# US 10,769,948 B2 · Parking spot detection system and method thereof

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- Number: US 10,769,948 B2
- Document ID: US10769948B2
- Status: Granted
- Kind: B2
- Application number: 16/233,109
- Filed: 2018-12-27
- Published: 2020-07-02
- Granted: 2020-09-08
- Earliest claimed: 2018-12-27
- Assignees: Industrial Technology Research Institute
- Applicants: Industrial Technology Research Institute
- Inventors: Yu-Hsiang Hao; Wen-Han Lu; Chia-Jui Hu; Tse-Lin Lee; Yu-Syuan Liao
- Web page: https://patentgrep.com/patent/US10769948B2

## CPC

- G01C 21/3811: {Point data, e.g. Point of Interest [POI]}
- G08G 1/141: {with means giving the indication of available parking spaces}
- G01C 21/30: Map- or contour-matching
- G08G 1/143: {inside the vehicles}
- G01C 21/3848: {Data obtained from both position sensors and additional sensors}
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A parking spot detection system is provided with a detection unit, a map database and a processing unit. The detection unit acquires position data and intensity data of a plurality of data points in an environment space. The map database provides map information. The processing unit is coupled to the detection unit and the map database and determines whether a geometric shape formed by adjacent data points is of a parking space according to the intensity data of the data points; and if the geometric shape is determined to be of the parking space, the processing unit further integrates the geometric shape and the position of the parking space into the map data according to the position data of the data points.

## Claims

### Claim 1

A parking spot detection system, comprising:
a detection unit, used for emitting a plurality of light signals and acquiring position data and intensity data of a plurality of data points in an environment space according to return of each light signal which is excited in the environment space;
a map database, used for providing map data; and
a processing unit, coupled to the detection unit and the map data map database and used for determining whether a geometric shape formed by adjacent data points is of a parking space according to the intensity data of the data points, wherein
if the geometric shape is determined to be of the parking space, the processing unit further integrates the geometric shape and a position of the parking space into the map data according to the position data of the data points,
wherein the processing unit further acquires height data corresponding to and above the geometric shape according to the intensity data and the position data of the data points and determines whether the height data is less than a vehicle height, and
in response to determining that the height data is less than the vehicle height, the processing unit determines that the geometric shape is not the parking space.

### Claim 2 (depends on 1)

The parking spot detection system according to claim 1, wherein
the processing unit further determines whether the geometric shape conforms with features of parking lines,
the processing unit further determines whether the size of the space defined by the geometric shape is not less than the size of a preset space, and
the processing unit further determines that the geometric shape conforming with the features of parking lines and the size of the preset space is of the parking space.

### Claim 3 (depends on 2)

The parking spot detection system according to claim 2, wherein the features of parking lines comprise at least one of angles of a parallelogram, sides of the parallelogram and the shape of the parallelogram.

### Claim 4 (depends on 2)

The parking spot detection system according to claim 2, wherein the processing unit further determines that the geometric shape conforming with the features of parking lines, the size of the preset space and the vehicle height is of the parking space.

### Claim 5 (depends on 1)

The parking spot detection system according to claim 1, wherein the processing unit further determines whether the geometric shape falls into a category of a moving object or a non-moving object according to the map data and filters out the geometric shape falls into the category of the moving object.

### Claim 6 (depends on 1)

The parking spot detection system according to claim 1, wherein the processing unit further selects some of the data points, uses one of the selected data points which has the smallest coordinate value on an axis corresponding to heights as a reference point, and removes other data points on the axis which are higher than the reference point by at least a preset height.

### Claim 7 (depends on 1)

The parking spot detection system according to claim 1, wherein the processing unit further acquires the current position of a vehicle and plans a parking path of the vehicle according to the integrated map data and the current position of the vehicle.

### Claim 8 (depends on 7)

The parking spot detection system according to claim 7, further comprising:
a parking unit, coupled to the processing unit and executing parking according to the parking path.

### Claim 9

A parking spot detection method, comprising:
emitting a plurality of light signals and acquiring position data and intensity data of a plurality of data points in an environment space according to return of each light signal which is excited in the environment space;
determining whether a geometric shape formed by adjacent data points is of a parking space according to the intensity data of the data points;
if the geometric shape is determined to be of the parking space, integrating the geometric shape and a position of the parking space into map data according to the position data of the data points;
acquiring height data corresponding to and above the geometric shape according to the intensity data and the position data of the data points;
determining whether the height data is less than a vehicle height; and
in response to determining that the height data is less than the vehicle height, determining that the geometric shape is not the parking space.

### Claim 10 (depends on 9)

The parking spot detection method according to claim 9, wherein, the step of determining whether the geometric shape formed by the adjacent data points is of the parking space according to the intensity data of the data points further comprises:
determining whether the geometric shape conforms with the features of parking lines;
determining whether the size of the space defined by the geometric shape is not less than the size of the preset space; and
determining that the geometric shape conforming with the features of parking lines and the size of the preset space is of the parking space.

### Claim 11 (depends on 10)

The parking spot detection method according to claim 10, wherein the features of parking lines comprise at least one of angles of a parallelogram, edges of the parallelogram and the shape of the parallelogram.

### Claim 12 (depends on 10)

The parking spot detection method according to claim 10, further comprising:
determining that the geometric shape conforming to the features of parking lines, the size of the preset space and the vehicle height is of the parking space.

### Claim 13 (depends on 9)

The parking spot detection method according to claim 9, further comprising:
determining whether the geometric shape falls into a category of a moving object or a non-moving object according to the map data, and filtering out the geometric shape falling into the category of the moving object.

### Claim 14 (depends on 9)

The parking spot detection method according to claim 9, further comprising:
selecting some of the data points; and
using one of the selected data points which has the smallest coordinate value on an axis corresponding to heights as a reference point, and removing other data points on the axis which are higher than the reference point by at least a preset height.

### Claim 15 (depends on 9)

The parking spot detection method according to claim 9, further comprising:
acquiring current position of a vehicle, and planning a parking path of the vehicle according to the integrated map data and the current position of the vehicle.

### Claim 16 (depends on 15)

The parking spot detection method according to claim 15, further comprising:
executing parking according to the parking path.