methods for controlling a first vehicle based on determining that another vehicle (e.g., a preceding vehicle positioned in front of the first vehicle) is intended to park. Background Autonomous driving in dense urban environments can be a complex task. In some cases, a vehicle (own vehicle) performing an autonomous or semi-autonomous function may approach another vehicle attempting to park. Even if kept a safe distance from the other vehicle, the host vehicle may be close enough to the other vehicle to interfere with the parking ability of the other vehicle. This is because the host vehicle cannot be conscious or recognize that other vehicles are attempting to park by reversing into a parking position (parking spot). Disclosure of Invention In one embodiment, a system for autonomously controlling a first vehicle when a preceding vehicle is intended to park is provided. The system includes an image sensor mounted to the first vehicle and configured to generate image data associated with a scene surrounding the first vehicle, wherein the scene includes a front vehicle positioned in front of the first vehicle. The system includes a processor mounted to the first vehicle and communicatively coupled to the image sensor. The processor is programmed to process the image data to identify a plurality of parking spaces (PARKING SPACE), a first roadway lane adjacent to the plurality of parking spaces, and a second roadway lane adjacent to the first roadway lane, process the image data to determine a speed of the lead vehicle, classify the lead vehicle as having a parking intent based at least on (1) the lead vehicle traveling in the first roadway lane and (2) the speed of the lead vehicle being less than a speed threshold, and responsive to the lead vehicle being classified as having a parking intent, cause the first vehicle to travel out of the first roadway lane and into the second roadway lane. In another embodiment, a system for autonomously controlling a first vehicle when a preceding vehicle is intended to park is provided. The system includes an image sensor mounted to the first vehicle and configured to generate image data associated with a scene surrounding the first vehicle, wherein the scene includes a front vehicle positioned in front of the first vehicle. The system includes a processor mounted to the first vehicle and communicatively coupled to the image sensor. The processor is programmed to process the image data to identify a plurality of parking spaces, a first road lane adjacent to the plurality of parking spaces, and a second road lane adjacent to the first road lane, wherein one of the plurality of parking spaces is identified as an available parking space, process the image data to determine a speed of a preceding vehicle, classify the preceding vehicle as having a parking intent based at least on (1) the preceding vehicle traveling in the first road lane and (2) the speed of the preceding vehicle being less than a speed threshold, and stop the first vehicle before reaching the available parking space based on the preceding vehicle being classified as having a parking intent. In another embodiment, a method for autonomously controlling a first vehicle when a preceding vehicle intends to park is provided. The method includes receiving image data from an image sensor mounted on a first vehicle, wherein the image data is associated with a scene surrounding the first vehicle, and wherein the scene includes a front vehicle positioned in front of the first vehicle, processing the image data to identify a plurality of parking spaces, a first roadway lane adjacent to the plurality of parking spaces, and a second roadway lane adjacent to the first roadway lane, determining a speed of the front vehicle based on the image data, classifying the front vehicle as having a parking intent based at least on (1) the front vehicle traveling in the first roadway lane and (2) the speed of the front vehicle being less than a speed threshold, and autonomously maneuvering the first vehicle out of the first roadway lane and into the second roadway lane in response to the first vehicle being classified as having a parking intent. Drawings Fig. 1 illustrates an embodiment of a vehicle according to the principles of the present disclosure. FIG. 2 illustrates an embodiment of a vehicle controller according to the principles of the present disclosure. Fig. 3A-3B are schematic top views of a first vehicle (own vehicle) approaching a second vehicle (a preceding vehicle) that is attempting to park by reversing into a parking space and interfering with the parking capability of the second vehicle. Fig. 4A-4B are schematic top-down views of a first vehicle recognizing that a second vehicle is attempting to park and take appropriate action, and fig. 4C is a flow