Drawing for vehicle parking

Abstract

And drawing for vehicle parking. A system and method for mapping vehicle parking includes receiving, by a global navigation satellite system (GNSS) receiver located within a vehicle, a GNSS signal, wherein a location of the vehicle is determined based on the GNSS signal. The one or more vehicle movement sensors are configured to track movement of the vehicle within the parking structure when entering the parking structure with a subsequent loss of GNSS signal reception. Optical sensors in the vehicle identify vehicle location information within the parking structure, wherein one or more sensors within the vehicle render using simultaneous localization and rendering (SLAM) based on tracking and identification to generate parking space map data. When the movement of the vehicle is stopped, a parking state of the vehicle is initiated in which a determination of a parking space position of the parked vehicle within the parking structure is made.

Description

[0001] introduce

[0002] Vehicles are an integral part of daily life. Specialty cameras, microcontrollers, laser technologies, and sensors can be used in many different applications within vehicles. Cameras, microcontrollers, and sensors can also be used in enhanced automation architectures that provide customers with state-of-the-art experiences and services in tasks such as automated parking, parking assistance, body control, camera vision, information display, safety, and autonomous control.

[0003] Parking a vehicle can present several challenges, including finding a parking space and then remembering where the vehicle was parked. Using traditional tools such as Global Positioning System (GPS) may also be ineffective in enclosed parking structures, such as underground parking garages where GPS signals cannot penetrate. Therefore, it is desirable to use the vehicle's sensors to map the parking structure and determine the vehicle's final parking location without relying on GPS or Global Navigation Satellite System (GNSS). Summary of the Invention

[0004] This document discloses a system and method for mapping vehicle parking based on vehicle sensor data. As disclosed herein, a method for mapping vehicle parking may include receiving Global Navigation Satellite System (GNSS) signals by sensors in the vehicle and then determining the vehicle's position based on the GNSS signals. The method may also include the vehicle entering a parking structure where GNSS signal reception is lost based on the vehicle's position within the parking structure. The method may continue by tracking the vehicle's movement within the parking structure based on one or more vehicle movement sensors after the loss of GNSS signal reception and then identifying vehicle position information within the parking structure using optical sensors in the vehicle. The method may continue by using one or more sensors in the vehicle and mapping parking space data based on tracking and identification, and based on Simultaneous Localization and Mapping (SLAM). The method may continue by identifying the vehicle's parking position using one or more sensors in the vehicle when the vehicle stops moving and then determining the parking space position of the parked vehicle within the parking structure.

[0005] Another aspect of the method may include identifying the parking of the vehicle, further including determining that the vehicle's transmission is in a parked state and the vehicle's engine is off.

[0006] Another aspect of the method may include transmitting parking space mapping data to a mobile communication device.

[0007] Another aspect of the method may include transmitting parking space mapping data from a mobile communication device to a server.

[0008] Another aspect of the method may include transmitting the parking space location of the parked vehicle to a mobile communication device.

[0009] Another aspect of the method may include enhancing the parking space mapping data with prior parking space mapping information.

[0010] Another aspect of this method may include using dynamic programming to determine an optimized path to open parking spaces within the parking structure.

[0011] Another aspect of the method may include determining the optimized path based on the location coordinates of the parking lot entrance, vehicle speed, vehicle travel time, vehicle direction, and prior parking space mapping information.

[0012] Another aspect of the method may include sharing parking space mapping data with third-party parking software applications.

[0013] Another aspect of the method may include receiving parking space mapping data from a server.

[0014] As disclosed herein, a system for mapping vehicle parking may include a Global Navigation Satellite System (GNSS) receiver located within the vehicle, configured to receive GNSS signals, wherein the vehicle's position can be determined based on the GNSS signals. The system may also include one or more vehicle movement sensors configured to track the vehicle's movement within the parking structure upon entering the structure and subsequently losing GNSS signal reception. The system may further include optical sensors within the vehicle, as well as one or more sensors within the vehicle, configured to identify vehicle position information within the parking structure, and configured to map parking space mapping data using Simultaneous Localization and Mapping (SLAM) based on tracking and identification. The system may also include one or more sensors within the vehicle, further configured to identify the vehicle's parking when the vehicle stops moving, wherein a determination of the parking space position of the parked vehicle within the parking structure can be made.

[0015] Another aspect of this disclosure can be a system that includes a transmitter within a vehicle to transmit parking space mapping data to a mobile communication device.

[0016] Another aspect of this disclosure can be a system in which a mobile communication device is further configured to transmit parking space mapping data to a server.

[0017] Another aspect of this disclosure could be a system in which a transmitter inside a vehicle is used to transmit parking space mapping data to a server.

[0018] Another aspect of this disclosure can be a system that includes a transmitter to transmit the parking space location of a parked vehicle to a mobile communication device.

[0019] Another aspect of this disclosure can be a system comprising a receiver located in a vehicle for receiving an optimized path to an open parking space within a parking structure, determined through dynamic programming.

[0020] Another aspect of this disclosure can be a system in which the determination of an optimized path is based on the location coordinates of the parking lot entrance, vehicle speed, vehicle travel time, vehicle direction, and prior parking space mapping information.

