SYSTEM FOR A VEHICLE TO COMBINE PERCEPTION AND VEHICLE DYNAMICS FOR SYSTEM SHUTDOWN IN A PARKING LOT

Abstract

A system for a vehicle comprises: a module configured to selectively perform a vehicle function when activated; a parking module configured to determine and indicate whether the vehicle is currently in a parking space based on at least two of the following: the vehicle's current speed; the vehicle's steering wheel angle; the driver's gaze; a confidence score corresponding to the confidence that the vehicle is in a parking space; and a parking space confidence score corresponding to the confidence that a perception module has detected a parking space around the vehicle; and an enable / disable module configured to: enable the module when the vehicle is not in a parking space; and disable the module when the vehicle is in a parking space.

Description

INTRODUCTION

[0001] The present invention relates to vehicle sensors and cameras and in particular to a system for a vehicle according to the preamble of claim 1, as is known essentially from DE 10 2018 108 629 A1.

[0002] Vehicles have one or more torque-generating devices, such as an internal combustion engine and / or an electric motor. A passenger in a vehicle is located inside the vehicle's interior (or passenger compartment).

[0003] Vehicles can contain one or more different types of sensors that detect the vehicle's surroundings. One example of a sensor that detects the vehicle's surroundings is a camera configured to capture images of the vehicle's environment. Examples of such cameras include forward-facing cameras, rear-facing cameras, and side-facing cameras. Another example of a sensor that detects the vehicle's surroundings is a radar sensor configured to collect information about the vehicle's surroundings. Other examples of sensors that detect the vehicle's surroundings include sonar sensors and LiDAR (Light Detection and Ranging) sensors configured to collect information about the vehicle's surroundings. SUMMARY

[0004] According to the invention, a system for a vehicle is presented which is characterized by the features of claim 1 or those of claim 2.

[0005] In other features, the parking module is configured to selectively determine and indicate that the vehicle is currently in a parking space when the vehicle's current speed is within a predetermined speed range.

[0006] In other features, the parking module is configured to determine and indicate that the vehicle is not currently in a parking space if the vehicle's current speed is outside the predetermined speed range.

[0007] In other features, the parking module is configured to selectively determine and indicate that the vehicle is currently in a parking space when the vehicle's steering wheel angle is greater than a predetermined steering wheel angle.

[0008] In other features, the parking module is configured to selectively determine and indicate that the vehicle is currently in a parking space if the vehicle's steering wheel angle was greater than the predetermined steering wheel angle within a past predetermined period.

[0009] In other features, the parking module is configured to determine and indicate that the vehicle is not currently in a parking space if the vehicle's current speed is not greater than the predetermined steering wheel angle.

[0010] In other features, the parking module is configured to selectively determine and indicate that the vehicle is currently in a parking space if the driver's gaze has been to the left or right of the vehicle's forward direction of travel.

[0011] In other features, the parking module is configured to determine and indicate that the vehicle is not currently in a parking space if the driver's gaze has not been to the left or right of the vehicle's forward direction of travel within a past predetermined period.

[0012] In other features, the parking module is configured to selectively determine and indicate that the vehicle is currently in a parking space if the confidence value is greater than a predetermined value.

[0013] In other features, the parking module is configured to determine and indicate that the vehicle is not currently in a parking space if the confidence value is less than the predetermined value.

[0014] In other features, a confidence module is configured to determine the confidence value based on a number of pedestrians detected in the vicinity of the vehicle.

[0015] In other features, the confidence module is configured to increase the confidence value when the number of pedestrians detected around the vehicle increases, and to decrease the confidence value when the number of pedestrians detected around the vehicle decreases.

[0016] In other features, the confidence module is configured to determine the confidence value based on a number of lane lines detected in front of the vehicle, where the lane lines separate the lanes of vehicle traffic.

[0017] In other features, the confidence module is configured to increase the confidence value when the number of lane lines detected in front of the vehicle decreases, and to decrease the confidence value when the number of lane lines detected in front of the vehicle increases.

