Enhanced park assist wheel speed compensation technique

• US 9,002,564 B2
• Filed: 04/23/2013
• Issued: 04/07/2015
• Est. Priority Date: 04/23/2013
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Shaffer, Aric David, Kane, Michael David, Stempnik, Vern
• Primary Examiner(s): ARTHUR JEANGLAUD, GERTRUDE
• Application Number:
  US13/868,247
• Publication Number:
  US 20140316632A1
• Time in Patent Office: 714 Days
• Field of Search: 701/23, 701/527, 180/272, 340/903, 340/435, 340/436, 340/932.2
• US Class Current: 701/23
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/60 Traversable objects, e.g. speed bumps or curbs
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: G01S 2015/933 for measuring the dimensions of the parking space when driving past
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method of parking a vehicle includes calibrating a wheel speed count of the vehicle based on a measured length that is external to the vehicle, and parking the vehicle based on the calibrated wheel speed count.

Claims

1. A method of parking a vehicle, comprising:

acquiring a measured length representing a distance travelled by the vehicle;

in response to an indication that a calibrative disruptive condition, including acceleration or deceleration exceeding a predetermined threshold, occurred while the measured length was acquired, discarding the measured length;

in response to an absence of the indication, correlating the distance traveled to a vehicle wheel parameter; and

parking the vehicle based on the correlation.

2. The method of claim 1, wherein the vehicle wheel parameter is a wheel radius, a wheel diameter, a wheel circumference, or a wheel speed count.

3. The method of claim 2, further comprising detecting, based on the vehicle wheel parameter, whether at least one of the wheels of the vehicle is a mini spare, has low pressure, is a worn tire, or is an aftermarket tire.

4. The method of claim 3, further comprising generating an alert in response to the detecting.

5. The method of claim 3, further comprising discarding the correlation in response to the detecting.

6. A non-transitory computer-readable medium tangibly embodying computer-executable instructions that, when executed by a processor, cause the processor to

acquire a measured length representing a distance travelled by a vehicle;

in response to an indication that a calibrative disruptive condition, including road grade exceeding a predetermined threshold, occurred while the measured length was acquired, discard the measured length;

in response to an absence of the indication, correlate the distance traveled to a vehicle wheel parameter; and

execute a vehicle parking algorithm based on the correlation.

7. The non-transitory computer-readable medium of claim 6, wherein the vehicle wheel parameter is a wheel radius, a wheel diameter, a wheel circumference, or a wheel speed count, and wherein the computer-executable instructions further cause the processor to detect, based on the vehicle wheel parameter, whether at least one of the wheels of the vehicle is a mini spare, has low pressure, is a worn tire, or is an aftermarket tire.

8. The non-transitory computer-readable medium of claim 7, wherein the computer executable instructions further cause the processor to generate an alert in response to the detecting.

9. The non-transitory computer-readable medium of claim 7, wherein the computer executable instructions further cause the processor to discard the correlation in response to the detecting.

10. A vehicle, comprising:

a controller programmed to

acquire a measured length representing a distance travelled by the vehicle,

in response to an indication that a calibrative disruptive condition, including a vehicle skid, occurred while the measured length was acquired, discarding the measured length,

in response to an absence of the indication, correlating the distance traveled to a vehicle wheel parameter, and

park the vehicle based on the correlation.

11. The vehicle of claim 10, wherein the vehicle wheel parameter is a wheel radius, a wheel diameter, a wheel circumference, or a wheel speed count.

12. The vehicle of claim 11, wherein the controller is further programmed to detect, based on the vehicle wheel parameter, whether at least one of the wheels of the vehicle is a mini spare, has low pressure, is a worn tire, or is an aftermarket tire.

13. The vehicle of claim 12, wherein the controller is further programmed to generate an alert in response to the detecting.

14. The vehicle of claim 12, wherein the controller is further programmed to discard the correlation in response to the detecting.