[0021] Another aspect of this disclosure can be a system that includes a receiver located inside a vehicle for receiving parking space mapping data from a server.

[0022] Another aspect of this disclosure can be a system that includes a receiver located inside a vehicle for receiving prior parking space mapping information.

[0023] Another aspect of this disclosure may include a method for mapping vehicle parking, the method comprising receiving Global Navigation Satellite System (GNSS) signals by sensors in the vehicle and determining the vehicle's position based on the GNSS signals. The method may include the vehicle entering a parking structure, wherein GNSS signal reception is lost based on the vehicle's position within the parking structure. The method may continue by tracking the vehicle's movement within the parking structure based on one or more vehicle movement sensors after the loss of GNSS signal reception and then identifying the vehicle's position information within the parking structure using optical sensors in the vehicle. The method may include using one or more sensors in the vehicle and mapping parking space data based on tracking and identification, and based on Simultaneous Localization and Mapping (SLAM). The method may then include identifying the vehicle's parking position using one or more sensors in the vehicle when the vehicle's movement stops, wherein identifying the vehicle's parking position further includes determining that the vehicle's transmission has been placed in a parked state and that the vehicle's engine has been turned off. The method may also include determining the parking space location of the parked vehicle within the parking structure and transmitting the parking space mapping data and the parking space location of the parked vehicle to a mobile communication device. The method may also include transmitting parking space mapping data from a mobile communication device to a server and using dynamic programming to determine an optimized path to open parking spaces within the parking structure.

[0024] A method for mapping vehicle parking includes: receiving Global Navigation Satellite System (GNSS) signals by sensors in the vehicle; determining the vehicle's position based on the GNSS signals; entering a parking structure from which GNSS signal reception is lost based on the vehicle's position in the parking structure; tracking the vehicle's movement within the parking structure based on one or more vehicle motion sensors after the loss of GNSS signal reception; identifying vehicle position information within the parking structure using optical sensors in the vehicle; mapping parking space data using one or more sensors in the vehicle and based on tracking and identification, and based on Simultaneous Localization and Mapping (SLAM); identifying the vehicle's parking position using one or more sensors in the vehicle when the vehicle's movement stops; and determining the parking space position of the parked vehicle within the parking structure.

[0025] The identification of a parked vehicle further includes determining that the vehicle's transmission is in a parked state and the vehicle's engine is off.

[0026] This further includes transmitting parking space mapping data to mobile communication devices.

[0027] This further includes transmitting parking space mapping data from mobile communication devices to a server.

[0028] This further includes transmitting the parking space location of parked vehicles to mobile communication devices.

[0029] Further, it includes enhancing parking space mapping data through prior parking space mapping information.

[0030] This further includes using dynamic programming to determine optimized paths to open parking spaces within the parking structure.

[0031] The determination of the optimized route is based on the location coordinates of the parking lot entrance, vehicle speed, vehicle travel time, vehicle direction, and prior parking space mapping information.

[0032] This further includes sharing parking space mapping data with third-party parking software applications.

[0033] Receive parking space mapping data from the server.

[0034] A system for mapping vehicle parking includes: a Global Navigation Satellite System (GNSS) receiver located within the vehicle and configured to receive GNSS signals, wherein the vehicle's position is determined based on the GNSS signals; one or more vehicle movement sensors configured to track the vehicle's movement within the parking structure upon entering the parking structure and subsequent loss of GNSS signal reception; optical sensors within the vehicle configured to identify vehicle position information within the parking structure; one or more sensors within the vehicle configured to map parking space mapping data using Simultaneous Localization and Mapping (SLAM) based on tracking and identification; and one or more sensors within the vehicle further configured to identify the vehicle's parking when the vehicle's movement stops; wherein a determination of the parking space position of the parked vehicle within the parking structure is made.

[0035] It further includes a transmitter inside the vehicle, configured to transmit parking space mapping data to a mobile communication device.

[0036] The mobile communication device is further configured to transmit parking space mapping data to the server.

[0037] It further includes a transmitter inside the vehicle, configured to transmit parking space mapping data to a server.

[0038] It further includes a transmitter configured to transmit the parking space location of a parked vehicle to a mobile communication device.

[0039] It further includes a receiver located in the vehicle, configured to receive an optimized path to an open parking space within the parking structure, determined through dynamic programming.

[0040] The determination of the optimized route is based on the location coordinates of the parking lot entrance, vehicle speed, vehicle travel time, vehicle direction, and prior parking space mapping information.

[0041] It further includes a receiver located inside the vehicle, configured to receive parking space mapping data from a server.

[0042] It further includes a receiver located inside the vehicle, configured to receive prior parking space mapping information.