[0018] In other features, the parking module is configured to selectively determine and indicate that the vehicle is currently in a parking space if the parking space confidence value is greater than a predetermined value.

[0019] In other features, a perception module is configured to detect parking spaces based on images taken with the vehicle's cameras, and to determine the parking space confidence value based on the number of detected parking spaces.

[0020] In other features, the perception module is configured to increase the parking space confidence value when the number of detected parking spaces increases, and to decrease the parking space confidence value when the number of detected parking spaces decreases.

[0021] In further features, the parking module is configured to determine and indicate that the vehicle is currently in a parking space when at least two of the following conditions are met: the vehicle's current speed is within a predetermined speed range; the vehicle's steering wheel angle is greater than a predetermined steering wheel angle; the driver's gaze has been to the left or right of the vehicle's forward direction of travel; the confidence value is greater than a predetermined value; and the parking space confidence value is greater than a predetermined value.

[0022] In further features, the parking module is configured to detect and indicate that the vehicle is currently in a parking space when all of the following conditions are met: the vehicle's current speed is within a predetermined speed range; the vehicle's steering wheel angle is greater than a predetermined steering wheel angle; the driver's gaze has been to the left or right of the vehicle's forward direction of travel; the confidence value is greater than a predetermined value; and the parking space confidence value is greater than a predetermined value.

[0023] Furthermore, a procedure for a vehicle is described. The procedure includes, when a vehicle function is activated, selectively executing the vehicle function; determining and indicating whether the vehicle is currently in a parking space, based on at least two of the following: the vehicle's current speed; the vehicle's steering wheel angle; the driver's gaze; a confidence score corresponding to the confidence that the vehicle is in a parking space; and a parking space confidence score corresponding to the confidence that a perception module has detected a parking space around the vehicle; activating the vehicle function when the vehicle is not in a parking space; and deactivating the vehicle function when the vehicle is in a parking space.

[0024] Further applications of the present invention will become apparent from the detailed description, the claims, and the drawings. The detailed description and the specific examples serve only for illustration. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will become more fully apparent from the detailed description and the accompanying drawings, whereby the following applies: Fig. Figure 1 is a functional block diagram of an example vehicle system; Fig. Figure 2 is a functional block diagram of a vehicle with various external cameras and sensors; Fig. Figure 3 is a functional block diagram of a control system; and Fig. Figure 4 is a flowchart that illustrates an example of a procedure for disabling one or more vehicle functions, such as the cruise control system, when the vehicle is in a parking space.

[0026] Reference numbers can be reused in the drawings to designate similar and / or identical elements. DETAILED DESCRIPTION

[0027] A vehicle can contain a camera configured to capture images within a predetermined field of view (FOV) around the vehicle's exterior. A perception module can detect objects in the vehicle's environment and determine their location. For example, a camera can be used to capture images of the road ahead. Lane markings and objects in the vehicle's vicinity can be identified using the camera images and those of one or more other cameras and / or sensors.

[0028] Some vehicle functions may activate automatically. For example, cruise control or adaptive cruise control may activate automatically under certain circumstances. Cruise control may include one or more control modules that regulate the vehicle speed based on a set speed. Adaptive cruise control may include one or more control modules that regulate the vehicle speed based on a set speed, while maintaining at least a predetermined distance between the vehicle and an object in front of it.

[0029] This application determines whether the vehicle is parked or not. If the vehicle is parked, one or more control modules deactivate one or more vehicle functions. For example, one or more control modules can deactivate cruise control and / or adaptive cruise control when the vehicle is parked. The vehicle functions can be enabled and automatically activated when the vehicle is not parked.

[0030] In Fig. Figure 1 shows a functional block diagram of an exemplary vehicle system. While a vehicle system for a hybrid vehicle is shown and described, the present application is also applicable to non-hybrid vehicles, electric vehicles, fuel cell vehicles, and other vehicle types. The present application is applicable to autonomous vehicles, semi-autonomous vehicles, non-autonomous vehicles, shared vehicles, non-shared vehicles, and other vehicle types.

