# US 2021/0276543 A1 · Automatic parking method, device, system, and vehicle

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- Number: US 2021/0276543 A1
- Document ID: US20210276543A1
- Status: Published application
- Kind: A1
- Application number: 17/256,907
- Filed: 2019-06-19
- Published: 2021-09-09
- Earliest claimed: 2018-06-29
- Assignees: BYD Company Limited
- Applicants: BYD Company Limited
- Inventors: Yuxin WANG; Junming BAI
- Web page: https://patentgrep.com/patent/US20210276543A1

## CPC

- B60W 30/06: Automatic manoeuvring for parking
- B62D 15/0285: {Parking performed automatically}
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- G06T 5/70: Denoising; Smoothing
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V 20/586: {of parking space}
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- G08G 1/168: {Driving aids for parking, e.g. acoustic or visual feedback on parking space}
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- 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

An automatic parking method includes: acquiring a panoramic image near a vehicle, and recognizing a parking space line in the panoramic image; determining whether a parking space exists near the vehicle according to a recognition result; in response to the recognition result indicating that no parking space exists near the vehicle, generating a virtual parking space; and controlling the vehicle to park automatically according to the virtual parking space.

## Claims

### Claim 1

An automatic parking method, comprising:
acquiring a panoramic image near a vehicle, and recognizing a parking space line in the panoramic image;
determining whether a parking space exists near the vehicle according to a recognition result;
in response to the recognition result indicating that no parking space exists near the vehicle, generating a virtual parking space; and
controlling the vehicle to park automatically according to the virtual parking space.

### Claim 2 (depends on 1)

The automatic parking method according to claim 1, further comprising:
adjusting the virtual parking space according to an adjustment instruction of the virtual parking space input by a user; and
controlling the vehicle to park automatically according to the adjusted virtual parking space.

### Claim 3 (depends on 2)

The automatic parking method according to claim 2, wherein the controlling the vehicle to park automatically according to the adjusted virtual parking space comprises:
acquiring first actual physical position coordinates of the adjusted virtual parking space on the ground;
planning an automatic parking trajectory according to the first actual physical position coordinates; and
controlling the vehicle to park automatically according to the automatic parking trajectory.

### Claim 4 (depends on 2)

The automatic parking method according to claim 2, wherein the adjusting the virtual parking space according to an adjustment instruction of the virtual parking space input by a user comprises one or more of:
adjusting a size of the virtual parking space according to a size adjustment instruction of the virtual parking space input by the user;
adjusting an angle of the virtual parking space according to an angle adjustment instruction of the virtual parking space input by the user; and
adjusting a position of the virtual parking space according to a position adjustment instruction of the virtual parking space input by the user.

### Claim 5 (depends on 1)

The automatic parking method according to claim 1, wherein the determining whether a parking space exists near the vehicle according to a recognition result comprises:
in response to a probable parking space line being recognized, and a pixel value of the probable parking space line being greater than or equal to a set pixel value threshold, determining that the parking space exists near the vehicle; or
in response to a probable parking space line being recognized, but a pixel value of the probable parking space line being smaller than a set pixel value threshold, or a probable parking space line being not recognized, determining that no parking space exists near the vehicle.

### Claim 6 (depends on 5)

The automatic parking method according to claim 5, further comprising:
in response to the parking space existing near the vehicle, extracting a valid parking space line from the probable parking space line according to a preset parking space feature line;
generating a plurality of valid virtual parking spaces according to the valid parking space line,
wherein the valid virtual parking spaces are in one-to-one correspondence with real parking spaces corresponding to the valid parking space line;
selecting a target valid virtual parking space from the plurality of valid virtual parking spaces according to a selection instruction from the plurality of valid virtual parking spaces input by the user; and
controlling the vehicle to park automatically according to the target valid virtual parking space.

### Claim 7 (depends on 6)

The automatic parking method according to claim 6, wherein the extracting the valid parking space line from the probable parking space line according to the preset parking space feature line comprises:
matching the probable parking space line against the preset parking space feature line; and
using the probable parking space line that matches the preset parking space feature line as the valid parking space line.

### Claim 8 (depends on 6)

The automatic parking method according to claim 6, wherein the controlling the vehicle to park automatically according to the target valid virtual parking space comprises:
acquiring second actual physical position coordinates of the target valid virtual parking space on the ground;
planning an automatic parking trajectory according to the second actual physical position coordinates; and
controlling the vehicle to park automatically according to the automatic parking trajectory.

### Claim 9 (depends on 3)

The automatic parking method according to claim 3, further comprising:
detecting whether there is an obstacle on the automatic parking trajectory;
in response to an obstacle being on the automatic parking trajectory, controlling the vehicle to slow down and stop, and re-planning the automatic parking trajectory; and
controlling, according to the re-planned automatic parking trajectory, the vehicle to park automatically along the re-planned automatic parking trajectory.

### Claim 10 (depends on 1)

The automatic parking method according to claim 1, wherein the acquiring the panoramic image near a vehicle comprises:
acquiring a plurality of images in different directions near the vehicle; and
preprocessing the plurality of images to obtain the panoramic image,
wherein the preprocessing the plurality of images comprises:
performing one or more of: noise removal, cutting, splicing, smoothing, and calibration and distortion correction, on the plurality of images.

### Claim 11

An automatic parking device, comprising:
an acquisition module configured to acquire a panoramic image near a vehicle and recognize a parking space line in the panoramic image;
a determining module configured to determine whether a parking space exists near the vehicle according to a recognition result;
a first generating module configured to: in response to no parking space existing near the vehicle, generate a virtual parking space; and
a first parking module configured to control the vehicle to park automatically according to the virtual parking space.

### Claim 12 (depends on 11)

The automatic parking device according to claim 11, wherein the determining module is specifically configured to:
determine that the parking space exists near the vehicle in response to a probable parking space line being recognized, and a pixel value of the probable parking space line being greater than or equal to a set pixel value threshold; or
determine that no parking space exists near the vehicle in response to a probable parking space line being recognized, but a pixel value of the probable parking space line being smaller than a set pixel value threshold, or a probable parking space line being not recognized.

### Claim 13 (depends on 12)

The automatic parking device according to claim 12, further comprising:
an extraction module configured to extract a valid parking space line from the probable parking space line according to a preset parking space feature line in response to the parking space existing near the vehicle;
a second generating module configured to generate a plurality of valid virtual parking spaces according to the valid parking space line,
wherein the valid virtual parking spaces are in one-to-one correspondence with real parking spaces corresponding to the valid parking space line;
a selection module configured to select a target valid virtual parking space from the plurality of valid virtual parking spaces according to a selection instruction from the plurality of valid virtual parking spaces input by the user; and
a second parking module configured to control the vehicle to park automatically according to the target valid virtual parking space.

### Claim 14

An automatic parking system, comprises:
an automatic parking device, comprising:
an acquisition module configured to acquire a panoramic image near a vehicle and recognize a parking space line in the panoramic image;
a determining module configured to determine whether a parking space exists near the vehicle according to a recognition result;
a first generating module configured to: in response to no parking space existing near the vehicle, generate a virtual parking space; and
a first parking module configured to control the vehicle to park automatically according to the virtual parking space.

### Claim 15

(canceled)