US-12624957-B2 - Method and apparatus with parking path determination

US12624957B2US 12624957 B2US12624957 B2US 12624957B2US-12624957-B2

Abstract

A device for determining a parking path based on a user input including a processor, and a memory storing a plurality of instructions and the processor is configured to execute the plurality of instructions to configure the processor to be configured to recognize a space around a vehicle to determine one or more candidate parking spaces and determine a final parking path from a current location to a target parking space by using a user selected input initial parking path, of the one or more candidate parking paths, as an initial value for a search algorithm for the final parking path.

Inventors

Daeul PARK
Seho SHIN

Assignees

SAMSUNG ELECTRONICS CO., LTD.

Dates

Publication Date: 20260512
Application Date: 20230309
Priority Date: 20221006

Claims (16)

1 . A device, comprising: a processor configured to execute a plurality of instructions; and a memory storing the plurality of instructions, wherein execution of the plurality of instructions configures the processor to be configured to: recognize a space around a vehicle to determine one or more candidate parking spaces; determine a final parking path from a current location to a target parking space by using a user generated initial parking path as an initial value for a search algorithm for the final parking path; and control the vehicle according to the final parking path to park the vehicle in the target parking space, wherein the determining comprises: dividing a search area corresponding to the space around the vehicle into a plurality of grids; deactivating one or more grids of the plurality of grids that are separated from the user generated initial parking path by a distance greater than or equal to a predetermined distance to provide a reduced search area; and executing, by the processor, a search algorithm to determine the final parking path connecting the current location and the target parking space within the reduced search area based on the user generated initial parking path.
2 . The device of claim 1 , wherein the processor is configured to: receive a first user input indicating the user generated initial parking path from a current location of the vehicle to the target parking space from among the one or more candidate parking spaces; and receive a second user input to indicate a movement of the vehicle from the current location to the target parking space for the user generated initial parking path.
3 . The device of claim 1 , wherein the processor is configured to: display the current location of the vehicle on a display; and receive a user input, the user input comprising: reception of a first user touch input through a touch control indicating a selection of the target parking space from among the one or more candidate parking spaces; display the target parking space on the display; and reception of a second user touch input through the touch control connecting the current location and the target parking space on the display to set the user generated initial parking path.
4 . The device of claim 3 , further comprising the displays, wherein the touch control is received through the display.
5 . The device of claim 1 , wherein the processor is configured to: determine one or a combination of two or more of a time to start controlling the vehicle according to the final parking path, a moving speed of the vehicle, and a parking type of the vehicle, based on a voice command.
6 . The device of claim 5 , wherein the parking type of the vehicle is a selection of a direction in which the vehicle is to face when parked in the target parking space.
7 . The device of claim 1 , wherein the processor is configured to: generate a probability distribution based on the user generated initial parking path within a search area; and extend a tree from a starting point corresponding to the current location to an ending point corresponding to the target parking space in the search area to generate the final parking path using the probability distribution as a sample.
8 . The device of claim 1 , wherein the processor is configured to: request a second initial parking in response to a search for the final parking path not being completed within a predetermined time.
9 . The device of claim 1 , wherein the processor is configured to: generate a surrounding image of the vehicle using images acquired through one or more cameras; determine one or more candidate parking spaces in which the vehicle may be parked, in the surrounding image; and display the one or more candidate parking spaces in the surrounding image.
10 . The device of claim 9 , wherein the one or more cameras are disposed in the vehicle, in a facility where the one or more candidate parking spaces are located, or in both the vehicle and the facility.
11 . The device of claim 10 , further comprising a communication device configured to receive a respective surrounding image information from the facility.
12 . A processor implemented method, the method comprising: determining one or more candidate parking spaces in an area around a vehicle; determining a final parking path from a current location to a target parking space by using a user generated initial parking path as an initial search value for a search algorithm for the final parking path; and controlling the vehicle according to the final parking path to park the vehicle in the target parking space, wherein the determining comprises: dividing a search area corresponding to the space around the vehicle into a plurality of grids; deactivating one or more grids of the plurality of grids that are separated from the user generated initial parking path by a distance greater than or equal to a predetermined distance to provide a reduced search area; and executing, by the processor, a search algorithm to determine the final parking path connecting the current location and the target parking space within the reduced search area based on the user generated initial parking path.