[0031] A machine 102 can burn an air-fuel mixture to generate propulsive torque. An engine control module (ECM) 106 controls the machine 102. For example, the ECM 106 can control the actuation of engine actuators, such as a throttle valve, one or more spark plugs, one or more fuel injectors, valve actuators, camshaft adjusters, an exhaust gas recirculation (EGR) valve, one or more boost pressure devices, and other suitable engine actuators. In some vehicle types (e.g., electric vehicles), the machine 102 may be omitted.

[0032] The machine 102 can deliver torque to a gearbox 110. A transmission control module (TCM) 114 controls the operation of the gearbox 110. For example, the TCM 114 can control the gear selection within the gearbox 110 and one or more torque transmission devices (e.g., a torque converter, one or more clutches, etc.).

[0033] The vehicle system can contain one or more electric motors. For example, an electric motor 118 can be implemented within the transmission 110, as in the example of Fig. Figure 1 shows that an electric motor can operate as either a generator or a motor at any given time. In its generator function, an electric motor converts mechanical energy into electrical energy. This electrical energy can be used, for example, to charge a battery 126 via a power control device (PCD) 130. In its motor function, an electric motor generates torque, which can be used, for example, to supplement or replace the torque supplied by the machine 102. While the example of one electric motor is provided, the vehicle may contain no electric motor or more than one.

[0034] A power inverter module (PIM) 134 can control the electric motor 118 and the PCD 130. The PCD 130 supplies current from the battery 126 to the electric motor 118, based on signals from the PIM 134, and the PCD 130 delivers the current supplied by the electric motor 118, for example, to the battery 126. The PIM 134 can, for example, contain an inverter.

[0035] A steering control module 140 controls the steering / rotation of the vehicle's wheels, for example, based on the driver's rotation of a steering wheel inside the vehicle and / or steering commands from one or more vehicle control modules. A steering angle (SWA) sensor (not shown) monitors the steering wheel's rotational position and generates an SWA 142 based on the steering wheel's position. The steering control module 140 can, for example, control the vehicle's steering via a power steering (EPS or electronic power steering) motor 144 based on the SWA 142. However, the vehicle may also incorporate a different type of steering system.

[0036] A brake control module 150 can selectively control the vehicle's brakes (e.g., friction brakes) 154 based on one or more driver inputs, such as a brake pedal position (BPP) 170. Another driver input can be a cruise control input 153 from a cruise control module 155 when the cruise control system is activated.

[0037] A damper control module 156 controls the damping of the dampers 158 of the respective wheels of the vehicle. The dampers 158 dampen the vertical movement of the wheels. The damper control module 156 can, for example, control the damping coefficients of the dampers 158. The dampers 158 can be, for example, magnetorheological dampers, dampers with continuously variable damping control, or another suitable type of adjustable damper. Actuators 160, which adjust the damping of the dampers 158 accordingly, are associated with the dampers 158. In the example of magnetorheological dampers, the actuators 160 can adjust magnetic fields that are applied to the magnetorheological fluid in the dampers 158 to adjust the damping.

[0038] Vehicle modules can exchange parameters with each other via a network (e.g., a Controller Area Network (CAN)). A CAN can also be referred to as a vehicle network (Car Area Network). The network can, for example, contain one or more data buses. Various parameters can be made available by a specific module to other modules via the network.

[0039] Driver inputs can include, for example, an accelerator pedal position (APP) 166, which can be provided to the ECM 106. The BPP 170 can be provided to the brake control module 150. A position 174 of a Park, Reverse, Neutral, Drive lever (PRNDL) can be provided to the TCM 114. An ignition status 178 can be transmitted to a Body Control Module (BCM) 180. The ignition status 178 can be entered, for example, by a driver using an ignition key, an ignition button, or an ignition switch. At any given time, the ignition status 178 can be one of the states Off, Accessory, Operating, or Starting.

