Parking assistant for automatic forward or reverse parking

• US 10,494,024 B2
• Filed: 09/05/2017
• Issued: 12/03/2019
• Est. Priority Date: 09/05/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Urhahne, Joseph Andreas
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US15/695,583
• Publication Number:
  US 20180065665A1
• Time in Patent Office: 819 Days
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A motor vehicle is automatically forward or reverse parked into a perpendicular or transverse parking space. After the driver has stopped the motor vehicle, ahead of the parking space in a position that appears suitable to him/her for a direct parking procedure, has exited the motor vehicle and has started the method via a remote control, according to the disclosure the vehicle is automatically allowed to drive a short distance straight ahead. During the short distance of straight-ahead travel, the parking-space gateway is ascertained via an environment sensor system, from which a parking trajectory is calculated. At the end of the short distance of straight-ahead travel, the motor vehicle stops automatically and steers the front wheels into a position corresponding to the calculated parking trajectory.

Claims

1. An automatic parking method comprising:

stopping a vehicle ahead of a parking space in a position suitable for a direct parking procedure;

activating a remote control to drive the vehicle a distance straight ahead;

ascertaining, via an environment sensor system, a parking space gateway during the activating;

calculating, by a computing device, a parking trajectory based on the parking space gateway;

stopping the vehicle at an end of the distance; and

steering the vehicle into a position corresponding to the parking trajectory and the parking space.

2. The method as claimed in claim 1 further comprising:

checking, during stopping and at a standstill, the dimensions of the parking space detected by the environment sensor system to match the parking space gateway with the dimensions.

3. The method as claimed in claim 1 further comprising:

measuring the distance straight ahead during ascertaining the parking space gateway.

4. The method as claimed in claim 1 further comprising:

setting, automatically, the vehicle in motion at the end of the distance, and driving, automatically, into the parking space, in response to recognizing the dimensions of the parking space as appropriate.

5. The method as claimed in claim 1 further comprising:

in response to a driver command, setting, automatically, the vehicle in motion at the end of the distance to drive into the parking space.

6. The method as claimed in claim 1, wherein:

the environment sensor system includes ultrasonic sensors.

7. The method as claimed in claim 1, wherein:

the environment sensor system defines a range within 2 to 3 meters.

8. A vehicle parking assistant for a vehicle comprising:

a remote control configured to drive the vehicle a distance straight ahead;

an environment sensor system configured to ascertain a parking space gateway for a parking space during the drive straight ahead; and

a park assist system configured to calculate a parking trajectory based on the parking space gateway, stop the vehicle at an end of the distance, and steer the vehicle into a position corresponding to the parking trajectory and the parking space.

9. The vehicle parking assistant as claimed in claim 8, wherein the park assist system is further configured to check, while at a standstill, dimensions of the parking space gateway to match the parking space gateway with the dimensions.

10. The vehicle parking assistant as claimed in claim 9, wherein the park assist system is further configured to, in response to the check of the dimensions of the parking space as appropriate, set the vehicle in motion at the end of the distance, and drive into the parking space.

11. The vehicle parking assistant as claimed in claim 8, wherein the park assist system is further configured to, in response to a driver command via the remote control, set the vehicle in motion at the end of the distance to drive into the parking space.

12. The vehicle parking assistant as claimed in claim 8, wherein the environment sensor system includes ultrasonic sensors having a range of 2 to 3 meters.

13. A vehicle comprising:

a parking assistant configured to, in response to activation of a remote control to drive a distance straight ahead and ascertaining of a parking space gateway via an environment sensor system during the drive straight ahead, calculate a parking trajectory based on the parking space gateway, stop the vehicle at an end of the distance, and steer the vehicle into a position corresponding to the parking trajectory and the parking space.

14. The vehicle as claimed in claim 13, wherein the parking assistant is further configured to check, while at a standstill, dimensions of the parking space gateway to match the parking space gateway with the dimensions.

15. The vehicle as claimed in claim 14, wherein the park assistant is further configured to, in response to the check of the dimensions of the parking space as appropriate, set the vehicle in motion at the end of the distance, and drive into the parking space.

16. The vehicle as claimed in claim 13, wherein the environment sensor system is further configured to measure the distance straight ahead during ascertaining the parking space gateway.

17. The vehicle as claimed in claim 13, wherein the park assistant is further configured to, in response to a driver command via the remote control, set the vehicle in motion at the end of the distance to drive into the parking space.

18. The vehicle as claimed in claim 13, wherein the environment sensor system includes ultrasonic sensors having a range of 2 to 3 meters.