[0043] A method for mapping vehicle parking includes: receiving Global Navigation Satellite System (GNSS) signals by sensors in the vehicle; determining the vehicle's position based on the GNSS signals; entering a parking structure from which GNSS signal reception is lost based on the vehicle's position in the parking structure; tracking the vehicle's movement within the parking structure based on one or more vehicle motion sensors after the loss of GNSS signal reception; identifying vehicle position information within the parking structure using optical sensors in the vehicle; mapping parking space data using one or more sensors in the vehicle and based on tracking and identification, using Simultaneous Localization and Mapping (SLAM); identifying the vehicle's parking position using one or more sensors in the vehicle when the vehicle's movement stops, wherein identifying the vehicle's parking position further includes determining that the vehicle's transmission has been placed in a parked state and the vehicle's engine has been turned off; determining the parking space position of the parked vehicle within the parking structure; transmitting the parking space mapping data and the parking space position of the parked vehicle to a mobile communication device; transmitting the parking space mapping data from the mobile communication device to a server; and using dynamic programming to determine an optimized path to an open parking space within the parking structure.

[0044] The foregoing features and advantages, as well as other features and accompanying advantages, of this disclosure will readily become apparent from the following detailed description of illustrative examples and models used to implement this disclosure when considered in conjunction with the accompanying drawings and appended claims. Furthermore, this disclosure explicitly includes combinations and sub-combinations of the elements and features presented above and below. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate implementations of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0046] Figure 1 This is an illustration of various possible vehicle sensors according to this disclosure.

[0047] Figure 2 It is a diagram of vehicle trajectory coordinate data from multiple vehicle sensors based on this disclosure.

[0048] Figure 3 A visual position indicator within a parking structure according to this disclosure is depicted.

[0049] Figure 4 It is a diagram illustrating the parking lot drawing process according to this disclosure.

[0050] Figure 5 Possible trajectory data as part of the parking lot mapping process, according to this disclosure, are depicted.

[0051] Figure 6It is a diagram illustrating the process of drawing a parking lot over time according to this disclosure.

[0052] Figure 7 Possible trajectory data are depicted as part of a multiple-pass parking lot mapping process according to this disclosure.

[0053] Figure 8 Further detailed possible trajectory data, as part of the multi-parking lot mapping process according to this disclosure, are depicted.

[0054] Figure 9 The process of drawing vehicles on multiple floors within a parking structure according to this disclosure is described.

[0055] Figure 10 The present disclosure describes the use of dynamic programming to determine the optimal available parking space within a parking structure.

[0056] Figure 11 This is a flowchart of a method for generating an intelligent parking mapping system according to the present disclosure.

[0057] The accompanying drawings are not necessarily to scale and may present slightly simplified representations of the various preferred features of this disclosure, including, for example, specific dimensions, orientations, positions, and shapes. Details associated with such features will be determined in part by the specific intended application and environment of use. Detailed Implementation

[0058] This disclosure allows for numerous different forms of embodiments. Representative examples of this disclosure are shown in the accompanying drawings and described in detail herein as non-limiting examples of the disclosed principles. Therefore, elements and limitations described in the abstract, introduction, summary, and detailed description sections but not expressly set forth in the claims should not be incorporated into the claims, individually or collectively, by implication, inference, or otherwise.

[0059] For the purposes of this specification, unless otherwise stated, the use of the singular includes the plural and vice versa; the terms “and” and “or” should be both conjunctions and disjunctive words; and the words “including,” “contains,” “comprises,” “has,” “has,” and the like should mean “including but not limited to.” Furthermore, approximate words such as “about,” “almost,” “substantially,” “generally,” “approximately,” etc., may be used herein in the sense of “equal to,” “close to,” or “almost equal to,” or “within 0-5% of,” or “within acceptable manufacturing tolerances,” or logical combinations thereof. As used herein, a component “configured” to perform a specified function is capable of performing the specified function without alteration, and not merely has the potential to perform the specified function after further modification. In other words, the described hardware, when explicitly configured to perform the specified function, is specifically selected, created, implemented, utilized, programmed, and / or designed for the purpose of performing the specified function.

[0060] Referring to the accompanying drawings, the leftmost number of the reference numerals indicates the drawing in which that reference numeral first appears (e.g., reference numeral "310" indicates that the element numbered so is first labeled or first appears). Figure 3 (in Chinese). Additionally, elements having the same reference numerals followed by different alphabetic letters or other distinguishing marks (e.g., apostrophes) indicate elements that may be identical in structure, operation, or form but can be identified as recurring elements in different locations in space or at different points in time (e.g., reference numerals "110a" and "110b" may indicate two different input devices that may be functionally identical but may be located at different points in a simulated arena).

[0061] Vehicles have become computationally advanced and equipped with multiple microcontrollers, sensors, processors, and control systems, including, for example, autonomous vehicles and advanced driver assistance systems (AV / ADAS), such as adaptive cruise control, automated parking, automatic brake-holding, automatic braking, evasive steering assist, lane-keeping assist, adaptive headlights, backup assist, blind spot detection, intersection traffic alert, local hazard warning, and rear automatic braking, which may depend on information obtained from cameras and sensors on the vehicle. Such systems can also provide a wealth of information about the vehicle, including, for example, location, automatic assistance sensors, occupancy data, motion sensors, and dead reckoning, to name a few. These systems can also provide detailed data on the vehicle's operation and location. Such information can be combined with remote databases, such as cloud-based operations, to share data with other vehicles to enhance parking data and / or provide access from third-party providers.