[0040] An infotainment module 183 can output various information via one or more output devices 184. The output devices 184 can include, for example, one or more displays (without touchscreen and / or with touchscreen), one or more other suitable types of video output devices, one or more speakers, one or more haptic devices, and / or one or more other suitable types of output devices.

[0041] The Infotainment Module 183 can output video through one or more displays. The Infotainment Module 183 can output audio through one or more speakers. The Infotainment Module 183 can also provide other feedback through one or more haptic devices. For example, haptic devices can be integrated into one or more seats, one or more seat belts, the steering wheel, etc. Examples of displays include one or more vehicle displays (e.g., on a front console), a head-up display (HUD) projecting information onto a substrate (e.g., the windshield), one or more displays that tilt downwards or extend upwards to provide a panoramic view, and / or one or more other suitable displays.

[0042] The vehicle can be equipped with a variety of external sensors and cameras, which are integrated into Fig. 1 are generally referred to as 186. Based on the inputs from the external sensors and cameras 186, one or more actions can be taken. For example, the infotainment module 183 can display videos, various views and / or warnings on a screen, which are inputs from the external sensors and cameras 186 while driving.

[0043] Another example: The brake control module 150 and / or the steering control module 140 can actuate the brakes 154 and / or steer the vehicle to avoid a collision with an object in the vicinity of the vehicle.

[0044] The vehicle may contain one or more additional control modules not shown, such as a body control module, a battery pack control module, etc. The vehicle may also function without one or more of the control modules shown and discussed.

[0045] Fig. Figure 2 shows a functional block diagram of a vehicle with examples of external sensors and cameras. Regarding external sensors and cameras, see 186 ( Fig. 1) These include various cameras positioned to capture images and videos outside (externally) the vehicle, as well as various types of sensors that measure parameters outside (externally) the vehicle. Examples of external sensors and cameras 186 are explained below. For example, a forward-facing camera 204 captures images and videos of objects within a predetermined field of view (FOV) 206 in front of the vehicle.

[0046] A front camera 208 can also capture images and videos within a predetermined field of view (FOV) 210 in front of the vehicle. The front camera 208 can capture images and videos within a specific distance from the front of the vehicle and can be located at the front of the vehicle (e.g., in a front apron, grille, or bumper). However, the forward-facing camera 204 can also be mounted further back, e.g., near a rearview mirror on the vehicle's windshield. The forward-facing camera 204 may not be able to capture images and videos of objects located within all or part of the predetermined field of view of the front camera 208, and may capture images and videos of objects located at a greater distance from the front of the vehicle than the predetermined distance.In different implementations, either the forward-facing camera 204 or the front camera 208 may be included.

[0047] A reversing camera 212 records images and videos within a predetermined field of view 214 behind the vehicle. The reversing camera 212 can be located at the rear of the vehicle, e.g. near the rear license plate.

[0048] A right-hand camera 216 captures images and videos within a predetermined field of view 218 to the right of the vehicle. The right-hand camera 216 can capture images and videos within a predetermined distance to the right side of the vehicle and can, for example, be located below the right-hand rearview mirror. In various implementations, the right-hand rearview mirror can be omitted, and the right-hand camera 216 can be mounted near the location where the right-hand rearview mirror would normally be.

[0049] A left-hand camera 220 captures images and videos within a predetermined field of view 222 to the left of the vehicle. The left-hand camera 220 can capture images and videos within a predetermined distance to the left side of the vehicle and can, for example, be located below the left-hand rearview mirror. In various implementations, the left-hand rearview mirror can be omitted, and the left-hand camera 220 can be mounted near where the left-hand rearview mirror would normally be located. Although the example FOVs are shown for illustrative purposes only, the present application is also applicable to other FOVs. In various implementations, the FOVs can overlap to allow, for example, more accurate and / or comprehensive stitching.

