US 11,654,897 B2
System and method for controlling autonomous parking of vehicle
Jongmo Kim, Goyang-si (KR); Minsung Son, Gwacheon-si (KR); Hayeon Lee, Gwacheon-si (KR); Jinwook Choi, Seoul (KR); Wonjune Lee, Yongin-si (KR); and Sohee You, Suwon-si (KR)
Assigned to Hyundai Motor Company, Seoul (KR); Kia Motors Corporation, Seoul (KR); and Hyundai Mobis Co., Ltd., Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); KIA CORPORATION, Seoul (KR); and Hyundai Mobis Co., Ltd., Seoul (KR)
Filed on Jun. 8, 2021, as Appl. No. 17/341,788.
Claims priority of application No. 10-2020-0113689 (KR), filed on Sep. 7, 2020.
Prior Publication US 2022/0073055 A1, Mar. 10, 2022
Int. Cl. B60W 30/06 (2006.01); G06V 10/30 (2022.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01); G06V 20/56 (2022.01); G06F 18/23 (2023.01); G06F 18/2431 (2023.01)
CPC B60W 30/06 (2013.01) [G06F 18/23 (2023.01); G06F 18/2431 (2023.01); G06V 10/30 (2022.01); G06V 10/443 (2022.01); G06V 20/586 (2022.01); G06V 20/588 (2022.01)] 16 Claims
OG exemplary drawing
 
1. A system for performing autonomous parking of a vehicle,
the system comprising:
a camera configured to acquire a surrounding image of the vehicle including a parking line; and
a controller configured to:
derive spatial recognition data based on the surrounding image as an input,
derive a feature point corresponding to the parking line based on the surrounding image and the spatial recognition data,
determine a candidate parking line based on clustering of the feature point, and
control the vehicle to perform parking in a parking area which has the candidate parking line,
wherein the controller is configured to determine a plurality of additional candidate parking lines, determine a first area provided as a boundary with endpoints of the plurality of additional candidate parking lines and an endpoint of the candidate parking line, determine a second area provided as an empty space between the plurality of additional candidate parking lines and the candidate parking line, and determine the parking area based on a ratio of a number of pixels in the first area and a number of pixels in the second area.