| CPC G01C 21/3407 (2013.01) [B60W 30/06 (2013.01); G01C 21/005 (2013.01); G01C 21/3837 (2020.08); G01C 21/3881 (2020.08); G08G 1/143 (2013.01)] | 11 Claims |
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1. An apparatus that improves an amount of time required to park a vehicle in a target parking space, the apparatus comprising:
a memory that stores parking positions and parking angles of the vehicle at a parking completion position within the target parking space, wherein the target parking space defines an area for the vehicle to park;
a communication interface that is communicatively coupled to a sensor that measures a surrounding area of the target parking space; and
a central processing unit (CPU) that is conductively coupled to the memory and the communication interface, wherein the CPU is configured to:
acquire a first set of images of a plurality of obstacles from the sensor when the vehicle was located at a first location,
acquire a second set of images of the plurality of obstacles from the sensor when the vehicle is located at a second location,
determine 3-Dimensional points for each of the plurality of obstacles based on a parallax of the first set of images and the second set of images,
generate a surrounding area map based on the 3-Dimensional points for each of the plurality of obstacles,
calculate a first parking space within the area of the target parking space and a first parking angle of the vehicle at the parking completion position within the target parking space at a first position of the vehicle in relation to the target parking space, wherein the first parking space is calculated based on the surrounding area map;
calculate a second parking space within the area of the target parking space and a second parking angle of the vehicle for the second parking space within the target parking space, by adjusting the first parking angle of the first parking space, based on measurements of the surrounding area received from the sensor, at a second position of the vehicle in relation to the target parking space, wherein the second position is closer to the target parking space than the first position;
establish a line that is perpendicular to a rear wheel axle of the vehicle at a time point in time when the apparatus was activated as a reference axis,
calculate, prior to the vehicle entering the area of the target parking space, a difference between the first parking angle and the second parking angle, wherein the first parking angle and the second parking angle are angles relative to the reference axis,
determine to use the second parking space when the difference between the first parking angle and the second parking angle is equal to or less than a predetermined value,
determine to use the first parking space when the difference between the first parking angle and the second parking angle is more than the predetermined value; and
generate a parking route to the first parking space or the second parking space based on whether the first parking space or the second parking space is determined to be used.
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