KR-20260066117-A - System and method for controlling a vehicle based on a determination that another vehicle has a parking intention

KR20260066117AKR 20260066117 AKR20260066117 AKR 20260066117AKR-20260066117-A

Abstract

A method and system for autonomously controlling a first vehicle when a vehicle ahead intends to park. An image sensor is mounted on the first vehicle and configured to generate image data associated with a scene surrounding the first vehicle, the scene including a vehicle ahead located in front of the first vehicle. A processor is mounted on the first vehicle and communically 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. The processor determines the speed of the vehicle ahead and classifies the vehicle ahead as having a parking intention based on the detected conditions. In response to the vehicle ahead being classified as having a parking intention, the processor issues a command to move the vehicle accordingly.

Inventors

하이츠만 토마스

Assignees

발레오 샬터 운트 센소렌 게엠베아

Dates

Publication Date: 20260512
Application Date: 20240925
Priority Date: 20231010

Claims (20)

In a system for autonomously controlling a first vehicle when a vehicle ahead is attempting to park, An image sensor mounted on the first vehicle and configured to generate image data associated with a scene surrounding the first vehicle — the scene includes the front vehicle located in front of the first vehicle — and, It includes a processor mounted on the first vehicle and coupled to the image sensor so as to be communicable, and the processor, 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, and Process the image data to determine the speed of the vehicle ahead, and (1) classifying the vehicle ahead as having a parking intention based at least on the fact that the vehicle ahead is driving in the first road lane, and (2) that the speed of the vehicle ahead is less than a speed threshold value, and The first vehicle is programmed to maneuver from the first road lane to the second road lane in response to the classification that the preceding vehicle has a parking intention. System.
In Article 1, The above processor is, The image data is processed to identify one of the plurality of parking spaces as an available parking space, and In response to either (1) the second road lane having a driving direction opposite to that of the first road lane, or (2) another vehicle being present in the second road lane in the scene, the first vehicle is prohibited from maneuvering from the first road lane to the second road lane, and The first vehicle is additionally programmed to stop before reaching the available parking space until the aforementioned front vehicle maneuvers from the first road lane to the available parking space. System.
In Article 1, The above speed threshold depends on the speed limit associated with the first and second road lanes, and is smaller than the speed limit System.
In Article 1, The processor is programmed to classify the vehicle ahead as having a parking intention based additionally on the acceleration or deceleration pattern of the vehicle ahead. System.
In Article 1, The processor is programmed to classify the front vehicle as having a parking intention based additionally on the fact that the front vehicle maintains its position in the first road lane. System.
In Article 1, The image sensor comprises at least one of a camera, a lidar sensor, a radar sensor, or an ultrasonic sensor. System.
In Article 1, The processor is additionally programmed to rely on an HD map when determining that the preceding vehicle is driving in a first road lane adjacent to the plurality of parking spaces. System.
In a system for autonomously controlling a first vehicle when a vehicle ahead is attempting to park, An image sensor mounted on the first vehicle and configured to generate image data associated with a scene surrounding the first vehicle — the scene includes the front vehicle located in front of the first vehicle — and, It includes a processor mounted on the first vehicle and coupled to the image sensor so as to be communicable, and the processor, 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 — one of the plurality of parking spaces is identified as an available parking space —, Process the image data to determine the speed of the vehicle ahead, and (1) classifying the vehicle ahead as having a parking intention based at least on the fact that the vehicle ahead is driving in the first road lane, and (2) that the speed of the vehicle ahead is less than a speed threshold value, and Programmed to cause the first vehicle to stop before reaching the available parking space based on the fact that the aforementioned preceding vehicle is classified as having a parking intention. System.
In Article 8, The processor is additionally programmed to keep the first vehicle stationary until the front vehicle moves from the first road lane to the available parking space. System.
In Article 8, The processor is additionally programmed to prohibit the first vehicle from maneuvering from the first road lane to the second road lane in response to either (1) the second road lane having a driving direction opposite to that of the first road lane, or (2) the presence of another vehicle in the second road lane in the scene. System.
In Article 8, The processor is additionally programmed to cause the first vehicle to maneuver from the first road lane to the second road lane in response to the classification that the front vehicle has a parking intention. System.
In Article 8, The above speed threshold depends on the speed limit associated with the first and second road lanes, and is smaller than the speed limit System.
In Article 8, The processor is programmed to classify the vehicle ahead as having a parking intention based additionally on the acceleration or deceleration pattern of the vehicle ahead. System.
In Article 8, The processor is programmed to classify the front vehicle as having a parking intention based additionally on the fact that the front vehicle maintains its position in the first road lane. System.
In Article 8, The image sensor comprises at least one of a camera, a lidar sensor, a radar sensor, or an ultrasonic sensor. System.
A method for autonomously controlling a first vehicle when a front vehicle attempts to park, Receiving image data from an image sensor mounted on the first vehicle — said image data is associated with a scene around the first vehicle, and said scene includes the front vehicle located in front of the first vehicle — and, 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, and Determining the speed of the vehicle ahead based on the image data above, and (1) classifying the vehicle ahead as having a parking intention based at least on the fact that the vehicle ahead is driving in the first road lane, and (2) that the speed of the vehicle ahead is below a speed threshold value, and Including autonomously maneuvering the first vehicle from the first road lane to the second road lane in response to the first vehicle being classified as having a parking intention. method.
In Article 16, Processing image data to identify one of the above plurality of parking spaces as an available parking space, and (1) that the second road lane has a driving direction opposite to that of the first road lane, or (2) that another vehicle is present in the second road lane in the scene, in response to which the first vehicle is prohibited from maneuvering from the first road lane to the second road lane, and The method further comprises autonomously stopping the first vehicle before the first vehicle reaches the available parking space until the front vehicle maneuvers from the first road lane to the available parking space. method.
In Article 16, Classifying the aforementioned vehicle ahead as having a parking intention is based additionally on the acceleration or deceleration pattern of the aforementioned vehicle ahead. method.
In Article 16, Classifying the aforementioned vehicle ahead as having a parking intention is based additionally on the activation of the turn signal in the aforementioned vehicle ahead. method.
In Article 16, Classifying the aforementioned vehicle ahead as having a parking intention is additionally based on the fact that the vehicle ahead maintains its position in the first road lane. method.

