A method for providing vehicle assistance to a vehicle when parking in a parking lot is provided. The method includes identifying, by the path controller, one or more available parking spaces based on the one or more images. The method includes displaying, on a user interface in communication with the path controller, a representation of the identified one or more available parking spaces, and receiving, on the user interface, a driver selection of a representation of the identified one or more available parking spaces. The method includes determining, by the path controller, a path from a current position of the vehicle to an available parking space associated with the driver selection of the representation. The method includes instructing, a drive system of the vehicle, to autonomously drive the vehicle along the path.

A driver assistance apparatus according to the disclosed embodiment receives building map information, determines whether a parking space exists from the building map information, and generates a travel route to the parking space based on the existence of the parking space, and a controller is configured to detect a front object located in front of the vehicle and a side object located on the side of the vehicle in response to processing the image data, the front detection data, and the side detection data, and output a signal to at least one of a driving device, a braking device, and a steering device of the vehicle to travel the travel route based on a detected result.

One or more techniques and/or systems are provided for parking space routing. For example, parking data for a parking region, such as a parking lot, may be obtained from one or more data sources (e.g., vehicle sensor data, a parking lot camera, parking meter transaction data, etc.). Routes from a current location of a vehicle to available parking spaces within the parking region may be computed. The routes may be ranked based upon various criteria, such as convenience, congestion, travel time, travel distance, a parking space fill order, etc. A route, having a rank above a threshold (e.g., a highest ranked route), may be provided to a driver of the vehicle, such as through a vehicle navigation unit, a mobile device, a wearable device, etc. The route may be provided to autonomous driving functionality of the vehicle for automatic routing and navigation of the vehicle to the parking space.

Provided is an on-vehicle processing device that can estimate the position of a vehicle with higher accuracy. A storage unit stores a parking lot point group including a plurality of coordinates of points of a part of an object in a parking lot coordinate system. A sensor input unit acquires peripheral information from a camera. A movement information acquisition unit acquires movement information. A local peripheral information creation unit generates local peripheral information expressing second point group data including a position of the vehicle in a local coordinate system and a plurality of coordinates of points of a part of the object in the local coordinate system on the basis of the peripheral information and the movement information. A position estimation unit estimates a correlation between the parking lot coordinate system and the local coordinate system on the basis of the parking lot point group and the local peripheral information, and estimates the position of the vehicle in the parking lot coordinate system from the position of the vehicle in the local coordinate system and the correlation.

Aspects relate to systems and methods for mapping a parking area for autonomous parking. An exemplary method includes receiving a point of interest designator for a point of interest, a drop-off location designator for a drop-off location, a parking location designator for a parking location, and a parking path designator for a parking path between the drop-off location and the parking location, receiving survey data of the point of interest from a remote device having at least a locating sensor, wherein survey data includes a drop-off geofence for the drop-off location, a parking geofence for the parking location, and a parking waypath for the parking path, and generating a parking map for the point of interest, wherein the parking map includes the drop-off location designator, the parking location designator, the parking path designator, the drop-off geofence, the parking geofence, and the parking waypath.

A method includes receiving data corresponding to detected objects in a parking region, the data including information ascertained by an ascertaining vehicle driving through the parking region, determining a parking region distribution, based on detected objects in a street segment located within the parking region, determining a street segment distribution, calculating a difference between the parking region and the street segment distribution, identifying an anomaly located within the street segment, and generating an updated parking area map of the parking region based on the identified anomaly. The method includes receiving the data, for example, each time an ascertaining vehicle drives through the parking region.

An autonomous parking system includes an object detection apparatus, and one or more processors. The one or more processors are configured to: perform an initial parking operation for parking a vehicle into a first parking space along a first path, the first path including one or more first turnaround points; during the initial parking operation, detect a second parking space using the object detection apparatus; generate a second path for parking the vehicle into the second parking space; and, in response to user input, perform at least one of a first parking operation along the first path or a second parking operation along the second path.

A mobile apparatus receives a route response comprising an encoded route and one or more delay encoding data structures. The delay encoding data structures are probabilistic data structures configured to not provide false negatives. The mobile apparatus determines a decoded route based on the encoded route and a mobile version of a digital map; determines an expected traffic delay for at least one adjacent traversable map element (TME) of the decoded route based on the one or more delay encoding data structures; and performs one or more navigation functions based at least on the expected traffic delay for the at least one adjacent segment of the decoded route. An adjacent TME is a TME of the digital map that intersects the decoded route and is not a TME of the decoded route.

A network apparatus determines a route from an origin traversable map element (TME) to a target TME. The route comprises a list of route TMEs to be traveled from the starting location to the target location. The network apparatus identifies adjacent TMEs to the route, wherein an adjacent TME is a TME of the digital map that intersects the route and is not a route TME; determines an expected traffic delay for each adjacent TME based on traffic data; separates the adjacent TMEs into a plurality of delay groups based on the corresponding expected traffic delays; generates delay encoding data structures; and provides the delay encoding data structures and information identifying the route. Each delay encoding data structure encodes a map version agnostic identifier for the adjacent TMEs of one of the delay groups and is a probabilistic data structure configured to not provide false negatives.

A network apparatus determines a route from an origin TME to a target TME based on map data of a network version of a digital map. The route includes a list of route TMEs to be traveled from the origin TME to the target TME. The network apparatus accesses map version agnostic information identifying each TME of the list of route TMEs from the network version of the digital map; generates a map version agnostic identifier for each route TME of the list of route TMEs based on the accessed information; evaluates coding functions based at least on the map version agnostic identifier for each route TME to generate a coded identifier for each route TME; generates an encoding data structure based on the coded identifiers for the route TMEs; and provides the encoding data structure. The encoding data structure is a probabilistic data structure configured to not provide false negatives.