[0062] Figure 1This is an illustration of a vehicle with integrated sensor 100 according to an embodiment of the present disclosure. Such sensors can help determine information about the vehicle's position, its surrounding environment, and operational characteristics such as speed, direction, and steering angle. For example, vehicle 110 may include a light detection and ranging (Lidar) sensor 115, a camera sensor 120, an ultrasonic sensor 125, an inertial measurement unit (IMU) sensor 130, a steering angle sensor 135, and wheel speed sensors 140-1 and 140-2.

[0063] Figure 2 This is an illustration of vehicle trajectory coordinate data 200 from multiple vehicle sensors according to an embodiment of the present disclosure. Figure 1 The vehicle sensors shown, such as steering angle sensor 135, wheel speed sensors 140-1 and 140-2, and IMU sensor 130, can be used to track the position of vehicle 110 over time without using a satellite navigation system. Figure 2 As shown, vehicle 210, shown and labeled 210-1 at the initial position, starts at position (x0, y0). After the first time period, as shown in 210-2, the vehicle has detected a steering position s0 at angle θ0, and given the elapsed time and input from the wheel speed sensors, the vehicle is calculated to be at position (x1, y1). After the second time period, as shown in 210-3, the vehicle has detected a steering position s1 at angle θ1, and given the elapsed time and input from the wheel speed sensors, the vehicle is calculated to be at position (x2, y2). After the third time period, as shown in 210-4, the vehicle has detected a steering position s2 at angle θ2, and given the elapsed time and input from the wheel speed sensors, the vehicle is calculated to be at position (x3, y3). After the fourth time period, as shown in 210-5, the vehicle has detected a steering position s3 at angle θ3, and given the elapsed time and input from the wheel speed sensors, the vehicle is calculated to be at position (x4, y4). Therefore, Figure 2 The illustration shows how vehicle sensors can be used to detect a vehicle's location over time in the absence of satellite signals; this can also be referred to as "last-mile" or "dead-end" positioning.

[0064] Figure 3 This is an illustration of a visual position indicator within a parking structure according to an embodiment of the present disclosure. Sensors on vehicle 110 or vehicle 210 may utilize their camera sensor 120 to perform optical character recognition of post numbers or other location signs or markings to further indicate the vehicle's position and include this in the parking space mapping process. For example, Figure 3This is an example showing four columns with labels 310-1, 310-2, 310-3, and 310-4. In this example, the labels indicate levels, such as "B1," and column positions, such as 124, 125, 126, and 127.

[0065] Figure 4 This is an illustration of a parking lot mapping process 400 according to an embodiment of the present disclosure. The parking lot mapping process 400 can begin with a vehicle, such as vehicle 410, and is shown at multiple locations over time, starting from entering the parking structure at location 410-1. However, at location 415, marked (X1, Y1), satellite reception for vehicle 410 may be lost. Therefore, as... Figure 2 As described, vehicle 410 can enter the parking structure and begin the drawing process, but can be tracked using its own internal sensors. The vehicle's internal sensors can track the vehicle at positions 410-2, 410-3, and 410-4, where steering angle and wheel speed sensors can indicate the start of a turn, continuing to positions 410-5, 410-6, 410-7, 410-8, and 410-9, and finally entering the parking point at 410-10. Furthermore, during the movement of vehicle 410, especially from positions 410-6 to 410-9, the vehicle's camera sensors can also obtain position information by using optical character recognition from the column numbers within the structure shown as column information 420-1, 420-2, 420-3, and 420-4. For example, in these illustrated sections 2-01, 2-02, 2-02, 2-03, and 2-04 on layer "B1," the pillars may include information such as section or layer number. The position of the pillar can also be associated with the vehicle's dead reckoning position via its internal sensors, for example, as shown in the two-dimensional grid orientation: (X2-01, Y2-01), (X2-02, Y2-02), (X2-03, Y2-03), and (X2-04, Y2-04). In this example, X2 illustrates the column position on the X-axis, where 2 indicates the column number, and similarly, Y2 illustrates the column position on the Y-axis, where 2 indicates the column number. Figure 4 Possible parking spaces 405-1 to 405-N are also shown. Furthermore, the numbering schemes shown herein are purely exemplary and may be adopted in any form or logic without departing from the intent of this disclosure.

[0066] Figure 5 Possible trajectory data as part of a parking lot drawing process 500 according to an embodiment of this disclosure is depicted. Figure 4 The result of the drawing process shown in the figure. Figure 5The results of the initial parking structure drawing process can be illustrated. These results can also be considered the starting point for an artificial intelligence or machine learning process that draws a specific parking structure. For example, Figure 5 The diagram illustrates the loss of navigation satellite signals starting at position 515, which is marked as (X1, Y1) and... Figure 4 As vehicle 410 moves forward through positions 410-6 to 410-10, its sensors may be able to identify pillars with posted location information, such as pillars 520-1, 520-2, 520-3, and 520-4, for example, pillars 525-1, 525-2, 525-3, and 525-4. Furthermore, the vehicle may be able to identify and calculate possible parking spaces, illustrated as parking spaces 505-1, 505-2, 505-3, 505-4, 505-5, 505-6, 505-7, 505-8, and 505-9. Additionally, parking space 505-9 can also be identified if there is knowledge of where vehicle 510 will ultimately park.

