PARKING ASSIST SYSTEM FOR VEHICLE
First Claim
1. A parking assist system of a vehicle, said parking assist system comprising:
- a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle;
a processor operable to process data captured by said sensors;
a vehicle control operable to determine a target parking space responsive to processing by said processor of data captured by said sensors;
wherein said vehicle control is operable to determine a plurality of possible paths of travel from a current location of the vehicle to the target parking space;
wherein the plurality of possible paths of travel is determined by said control approximating possible turns of the vehicle between a start node outside of the target parking space and an end node in the target parking space via an algorithm that (i) uses two intersecting lines, with one passing through the start node and one passing through the end node, (ii) uses circles that are tangent to respective ones of the intersecting lines, wherein each circle has a radius that approximates a minimum turning radius of the vehicle, and (iii) determines possible paths of travel using straight path sections tangent to one or more of the circles and curved path sections that follow a curvature of one or more of the circles; and
wherein said control selects a target path of travel of the vehicle from the determined plurality of possible paths of vehicles in accordance with a plurality of objectives for the path of travel of the vehicle.
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Abstract
A parking assist system of a vehicle includes a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle. A vehicle control is operable to determine a target parking space responsive to the processor. The control (i) uses two intersecting lines, with one passing through a start node and one passing through an end node, (ii) uses circles that are tangent to respective ones of the intersecting lines, with each circle having a radius that approximates a minimum turning radius of the vehicle, and (iii) determines possible paths of travel using straight path sections tangent to one or more of the circles and curved path sections that follow a curvature of one or more of the circles. The control selects a target path of travel in accordance with a plurality of objectives for the path of travel of the vehicle.
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Citations
20 Claims
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1. A parking assist system of a vehicle, said parking assist system comprising:
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a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle; a processor operable to process data captured by said sensors; a vehicle control operable to determine a target parking space responsive to processing by said processor of data captured by said sensors; wherein said vehicle control is operable to determine a plurality of possible paths of travel from a current location of the vehicle to the target parking space; wherein the plurality of possible paths of travel is determined by said control approximating possible turns of the vehicle between a start node outside of the target parking space and an end node in the target parking space via an algorithm that (i) uses two intersecting lines, with one passing through the start node and one passing through the end node, (ii) uses circles that are tangent to respective ones of the intersecting lines, wherein each circle has a radius that approximates a minimum turning radius of the vehicle, and (iii) determines possible paths of travel using straight path sections tangent to one or more of the circles and curved path sections that follow a curvature of one or more of the circles; and wherein said control selects a target path of travel of the vehicle from the determined plurality of possible paths of vehicles in accordance with a plurality of objectives for the path of travel of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A parking assist system of a vehicle, said parking assist system comprising:
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a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle; a processor operable to process data captured by said sensors; a vehicle control operable to determine a target parking space responsive to processing by said processor of data captured by said sensors; wherein said vehicle control is operable to determine a plurality of possible paths of travel from a current location of the vehicle to the target parking space; wherein the plurality of possible paths of travel is determined by said control approximating possible turns of the vehicle between a start node outside of the target parking space and an end node in the target parking space via an algorithm that (i) uses two intersecting lines, with one passing through the start node in a direction of travel of the vehicle at the start node and one passing through the end node in a direction of travel of the vehicle at the end node, (ii) uses circles that are tangent to respective ones of the intersecting lines, wherein each circle has a radius that approximates a minimum turning radius of the vehicle, and (iii) determines possible paths of travel using straight path sections tangent to one or more of the circles and curved path sections that follow a curvature of one or more of the circles; wherein said control selects a target path of travel of the vehicle from the determined plurality of possible paths of vehicles in accordance with a plurality of objectives for the path of travel of the vehicle; and wherein the target path of travel is selected based on one or more objectives selected from the group consisting of (i) avoiding traffic, (ii) minimizing the number of turns, (iii) minimizing the area required for maneuvering the vehicle, (iv) avoiding curbs, and (v) avoiding objects. - View Dependent Claims (15, 16, 17, 18)
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19. A parking assist system of a vehicle, said parking assist system comprising:
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a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle; a processor operable to process data captured by said sensors; a vehicle control operable to determine a target parking space responsive to processing by said processor of data captured by said sensors; wherein said vehicle control is operable to determine a plurality of possible paths of travel from a current location of the vehicle to the target parking space; wherein the plurality of possible paths of travel is determined by said control approximating possible turns of the vehicle between a start node outside of the target parking space and an end node in the target parking space via an algorithm that (i) uses three intersecting lines, with a first line passing through the start node in a direction of travel of the vehicle at the start node, a second line passing through the end node in a direction of travel of the vehicle at the end node and a third line passing through the intersection of the first and second lines and bisecting an angle between the first and second lines, (ii) uses circles that are tangent to respective ones of the intersecting lines, wherein each circle has a radius that approximates a minimum turning radius of the vehicle, and (iii) determines possible paths of travel using straight path sections tangent to one or more of the circles and curved path sections that follow a curvature of one or more of the circles; wherein said control selects a target path of travel of the vehicle from the determined plurality of possible paths of vehicles in accordance with a plurality of objectives for the path of travel of the vehicle; wherein said control selects a target path of travel of the vehicle from the determined plurality of possible paths of vehicles in accordance with a cost function; and wherein said cost function has at least one of the objectives of (i) comfort ride of the vehicle occupants by optimizing the speed, acceleration and jerk of the vehicle, (ii) a time needed to complete the parking maneuver by minimizing the time for executing the driving maneuvers, (iii) avoiding steering in standstill by minimizing nodes where the vehicle speed is zero, and (iv) avoiding abrupt or fast steering by minimizing a change of steering angle between consecutive nodes. - View Dependent Claims (20)
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Specification