SYSTEM AND METHOD FOR REVERSE PERPENDICULAR PARKING A VEHICLE
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United States of America Patent
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Issued Date -
Jul 13, 2017
app pub date -
Jan 11, 2016
filing date -
Jan 11, 2016
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Abstract
A method for parking a vehicle in a parking lot includes generating steering commands for the vehicle while in the lot based on an occupancy grid and plenoptic camera data. The occupancy grid indicates occupied areas and unoccupied areas around the vehicle and is derived from map data defining parking spots relative to a topological feature contained within the lot. The plenoptic camera data defines a plurality of depth maps and corresponding images that include the topological feature captured during movement of the vehicle. The steering command is generated such that the vehicle follows a reverse perpendicular path into one of the spots without entering an occupied area.
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