[0067] Figure 6 This is an illustration of a parking lot drawing process 600 that repeats over time according to an embodiment of the present disclosure. (Depending on...) Figure 5 Information collected in Figure 6 Further details are added. For example, vehicle 610 at position 610-1 is receiving consistent or regular GNSS or GPS signals and is therefore able to determine its position. However, after intersection 615, GNSS or GPS signals may be lost, which is then identified as the starting point for the parking structure mapping and identification process. As discussed, once the vehicle loses satellite reception, it operates in dead reckoning-only mode, relying on its internal sensors to track steering angles, wheel speeds, and the inertial management unit to calculate its position. Vehicle 610 proceeds along positions 610-2, 610-3, and 610-4, as also Figure 4 As it was done in the previous section. However, at position 610-5, the vehicle deviates to a new path and continues along a different passageway. As the vehicle continues to pass positions 610-6, 610-7, 610-8, 610-9, 610-11 and finally stops at position 610-12, plotted and sensed position information is collected from the column numbers within the structure shown as column information 620-5, 620-6, and 620-7. For example, column information 620-5, 620-6, and 620-7 shows the layer and column positions and the (X, Y) coordinates of (X4-03, Y4-03), (X5-02, Y5-02), and (X5-03, Y5-03). Then, in Figure 6 The information collected in this process can be added to previously collected information to generate... Figure 7 The trajectory data allows for a more comprehensive overview of the parking structure.

[0068] Figure 7 The illustration shows an embodiment of the present disclosure. Figure 4 and Figure 5 The data collected is shown as parking spaces 505-1 to 505-9, and includes location information from column numbers shown as 520-1 to 520-4. Additionally, new parking space information has been added, collected after passing the navigation satellite signal loss location 715, marked (X1, Y1), which may include parking spaces 705-1, 705-2, 705-3, 705-4, 705-5, and 706-6. New location information from column numbers 725-1, 725-2, 725-3, and 725-4 is also captured, shown as posted location information 720-5, 720-6, 720-7, and 720-8 (also showing layer and column positions and X, Y coordinates).

[0069] Figure 8 This indicates the endpoint (culmination) of parking lot mapping data collection according to embodiments of this disclosure. Figure 8 The capture and identification of column information for an entire floor of the parking structure is shown, including column information 820-1 to 820-18. In this example, column information includes parking floors such as B1, aisle and column locations such as 2-01-2-05, 3-01-3-05, 4-01-4-05 and 5-02-5-04, and calculated parking spaces from 805-1 to 805-51, labeled 805. As previously discussed, this data is a compilation of dead reckoning positioning data due to the loss of satellite navigation signal at point 815, labeled location (X1, Y1). This data may also include the actual location of a specific parked vehicle, such as that shown by the shaded parking point location 805-38. For completeness, all column and floor information, including the associated (X, Y) coordinates, has been omitted.

[0070] The mapping method and process described above can also be called Simultaneous Localization and Mapping (SLAM). By using the vehicle's internal sensors, such as cameras, optical recognition, ultrasound, wheel speed, IMU, and LIDAR, SLAM technology can be used to construct and map the vehicle from the moment it enters the parking structure. In addition to forwarding such information back to the central server, the parking location information can also be displayed to the driver, as will be discussed.

[0071] Figure 9 This is an illustration of a drawing process 900 on multiple floors within a parking structure according to an embodiment of the present disclosure. Figure 8The process discussed earlier can be further extended to involve multiple parking levels, using the vehicle's internal sensors—such as IMUs, cameras, LiDAR, ultrasonic sensors, wheel speed sensors, and steering angle sensors—to detect changes in height and movement to different levels. For example, vehicle 910 at location 910-1 could be represented as the entrance to the underground parking structure at level 905-1. In addition to possible image recognition from the vehicle's cameras, location and level can also be determined via satellite navigation reception.

[0072] At location 910-2, a vehicle is shown entering a downhill ramp into a parking structure, as sensed by the vehicle's IMU sensors and possibly aided by wheel speed data, steering angle sensor information, and camera and / or LiDAR image data. Such data can generate trigger points where the IMU sensors classify the parking level to initiate map creation. In one embodiment, the vehicle's camera can detect some image recognition regarding the presence of the parking structure, for example, using satellite navigation and camera sensors to identify the letter "P" (not shown) at the entrance.

[0073] In one embodiment, the vehicle can obtain any available parking structure mapping data from the server before entering the parking structure. In another embodiment, as will be discussed further, the vehicle can also update the parking structure mapping data based on its mapping when leaving the parking structure, once satellite communication is restored. This updated parking information can then be appropriately used and / or disseminated to other family members, community members, or suitable third parties in real time or on demand.