13 . The method of claim 12 , further comprising: receiving a first user input indicating a selection of the user generated initial parking path from the current location to the target parking space from among the one or more candidate parking spaces; and receiving a second user input indicating a movement of the vehicle from the current location to the target parking space as the user generated initial parking path.
14 . The method of claim 12 , further comprising: receiving a selection of a target parking space from among the one or more candidate parking spaces based on a user input; displaying the current location of the vehicle and the target parking space on a display within the vehicle; and receiving a user touch input connecting the current location and the target parking space via the display to set the user generated initial parking path.
15 . The method of claim 12 , further comprising: receiving a speech command; and determining one or a combination of two or more of a time to start controlling the vehicle according to the final parking path, a moving speed of the vehicle, and a parking type of the vehicle, based on the speech command.
16 . The method of claim 12 , wherein the determining the final parking path comprises applying a search algorithm employing the initial search value as a starting point.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit under 35 USC § 119(a) of Korean Patent Application No. 10-2022-0128066, filed on Oct. 6, 2022, at the Korean Intellectual Property Office, the entire disclosure of which is incorporated herein by reference for all purposes. BACKGROUND 1. Field The following description relates to a method and apparatus for parking path determination. 2. Description of Related Art Typically, smart parking assist systems (SPAS) may recognize a parking space using an ultrasonic sensor and a camera mounted on a vehicle. The SPAS can help a driver park without the driver having to the steer the vehicle. SUMMARY This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter and is not intended to be used as an aid in determining the scope of the claimed subject matter. In one general aspect, here is provided a device including a processor configured to execute a plurality of instructions and a memory storing the plurality of instructions, wherein execution of the plurality of instructions configures the processor to be configured to recognize a space around a vehicle to determine one or more candidate parking spaces and determine a final parking path from a current location to a target parking space by using a user selected, included in one or more candidate parking paths, initial parking path as an initial value for a search algorithm for the final parking path. The processor may be configured to receive a first user input to indicate the initial parking path from a current location of the vehicle to the target parking space from among the one or more candidate parking spaces and receive a second user input to indicate a movement of the vehicle from the current location to the target parking space as an initial parking path. The processor may be configured to display the current location of the vehicle on a display and receive a user input, the user input including reception of a first user touch input through a touch control indicating a selection of the target parking space from among the one or more candidate parking spaces, and display the target parking space on the display and reception of a second user touch input through the touch control connecting the current location and the target parking space on the display to set the initial parking path. The device may include the displays, wherein the touch control is received through the display. The processor may be configured to determine one or a combination of two or more of a time to start controlling the vehicle according to the final parking path, a moving speed of the vehicle, and a parking type of the vehicle, based on a voice command. The parking type of the vehicle may be a selection of a direction in which the vehicle is to face when parked in the target parking space. The processor may be configured to inactive a portion of a search area to which the search algorithm is applied to provide a reduced search area and determine the final parking path in the reduced search area using the initial parking path. The processor may be configured to generate a probability distribution based on the initial parking path within a search area and extend a tree from a starting point corresponding to the current location to an ending point corresponding to the target parking space in the search area to generate the final parking path using the probability distribution as a sample. The processor may be configured to divide a search area into a plurality of grids, deactivate one or more grids of the plurality of grids that are separated from the initial parking path by a distance greater than or equal to a predetermined distance, and determine the final parking path based on an optimal path among remaining grids of the plurality of grids connecting the current location to the target parking space. The processor may be configured to request a second initial parking in response to a search for the final parking path not being completed within a predetermined time. The processor may be configured to generate surrounding image of the vehicle using images acquired through one or more cameras, determine one or more candidate parking spaces in which the vehicle may be parked, in the surrounding image, and display the one or more candidate parking spaces in the surrounding image. The one or more cameras may be disposed in the vehicle, in a facility where the one or more candidate parking spaces are located, or in both the vehicle and the facility. The device may include a communication device configured to receive a respective surrounding image from the facility. The processor may be configured to control the vehicle according to the final parking path to park the vehicle in the target parking space. In another general aspect, here