US 11,810,367 B2
System and method for determining if a vehicle is parked
Chao Fang, Sunnyvale, CA (US); Kuan-Hui Lee, San Jose, CA (US); Logan Michael Ellis, Pleasanton, CA (US); Jia-En Pan, Mountain View, CA (US); Kun-Hsin Chen, Mountain View, CA (US); Sudeep Pillai, Santa Clara, CA (US); Daniele Molinari, Redwood City, CA (US); Constantin Franziskus Dominik Hubmann, Menlo Park, CA (US); and T. Wolfram Burgard, Mountain View, CA (US)
Assigned to Toyota Research Institute, Inc., Los Altos, CA (US)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US)
Filed on Jun. 29, 2021, as Appl. No. 17/361,424.
Prior Publication US 2022/0414388 A1, Dec. 29, 2022
Int. Cl. G06V 20/58 (2022.01); G06T 7/246 (2017.01); G01S 17/89 (2020.01); G06T 7/521 (2017.01); G06F 18/21 (2023.01); G06F 18/243 (2023.01); G06N 3/044 (2023.01)
CPC G06V 20/584 (2022.01) [G01S 17/89 (2013.01); G06F 18/21 (2023.01); G06F 18/24323 (2023.01); G06N 3/044 (2023.01); G06T 7/246 (2017.01); G06T 7/521 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01); G06V 2201/08 (2022.01)] 17 Claims
OG exemplary drawing
 
1. A system for determining if a vehicle is parked comprising:
a processor;
a sensor system in communication with the processor, the sensor system being configured to detect the vehicle within an environment and output sensor data and includes a LIDAR sensor;
a memory in communication with the processor, the memory having a parking determination module having instructions that, when executed by the processor, cause the processor to determine, using a random forest model, when the vehicle is parked based on vehicle estimated features, vehicle learned features, and vehicle taillight features of the vehicle that are based on sensor data, the vehicle learned features are determined by a deep learning framework that uses at least two consecutive point cloud sweeps by the LIDAR sensor of the environment that includes the vehicle; and
wherein the vehicle estimated features include a distance to a nearest intersection from the vehicle, an edge distance between an edge of the vehicle and the road boundary, and a distance from a center point of the vehicle to a road boundary.