US 9,809,218 B2
System and method for autonomous valet parking using plenoptic cameras
Larry Dean Elie, Ypsilanti, MI (US); and Douglas Scott Rhode, Farmington Hills, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Jan. 27, 2017, as Appl. No. 15/418,577.
Application 15/418,577 is a continuation of application No. 14/834,203, filed on Aug. 24, 2015, granted, now 9,557,741.
Prior Publication US 2017/0137024 A1, May 18, 2017
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2006.01); G05D 1/00 (2006.01); G06F 17/30 (2006.01); G06T 7/73 (2017.01); G01B 11/22 (2006.01); G08G 1/14 (2006.01); B60W 30/06 (2006.01); B62D 15/02 (2006.01); G01S 19/13 (2010.01); G06K 9/00 (2006.01)
CPC B60W 30/06 (2013.01) [B62D 15/0285 (2013.01); G01B 11/22 (2013.01); G01S 19/13 (2013.01); G05D 1/0088 (2013.01); G05D 1/0246 (2013.01); G05D 1/0251 (2013.01); G05D 1/0274 (2013.01); G06F 17/30259 (2013.01); G06K 9/00812 (2013.01); G06T 7/73 (2017.01); G08G 1/141 (2013.01); G08G 1/143 (2013.01); G08G 1/144 (2013.01); G05D 2201/0212 (2013.01); G06T 2207/10052 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a plenoptic camera to obtain an image external to the vehicle;
a controller to:
autonomously navigate a vehicle toward a parking space identified as unoccupied;
generate, based on the image, an occupancy map indicating occupied regions in a plurality of concentric regions;
determine whether the parking space is available based on the occupancy map; and
send, in response to determining the parking space is unavailable, an error message to a driver.