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US 12,643,533 B2Granted
Apparatus for assisting parking for host vehicle and method thereof
AssigneeHl Klemove Corp.
InventorDonghyeon Kim
Life of this patent
Estimating the term…
Abstract
The present disclosure provides an apparatus for classifying a parking space to perform autonomous parking of a vehicle, which includes a 4D imaging radar for detecting the length, height, depth and speed of an object that is located in a parking lot to output as a point cloud, and a processor for processing the point cloud to extract a plurality of corner points of the object and classifying parking spaces that are available in a parking lot based on the plurality of corner points.
Claims9
An apparatus for assisting parking for a host vehicle, comprising:
- a radar configured to detect a plurality of points of an object and output information of the plurality of points as a point cloud, wherein the plurality of points are detected by receiving signals of electromagnetic waves that are reflected from the object;
- and
- a processor configured to calculate length, height, depth and speed of the object and extract a plurality of corner points of the object based on distances between the plurality of points included in the information output from the radar,
- wherein the processor is further configured to:
- determine the object as a vehicle target when the speed of the object is less than a reference speed, a size of the object is within a preset size, and a signal strength of the electromagnetic waves reflected from the object is greater than a reference strength based on the information output from the radar, wherein the size of the object is calculated by the length, the height and the depth of the object;
- determine an area around the object as a parking space based on the plurality of corner points of the object when the object is the vehicle target;
- and
- determine the parking space as a parallel parking space, a perpendicular parking space or an oblique parking space based on the length, the height and the depth of the object.
5 more elements
A method for assisting parking for a host vehicle, comprising the steps of:
- detecting a plurality of points of an object located in a parking lot by a radar and outputting information of the plurality of points as a point cloud, wherein the plurality of points are detected by receiving signals of electromagnetic waves that are reflected from the object;
- calculating, by a processor, length, height, depth and speed of the object and extracting a plurality of corner points of the object based on distances between the plurality of points included in the information output from the radar;
- determining, by the processor, the object as a vehicle target when the speed of the object is less than a reference speed, a size of the object is within a preset size, and a signal strength of the electromagnetic waves reflected from the object is greater than a reference strength based on the information output from the radar, wherein the size of the object is calculated by the length, the height and the depth of the object;
- determining, by the processor, an area around the object as a parking space that is available in the parking lot based on the plurality of corner points when the object is the vehicle target;
- and
- determining, by the processor, the parking space as a parallel parking space, a perpendicular parking space or an oblique parking space based on the length, the height and the depth of the object.
3 more elements
Dependencies are inferred from the claim text.