[0074] In this example, such data could then be used to place the vehicle on the first underground level, such as level 905-2. Figure 8 As discussed herein, vehicle 910, shown at location 910-3, may draw parking spot data, or may retrieve a drawing of the parking structure from a server before entering the underground parking structure, as shown in map 920-1 on layer 905-2. Such previously created map information based on current location information can therefore be used to supplement any parking data collected by the vehicle. In an embodiment, vehicle 910 at location 910-3 may also update information associated with map 920-1. (See also...) Figure 4-8 As discussed, when a vehicle is moving, its wheel speed sensors can use their cameras to record character information on posts to calculate the distance traveled and store it in a drawn map. The vehicle can also use its other sensors, such as cameras, lidar, ultrasound, etc., to initiate the previously described mapping process.

[0075] The vehicle can transition to another level at location 910-4, a transition detected and recorded by sensors such as wheel speed sensors and IMU sensors. At level 905-3, vehicle 910 at location 910-5 can also continue to collect and update information associated with map 920-2, which is a map associated with level 905-3. This process can continue for any number of parking levels, the number of levels shown being merely an example and not intended to be limiting. Vehicle 910 at location 910-6 is shown descending to yet another level, level 905-4. As previously stated, the transition from one level to another can be detected and recorded by sensors such as wheel speed sensors and IMU sensors. At level 905-4, vehicle 910 at location 910-7 can also continue to collect and update information associated with map 920-3, which is associated with level 905-4.

[0076] Figure 9 The description further details where, in this embodiment, vehicle 910 finds an acceptable parking space. At this point, for example at location 910-7, vehicle 910 is parked in a specific marked parking space. At this point, vehicle 910 has stopped, and driver 940 has put the transmission in the "park" position and turned off the engine. At this point, vehicle 910 can be identified as parked, and at this point, the drawing process can stop.

[0077] In one embodiment, once vehicle 910 is parked and turned off, the vehicle can attempt to contact the server and send acquired mapping data. However, given that satellite communication may be unavailable, the vehicle can initiate communication with a user's communication device, such as the driver's smartphone 935, via a short-range connection 930, such as Bluetooth or ultra-wideband, and transmit the acquired mapping data, which may include the vehicle's parking location. In such a scenario, if the user regains satellite communication capabilities, for example, when leaving the parking structure, the data can be uploaded to the server. This information can also convey the vehicle's location and status to the user. In another embodiment, once the user returns to the parking structure, an application on the user's device can alert the user about the vehicle's location via text, voice, or other methods. The application can also consider user queries about the vehicle's location, which may include verbal, textual, or map or route characteristics about finding the vehicle. Furthermore, once the user is within a certain distance of the vehicle, vehicle sensors can detect the user's presence or sense the presence of a key-fob or other user device such as a smartphone, and emit visual or auditory signals to attract the user's attention. Furthermore, as previously mentioned, once the driver returns to the vehicle and leaves the parking structure, the vehicle can update its parking structure data to the server upon establishing a satellite communication connection. This updated parking information can include the layout and mapping of various parking levels as previously described, but it can also include enhanced mapping features such as the precise location of parked vehicles, the location of ramps, level levels, and whether the ramps are for uphill or downhill traffic.

[0078] Figure 10 The present disclosure describes the use of dynamic programming 1000 to determine the optimal available parking spaces within a parking structure according to embodiments of the present disclosure. Dynamic programming can be used to optimize the path to find open parking spaces by using prior parking information. The nearest physical parking spot may not be the fastest or easiest point to access. For example, based on which entrance the vehicle entered in the parking structure, the vehicle's speed, the time elapsed before stopping, images captured by the vehicle's camera, prior parking information such as the number of parking levels, the number of vacant spots, and the vehicle's orientation, all of this data can be used to dynamically determine the optimal set of parking spots.

[0079] As an example, Figure 10The diagram illustrates a possible scenario for a five-level parking structure starting with level 1, 1010-1, indicating zero empty parking spaces. Level 2, 1010-2 could also indicate zero empty parking spaces. Level 3, 1010-3 indicates twelve empty parking spaces, while Level 4, 1010-4 indicates twenty-three empty parking spaces, and Level 5, 1010-5 indicates thirty-five open parking spaces. Depending on at least the dynamically programmed factors referenced above, such as the entrance to the parking structure the vehicle enters, the vehicle's speed, the time elapsed before stopping, images captured by vehicle cameras, and prior parking information such as the number of parking levels, the number of empty spaces, and the vehicle's orientation, the optimal parking space may not be the first one, for example, one of the twelve slots on parking level 1010-3.

[0080] For example, if a vehicle was previously on level 1010-3 with twelve empty parking spaces, but the vehicle is near an uphill section, it would actually reach a parking space on level 1010-4 or 1010-5 faster than those on level 1010-3. Therefore, if the dynamic programming knows that prior information indicates that such a parking space on the upper level was reached faster in the past, the system can actually guide the vehicle to such an alternative parking space.

