US 12,403,894 B2
Vehicular automated parking system
Achim Gieseke, Gross-Umstadt (DE); Frank Goseberg, Aschaffenburg (DE); Michael Biemer, Aschaffenburg-Obernau (DE); Ruediger Boegel, Grossostheim (DE); and Goerg Pflug, Weil der Stadt (DE)
Assigned to MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed by MAGNA ELECTRONICS INC., Auburn Hills, MI (US)
Filed on May 2, 2022, as Appl. No. 17/661,573.
Application 16/449,529 is a division of application No. 14/726,906, filed on Jun. 1, 2015, granted, now 10,328,932, issued on Jun. 25, 2019.
Application 17/661,573 is a continuation of application No. 16/449,529, filed on Jun. 24, 2019, granted, now 11,318,928.
Claims priority of provisional application 62/088,128, filed on Dec. 5, 2014.
Claims priority of provisional application 62/075,349, filed on Nov. 5, 2014.
Claims priority of provisional application 62/067,113, filed on Oct. 22, 2014.
Claims priority of provisional application 62/027,462, filed on Jul. 22, 2014.
Claims priority of provisional application 62/006,391, filed on Jun. 2, 2014.
Prior Publication US 2022/0250610 A1, Aug. 11, 2022
Int. Cl. B60W 30/00 (2006.01); B60R 1/27 (2022.01); B60W 30/06 (2006.01); B60W 30/095 (2012.01); B60W 50/00 (2006.01); B60W 50/14 (2020.01); B62D 15/02 (2006.01)
CPC B60W 30/00 (2013.01) [B60R 1/27 (2022.01); B60W 30/06 (2013.01); B60W 30/095 (2013.01); B60W 50/0097 (2013.01); B62D 15/028 (2013.01); B60R 2300/806 (2013.01); B60W 2050/146 (2013.01); B60W 2555/00 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A vehicular automated parking system, the vehicular automated parking system comprising:
a plurality of cameras disposed at a vehicle equipped with the vehicular automated parking system;
wherein the plurality of cameras comprises (i) a front camera disposed at a front portion of the equipped vehicle and viewing at least forward of the equipped vehicle, (ii) a rear camera disposed at a rear portion of the equipped vehicle and viewing at least rearward of the equipped vehicle, (iii) a driver-side camera disposed at a driver side of the equipped vehicle and viewing at least sideward of the equipped vehicle and (iv) a passenger-side camera disposed at a passenger side of the equipped vehicle and viewing at least sideward of the equipped vehicle;
wherein each camera of the plurality of cameras comprises an imaging array having at least one million photosensors arranged in rows and columns;
an electronic control unit (ECU) comprising an image processor operable to process image data captured by individual cameras of the plurality of cameras;
a video display screen disposed in the equipped vehicle and viewable by a driver of the equipped vehicle as the equipped vehicle travels along a road;
wherein, while the equipped vehicle is traveling along the road, the vehicular automated parking system operates in a parking space locating mode to determine available parking spaces;
wherein, while the equipped vehicle is traveling along the road, the vehicular automated parking system, when operating in the parking space locating mode, determines available parking spaces at least in part via processing at the ECU of image data captured by at least one camera of the plurality of cameras;
wherein the vehicular automated parking system fuses a plurality of the determined available parking spaces with pre-existing road map data to generate an annotated map for display at the video display screen for viewing by the driver of the equipped vehicle to assist the driver in selecting a parking space from the plurality of determined available parking spaces, and wherein the annotated map displays the plurality of the determined available parking spaces relative to features from the pre-existing road map data; and
wherein, after selection of the parking space, the vehicular automated parking system parks the equipped vehicle in the selected parking space.