[0050] The external sensors and cameras 186 may additionally or alternatively include various other types of sensors, such as LiDAR (Light Detection and Ranging) sensors, ultrasonic sensors, radar sensors, and / or one or more other types of sensors. For example, the vehicle may include one or more forward-facing ultrasonic sensors, such as the forward-facing ultrasonic sensors 226 and 230, and one or more rear-facing ultrasonic sensors, such as the rear-facing ultrasonic sensors 234 and 238. The vehicle may also include one or more right-side ultrasonic sensors, such as the right-side ultrasonic sensor 242, and one or more left-side ultrasonic sensors, such as the left-side ultrasonic sensor 246. The vehicle may also include one or more LiDAR (Light Detection and Ranging) sensors, such as the LiDAR sensor 260.The camera and sensor positions shown are only examples; other positions can also be used. Ultrasonic sensors emit ultrasonic signals around the vehicle.

[0051] The external sensors and cameras 186 may additionally or alternatively include one or more other types of sensors, such as one or more sonar sensors, one or more radar sensors and / or one or more other types of sensors.

[0052] Fig. Figure 3 is a functional block diagram of an exemplary implementation of a control system. A driver-facing camera 304 is located in the passenger compartment of the vehicle and is directed towards the driver's seat. The driver's seat of the vehicle is within the field of view of the driver-facing camera 304. A driver sitting in the driver's seat is captured in the images 308 of the driver-facing camera 304. The driver-facing camera 304 can capture the images at a predetermined rate, e.g., at a rate corresponding to one hertz (Hz) or another suitable frequency.

[0053] A driver monitoring module 312 determines the driver's current gaze 316 based on a recently captured image 308 showing the driver. The gaze 316 can, for example, be a vector in the direction in which the driver's eyes are currently looking. The driver monitoring module 312 can update the current gaze 316 for each captured image 308.

[0054] A parking module 320 determines, based on the driver's gaze 316 and other parameters explained below, whether the vehicle is currently in a parking space.

[0055] A vehicle speed module 324 determines the current vehicle speed 328 (vehicle speed). The vehicle speed module 324 can determine the vehicle speed 328, for example, based on one or more wheel speeds 318 measured by one or more wheel speed sensors 332. For example, the vehicle speed module 324 can determine the vehicle speed 328 based on an average of two or more wheel speeds 318 (e.g., of the driven wheels) or equal to this average. The wheel speed sensors 332 can determine the wheel speeds 318 based on the rotational speeds of the respective wheels.

[0056] The parking module 320 uses the vehicle speed 328 to determine whether the vehicle is currently in a parking space.

[0057] A perception module 336 detects and determines the positions of features 340 in the vehicle's environment based on inputs 344 from external cameras and sensors 186. Examples of features include pedestrians, lanes, vehicles, and other visually identifiable features.

[0058] The perception module 336 can also detect the presence of parking spaces in the vicinity of the vehicle based on input 344 from the external cameras and sensors 186. The perception module 336 can detect the presence of a parking space, for example, by means of two parallel lines on the ground extending at a predetermined angle from the vehicle's forward direction of travel. The perception module 336 generates a parking space confidence score 346, which indicates the probability that a parking space has been detected. The parking space confidence score 346 can, for example, be a value between 0 and 100, where higher values ​​indicate greater confidence in the presence of a parking space and vice versa.

[0059] A confidence module 348 determines a confidence value 352 based on the features detected by the perception module 336. The confidence value 352 can correspond to a confidence level that the vehicle is currently in a parking space. For example, the confidence value 352 can be a value between 0 and 100, with higher values ​​indicating greater confidence that the vehicle is in a parking space, and vice versa. The confidence module 348 can determine the confidence value 352, for example, depending on the number of pedestrians detected around the vehicle and the number of lane markings detected in front of the vehicle. For example, the confidence module 348 can increase the confidence value if the number of pedestrians increases, and vice versa. An increased number of pedestrians is more common in parking lots than in other locations.Confidence module 348 can increase the confidence value when the number of lane markings ahead of the vehicle decreases, and vice versa. Typically, there are few or no lane markings in parking lots.