[0081] Figure 11 An exemplary embodiment of a method 1100 for mapping vehicle parking according to an embodiment of the present disclosure is shown. Method 1100 begins at step 1105, receiving Global Navigation Satellite System (GNSS) or Global Positioning System (GPS) signals via sensors in the vehicle. At step 1110, in an embodiment, when the vehicle is about to enter a parking structure, the vehicle can use the signal to determine its position, such as... Figure 4 As described, vehicle 410 at location 410-1 will enter the parking structure and lose connectivity with any satellite communications. In one embodiment, the parking structure may be an underground parking structure. However, in other embodiments, the parking structure may be a multi-level above-ground structure. Such above-ground structures may also experience loss of satellite communications. In another embodiment, the parking structure may be a parking structure for a shopping mall, stadium, museum, etc.

[0082] At step 1115, the vehicle can enter the parking structure, where GNSS or GPS signal reception is lost based on the vehicle's position within the structure. Whether above ground or underground, parking structures may be constructed of materials unfavorable for transmitting radio-based signals, and therefore, signals will be lost at some point within the structure. Such a boundary exists... Figure 4-8 The coordinates X1 and Y1 are shown in the figure. At this point, GNSS or GPS positioning assistance is no longer feasible.

[0083] At step 1120, after the loss of GNSS or GPS signal reception, the vehicle tracks its movement within the parking structure based on one or more of its vehicle motion sensors. As discussed, once the vehicle loses connectivity with satellite signals, its location must be determined by other means. Figure 1 As shown, the vehicle can be equipped with various sensors, such as a light detection and ranging (Lidar) sensor 115, a camera sensor 120, an ultrasonic sensor 125, an inertial measurement unit (IMU) sensor 130, a steering angle sensor 135, and wheel speed sensors 140-1 and 140-2. Figure 2 As described, vehicle sensors can be used to determine the vehicle's position. For example, vehicle 210, shown and labeled 210-1, starts at position (x0, y0). After a first time period, as shown in 210-2, the vehicle has detected a steering position s0 at angle θ0, and given the elapsed time and input from the wheel speed sensors, the vehicle is calculated to be at position (x1, y1). After a second time period, as shown in 210-3, the vehicle has detected a steering position s1 at angle θ1, and given the elapsed time and input from the wheel speed sensors, the vehicle is calculated to be at position (x2, y2). After a third time period, as shown in 210-4, the vehicle has detected a steering position s2 at angle θ2, and given the elapsed time and input from the wheel speed sensors, the vehicle is calculated to be at position (x3, y3). After the fourth time period, as shown in 210-5, the vehicle has detected a steering position s3 at angle θ3, and given the elapsed time and input from the wheel speed sensors, the vehicle is calculated to be at position (x4, y4). Therefore, Figure 2 The illustration shows how vehicle sensors can be used to detect a vehicle's location over time in the absence of satellite signals; this can also be referred to as "last mile" or "dead reckoning."

[0084] At step 1125, the vehicle uses at least one optical sensor to identify its position within the parking structure. As discussed, firstly in Figure 3 In parking structures, visual location indicators can be posted or painted on various pillars or walls within the structure to convey location information such as parking levels, sections, and rows. Sometimes, different sections are color-coded. This information can help drivers locate where they have parked their vehicles or guide them to desired areas within the parking structure. This is in... Figure 4-8 The diagram further illustrates that the images are captured by a vehicle camera, and information such as that can be stored using optical character recognition, for example, in... Figure 8 In the middle, column information 820-1 to 820-18.

[0085] At step 1130, parking space mapping data is generated using one or more sensors within the vehicle, based on tracking and identification, and on Simultaneous Localization and Mapping (SLAM). As previously discussed, the method and process for mapping the parking structure can also be referred to as Simultaneous Localization and Mapping (SLAM). It utilizes the vehicle's internal sensors, such as cameras, optical recognition, ultrasound, wheel speed sensors, IMU, and LiDAR, to construct and map the parking structure from the moment the vehicle enters the parking structure. Such mapping can display parking location information to the driver and transmit this information to an external server. Figure 8 Detailed results of such SLAM mapping on a single parking level are described, which can be expanded to, for example... Figure 9 The multiple layers described herein. Furthermore, in order to draw as... Figure 8 The calculated parking spaces shown may also include capturing occupied parking spaces, and thus the mapping data can communicate the capacity and availability of parking spots within the parking structure to an external source. In one embodiment, such availability may be shared or sold to a third party, such as a third-party parking application that provides real-time parking availability.

[0086] At step 1135, when the vehicle comes to a stop, one or more sensors within the vehicle are used to identify the vehicle's parking status. As discussed, the method may include identifying the vehicle's parking status using one or more sensors within the vehicle when the vehicle comes to a stop, wherein identifying the vehicle's parking status further includes determining that the vehicle's transmission has been placed in a parked state and that the vehicle's engine has been turned off. Figure 9 As discussed, vehicle 910 can find an acceptable parking space, where, at a point such as location 910-7, vehicle 910 is parked in a specifically marked parking space, at which point vehicle 910 has stopped, and the driver has put the transmission in the "park" position and turned off the engine. At this point, vehicle 910 can be identified as parked at a point where the drawing process can stop.