Description

System and method for controlling a vehicle based on a determination that another vehicle has a parking intention The present disclosure relates to a system and method for controlling a first vehicle based on a determination that another vehicle (e.g., a front vehicle located in front of the first vehicle) intends to park. Autonomous driving in dense urban environments can be a complex task. In some situations, autonomous or semi-autonomous vehicles (EGO vehicles) may approach other vehicles attempting to park. Even if a safe distance is maintained, an EGO vehicle may approach close enough to interfere with the other vehicle's ability to park. This is because the EGO vehicle cannot perceive or understand that another vehicle is backing into a parking spot to attempt to park. In one embodiment, a system for autonomously controlling a first vehicle when a vehicle ahead attempts to park is provided. The system includes an image sensor mounted on the first vehicle and configured to generate image data associated with a scene around the first vehicle, the scene including a vehicle ahead located in front of the first vehicle. The system includes a processor mounted on the first vehicle and communically coupled to the image sensor. The processor processes 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, processes the image data to determine the speed of the vehicle ahead, classifies the vehicle ahead as having a parking intention based at least on (1) the vehicle ahead is driving in the first road lane, and (2) the speed of the vehicle ahead is below a speed threshold, and is programmed to cause the first vehicle to maneuver from the first road lane into the second road lane in response to the vehicle ahead being classified as having a parking intention. In another embodiment, a system for autonomously controlling a first vehicle when a vehicle ahead attempts to park is provided. The system includes an image sensor mounted on the first vehicle and configured to generate image data associated with a scene around the first vehicle, the scene including a vehicle ahead located in front of the first vehicle. The system includes a processor mounted on the first vehicle and communically coupled to the image sensor. The processor processes 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, one of the plurality of parking spaces being identified as an available parking space, processes the image data to determine the speed of the vehicle ahead, classifies the vehicle ahead as having a parking intention based at least on (1) the vehicle ahead is driving on the first road lane, and (2) the speed of the vehicle ahead is below a speed threshold, and is programmed to stop the first vehicle before reaching the available parking space based on the vehicle ahead being classified as having a parking intention. In another embodiment, a method for autonomously controlling a first vehicle when a front vehicle attempts to park is provided. The method comprises receiving image data from an image sensor mounted on the first vehicle, wherein the image data is associated with a scene around the first vehicle, and the scene includes a 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 the speed of the front vehicle based on the image data; classifying the front vehicle as having a parking intention based at least on (1) the front vehicle driving in the first road lane; and (2) the speed of the front vehicle being less than a speed threshold; and in response to the first vehicle being classified as having a parking intention, autonomously maneuvering the first vehicle from the first road lane into the second road lane. 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. FIGS. 3a and 3b are schematic top views of a first vehicle (EGO vehicle) that approaches a second vehicle (front vehicle) attempting to reverse into a parking space and obstructs the second vehicle's ability to park. FIGS. 4a and 4b are schematic top views of a first vehicle recognizing that a second vehicle is attempting to park and taking appropriate action according to an embodiment, and FIG. 4c is a flowchart of a method related thereto. FIGS. 5A and 5B are schematic top views showing that, according to another embodiment, the first vehicle recognizes that the second vehicle is attempting to park and takes appropriate action, and FIG. 5C is a flowchart of a method re