[0060] The parking module 320 determines, based on the confidence value 352, whether the vehicle is in a parking space.

[0061] A steering angle (SWA) sensor 356 measures the SWA 142 based on the steering wheel's rotational position. The parking module 320 uses the SWA 142 to determine whether the vehicle is in a parking space.

[0062] For example, the parking module 320 can determine that the vehicle is in a parking space if (a) the vehicle speed 328 is within a predetermined speed range, (b) the driver's gaze 316 is or was directed to the left or right within a first predetermined time period, (c) the confidence value 352 is greater than a predetermined value, (d) the SWA 142 was greater than a predetermined angle at least once within a second predetermined time period, and (e) the parking space confidence value 346 is greater than the predetermined value. The parking module 320 can determine that the vehicle is not in a parking space if any of the conditions (a), (b), (c), (d), and (e) are not met.

[0063] The predetermined speed range can be, for example, 1 mph to 25 mph, or another suitable range. The predetermined value can be, for example, 75–80, or another suitable value for confidence levels in a range of 0 to 100. The first predetermined period can be, for example, 10 seconds, or another suitable period. The second predetermined period can be, for example, 10 seconds, or another suitable period, from when the vehicle speed was 328 below the upper limit of the predetermined speed range.

[0064] The parking module 320 generates a parking indicator 360, which indicates whether the vehicle is in a parking space. For example, the parking module 320 can set the parking indicator 360 to a first state if the vehicle is in a parking space. The parking module 320 can set the parking indicator 360 to a second state if the vehicle is not in a parking space.

[0065] An activation / deactivation module 364 activates and deactivates the cruise control module 155 depending on the parking indicator 360. For example, the activation / deactivation module 364 deactivates the cruise control module 155 when the parking indicator 360 indicates that the vehicle is in a parking space. The activation / deactivation module 364 activates the cruise control module 155 when the parking indicator 360 indicates that the vehicle is in a parking space. When the cruise control module 155 is activated, it can activate the cruise control system if one or more predefined conditions are met.By deactivating the cruise control module 155 when the vehicle is parked, the automatic activation of the cruise control can be prevented. Although the cruise control is given as an example, this application can also be applied to deactivating other vehicle functions when the vehicle is parked.

[0066] Fig. Figure 4 is a flowchart that illustrates an example of a procedure for disabling one or more vehicle functions, such as the cruise control system, when the vehicle is in a parking space.

[0067] The control process can begin with 404, where the parking module 320 determines whether the vehicle speed 328 is within the predetermined speed range. Vehicles in parking lots typically travel within the predetermined speed range. If 404 is true, the control process continues with 406. If 404 is false, the control process can proceed to 428, where the parking module 320 indicates that the vehicle is not in a parking lot and activates the cruise control module 155, and the control process returns to 404.

[0068] At 406, the parking module 320 can determine whether the SWA 142 has been greater than a predetermined angle (e.g., a rotation of at least 60 degrees or another suitable value) within a predetermined period. The predetermined period could be, for example, 10 seconds since the vehicle speed 328 was within the predetermined speed range, or another suitable period. If 406 is false, the control can proceed to 428, where the parking module 320 indicates that the vehicle is not in a parking space, and the cruise control module 155 is activated. If 406 is true, the control can proceed to 408.

[0069] At 408, the parking module 408 determines, based on a sliding state estimation with calibratable weighting factors, whether the driver's gaze 316 was to the left or right of the straight-ahead direction. If the driver's gaze is directed left or right, this may indicate that they are looking for a parking space. If 408 is true, the control can proceed to 412. If 408 is false, the control can proceed to 428, where the parking module 320 indicates that the vehicle is not in a parking space, and the cruise control module 155 is activated.

