	US 12,441,300 B2
	Parking-spot identification and selection using radar-centric occupancy grid maps
Qian Wang, Westfield, IN (US); and Jeremy S. Greene, Indianapolis, IN (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Jan. 25, 2023, as Appl. No. 18/159,612.
Prior Publication US 2024/0246529 A1, Jul. 25, 2024
Int. Cl. B60W 30/06 (2006.01); B62D 15/00 (2006.01); G01S 17/931 (2020.01); G06V 20/58 (2022.01); G08G 1/14 (2006.01); G08G 1/16 (2006.01); B62D 15/02 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G01S 15/931 (2020.01)

CPC B60W 30/06 (2013.01) [B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2552/50 (2020.02); B60W 2552/53 (2020.02); B62D 15/0285 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01); G01S 2013/9315 (2020.01); G01S 2015/932 (2013.01); G01S 17/931 (2020.01); G06V 20/586 (2022.01); G08G 1/142 (2013.01); G08G 1/168 (2013.01)]

24 Claims

1. A method comprising:

identifying, using a radar-occupancy-grid (ROG) map generated based on sensor data obtained from one or more sensors of a host vehicle, a plurality of available parking spots near the host vehicle in a parking environment, the one or more sensors including radar sensors;

determining, using the sensor data, parking-spot characteristics of each available parking spot of the plurality of available parking spots;

determining a selected parking spot among the plurality of available parking spots based on the parking-spot characteristics, wherein the selected parking spot is determined using conditional probability distributions for the parking-spot characteristics, and wherein the conditional probability distributions identify how probable each of the plurality of available parking spots is likely to be the selected parking spot given the corresponding parking-spot characteristics of that available parking spot; and

controlling, based on the parking-spot characteristics, operation of the host vehicle to autonomously park in the selected parking spot.