[0087] At step 1140, the method can continue by determining the parking space location of the parked vehicle within the parking structure. For example... Figure 9As discussed earlier, once vehicle 910 is parked and turned off, it can attempt to contact the server and send acquired mapping data. However, given that satellite communication may be unavailable, the vehicle can initiate communication with the user's communication device, such as a smartphone 935, via a short-range connection 930, such as Bluetooth or ultra-wideband, and transmit the acquired mapping data, which may include the vehicle's location. In this scenario, if the user regains satellite communication capabilities, for example, when leaving the parking structure, the data can be uploaded to the server. This information can also convey the vehicle's location and status to the user. In another embodiment, once the user returns to the parking structure, an application on the user's device alerts the user to the vehicle's location via text, voice, or other methods. The application can also consider user queries about the vehicle's location, which may include verbal, textual, or map or route characteristics indicating where the vehicle was located. Furthermore, once the user is within a certain distance of the vehicle, vehicle sensors can detect the user's presence or sense the presence of a smart key or other user device, such as a smartphone, and emit visual or auditory signals to attract the user's attention. Furthermore, as previously mentioned, once the driver returns to the vehicle and leaves the parking structure, the vehicle can update its parking structure data to the server upon establishing a satellite communication connection. As previously stated, such updated parking information can include the layout and mapping of various parking levels, but it can also include enhanced mapping features such as the precise location of parked vehicles, the location of ramps, level levels, and whether the ramps are for uphill or downhill traffic.

[0088] In this embodiment, once a vehicle is parked, such parking data can be shared with other family members or friends, for example, within a software application. In addition to mapping the parking structure, such information may include the vehicle's location and status based on a subscription model. Furthermore, if family members might update or change their parking location, this information can be shared via some type of social media application. The same approach can be applied through the collective sharing of parking map intelligence, for example, for any type of parking structure or shopping mall, stadium, or other types of parking where various levels of parking details and availability are based on a subscription basis.

[0089] Method 1100 can then be completed.

[0090] The specification and abstract section may set forth one or more embodiments of this disclosure as contemplated by the inventor(s), and are therefore not intended to limit the disclosure and the appended claims.

[0091] Embodiments of this disclosure have been described above using functional building blocks that illustrate the implementation of specified functions and their relationships. For ease of description, the boundaries of these functional building blocks have been arbitrarily defined herein. Alternative boundaries may be defined as long as the specified functions and their relationships can be properly performed.

[0092] The foregoing description of specific embodiments will so fully reveal the general nature of this disclosure that others, by applying knowledge of the art, can readily modify and / or adapt various applications of such specific embodiments without departing from the general concept of this disclosure and without excessive experimentation. Therefore, based on the teachings and guidance presented herein, such adaptations and modifications are intended to fall within the meaning and scope of equivalents of the disclosed embodiments. It should be understood that the wording or terminology herein is for descriptive purposes and is not intended to be limiting, and that the terminology or terminology of this specification should be interpreted by those skilled in the art in accordance with the teachings and guidance.

[0093] The breadth and scope of this disclosure should not be limited by any of the exemplary embodiments described above.

[0094] Exemplary embodiments of this disclosure have been presented. This disclosure is not limited to these examples. These examples are presented herein for illustrative purposes and are not intended to be limiting. Alternatives (including equivalents, extensions, variations, deviations, etc., of those described herein) will become apparent to those skilled in the art based on the teachings contained herein. Such alternatives fall within the scope and spirit of this disclosure.

Claims

1. A method for mapping vehicle parking, comprising: The vehicle receives Global Navigation Satellite System (GNSS) signals from sensors. Determining vehicle location based on GNSS signals; When a vehicle enters a parking structure, GNSS signal reception is lost based on the vehicle's position within the parking structure. After the loss of GNSS signal reception, the vehicle's movement within the parking structure is tracked based on one or more vehicle movement sensors; Use optical sensors in the vehicle to identify the vehicle's location within the parking structure; Using one or more sensors within the vehicle and based on tracking and identification, and based on Simultaneous Localization and Mapping (SLAM), parking space mapping data is generated; Use one or more sensors inside the vehicle to identify when the vehicle is parked, even when it is moving or stopped. and Determine the location of the parked vehicle within the parking structure.

2. The method according to claim 1, wherein, Identifying a parked vehicle further includes determining that the vehicle's transmission is in a parked state and that the vehicle's engine is off.

3. The method according to claim 1, further comprising transmitting parking space mapping data to a mobile communication device.

4. The method of claim 3, further comprising transmitting parking space mapping data from a mobile communication device to a server.

5. The method of claim 1, further comprising transmitting the parking space location of the parked vehicle to a mobile communication device.

6. The method of claim 1, further comprising enhancing the parking space mapping data by using prior parking space mapping information.

7. The method of claim 1, further comprising using dynamic programming to determine an optimized path to an open parking space within the parking structure.

8. The method according to claim 7, wherein, The optimal route is determined based on the location coordinates of the parking lot entrance, vehicle speed, vehicle travel time, vehicle direction, and prior parking space mapping information.

9. The method of claim 1, further comprising sharing parking space mapping data with a third-party parking software application.

10. The method according to claim 1, receiving parking space mapping data from the server.

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