[0070] At 412, the perception module 336 can determine the parking space confidence score of 346, and the confidence module 348 can determine the confidence score of 352. The parking space confidence score of 346 can increase if the confidence that one or more parking spaces have been detected increases, and vice versa. The confidence score of 352 can increase if the confidence that the vehicle is in a parking space increases, and vice versa.

[0071] At 416, the parking module 320 can determine whether the parking space confidence value 346 and the confidence value 352 are greater than predetermined values. In various implementations, the parking module 320 may require that the parking space confidence value 346 and / or the confidence value 352 be continuously greater than the respective predetermined value for a predetermined period or for at least X of the last Y instances of 416. The predetermined values ​​could be, for example, 75–80 or other suitable values ​​in the example of values ​​between 0 and 100. If 416 is true, the control continues to 432. If 416 is false, the control may proceed to 428, where the parking module 320 indicates that the vehicle is not in a parking space, and the cruise control module 155 is activated.

[0072] At 432, the parking module 320 detects and indicates that the vehicle is in a parking space. At 436, based on the indication that the vehicle is in a parking space, the activation / deactivation module 364 deactivates the cruise control module 155. This prevents the cruise control from being activated, for example, automatically or in response to a user input requesting cruise control. Figure labeling of Fig. 4 Yes No

Claims

[1] System for a vehicle, comprising: a module that is configured to selectively perform a vehicle function when activated; a parking module (320) configured to determine and indicate whether the vehicle is currently in a parking space based on at least two of the following: the current vehicle speed; a steering wheel angle of the vehicle; a glance from the driver of the vehicle; a confidence value (352) corresponding to the confidence that the vehicle is in a parking space; and a parking space confidence value (346) that corresponds to the confidence that a perception module (336) has detected a parking space around the vehicle; and an activation / deactivation module (364) configured to: Activating the module when the vehicle is not in a parking space; and Deactivate the module when the vehicle is in a parking lot; characterized by , that the module is a cruise control module (155) comprising at least one control module that regulates the vehicle speed based on a target speed of the vehicle. [2] System for a vehicle, comprising: a module that is configured to selectively perform a vehicle function when activated; a parking module (320) configured to determine and indicate whether the vehicle is currently in a parking space based on at least two of the following: a glance from the driver of the vehicle; a confidence value (352) corresponding to the confidence that the vehicle is in a parking space; and a parking space confidence value (346) that corresponds to the confidence that a perception module (336) has detected a parking space around the vehicle; and an activation / deactivation module (364) configured to: Activating the module when the vehicle is not in a parking space; and Deactivate the module when the vehicle is in a parking lot. [3] System according to claim 1, wherein the parking module (320) is configured to selectively determine and indicate that the vehicle is currently in a parking space when the vehicle's current speed is within a predetermined speed range. [4] System according to claim 1, wherein the parking module (320) is configured to selectively determine and indicate that the vehicle is currently in a parking space when the steering wheel angle of the vehicle is greater than a predetermined steering wheel angle. [5] System according to claim 4, wherein the parking module (320) is configured to selectively determine and indicate that the vehicle is currently in a parking space if the steering wheel angle of the vehicle was greater than the predetermined steering wheel angle within a past predetermined period. [6] System according to claim 1 or 2, wherein the parking module (320) is configured to selectively determine and indicate that the vehicle is currently in a parking space when the driver's gaze has been to the left or right of a forward direction of travel of the vehicle. [7] System according to claim 6, wherein the parking module (320) is configured to determine and indicate that the vehicle is not currently in a parking space if the driver's gaze has not been to the left or right of the vehicle's forward direction of travel within a past predetermined period of time. [8] System according to claim 1 or 2, wherein the parking module (320) is configured to selectively determine and indicate that the vehicle is currently in a parking space when the confidence value (352) is greater than a predetermined value. [9] System according to claim 8, wherein the parking module (320) is configured to determine and indicate that the vehicle is not currently in a parking space when the confidence value (352) is less than the predetermined value.

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