Control of a vehicle to automatically exit a parking space

• US 9,283,960 B1
• Filed: 12/15/2014
• Issued: 03/15/2016
• Est. Priority Date: 12/15/2014
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lavoie, Erick Michael
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Dunn, Alex C
• Application Number:
  US14/570,339
• Time in Patent Office: 456 Days
• Field of Search: 701/41
• US Class Current: 1/1
• 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 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

An automatic park-out system is provided for a vehicle to assist in automatically exiting a parking space. The vehicle is equipped with various sensors configured to sense the location of external objects, such as vehicles surrounding the parking space and vehicle in the adjacent lane of traffic. At least one controller receives signals from these sensors and commands the vehicle to automatically move and align itself for exiting the parking space. The operator of the vehicle can depress the accelerator pedal to signal a desire to move out of the parking space. Even if the driver increasingly depresses the accelerator pedal, the at least one controller is programmed to limit an actual speed of the vehicle based on a distance between the vehicle and the external objects. This constraint placed on the actual speed be removed or reduced based on the distance increasing.

Claims

1. A computerized method of exiting a vehicle from a parking space, comprising:

instructing a driver to release a steering wheel;

subsequent to the steering wheel being released, limiting a maximum-permissible-speed of the vehicle based on a distance between the vehicle and an external object;

automatically turning the steering wheel;

automatically accelerating away from the parking space; and

while moving away from the parking space, gradually increasing the maximum-permissible-speed based on the distance increasing.

2. The method of claim 1, wherein a demanded acceleration of the vehicle is defined by accelerator pedal position, further comprising gradually increasing an actual acceleration of the vehicle towards the demanded acceleration of the vehicle based on the distance increasing.

3. The method of claim 1, wherein the limiting includes limiting the maximum-permissible-speed irrespective of accelerator pedal position.

4. The method of claim 1, further comprising, prior to the step of automatically accelerating, instructing the driver to depress an accelerator pedal.

5. The method of claim 1, further comprising activating a park-out-assist (POA) operational mode based on a user selection, wherein the steps of instructing, limiting, automatically turning, automatically accelerating, and gradually increasing are accomplished based on the POA operational mode being activated.

6. The method of claim 1, further comprising removing limits on the maximum-permissible-speed based on a force being applied to the steering wheel.

7. The method of claim 1, wherein the step of gradually increasing the maximum-permissible-speed is further based on a time elapsing subsequent to the distance exceeding a threshold.

8. A vehicle comprising:

a plurality of object-detecting sensors configured to detect a location of external objects; and

at least one controller programmed to, in response to an operator activating an operational mode configured to automatically assist the vehicle in exiting a parallel parking spot, modify a limit on an actual speed of the vehicle based on an increasing distance between the vehicle and the external objects as the vehicle exits the parallel parking spot.

9. The vehicle of claim 8, wherein the at least one controller is further programmed to limit the speed at a linear rate based on the distance.

10. The vehicle of claim 8, further comprising an accelerator pedal that, when depressed, indicates an amount of demanded acceleration, wherein the at least one controller is further programmed to limit actual acceleration of the vehicle to an amount less than the demanded acceleration based on the distance between the vehicle and the external objects.

11. The vehicle of claim 10, wherein the at least one controller is further programmed to reduce the limit and increase the actual acceleration towards the demanded acceleration in response to the distance increasing.

12. The vehicle of claim 8, wherein the at least one controller is further programmed to turn wheels of the vehicle to a position based on the location of the external objects.

13. The vehicle of claim 12, wherein an intended direction of travel is defined by the position of the wheels, and wherein the at least one controller is further programmed to limit the actual speed of the vehicle based on the external objects being located along the intended direction of travel.

14. The vehicle of claim 8, further comprising a steering wheel sensor coupled to the at least one controller and configured to detect a force being applied to a steering wheel by the operator, wherein the at least one controller is further programmed to remove the limit on the actual speed of the vehicle based on a force being applied to the steering wheel.

15. A vehicle comprising:

a plurality of sensors configured to sense a location of a first object in front of the vehicle and a second object behind the vehicle while the vehicle is parked in a parallel parking spot between the first and second objects; and

at least one controller coupled to the sensors and programmed to reduce a constraint on permissible acceleration of the vehicle as the vehicle exits the parallel parking spot.

16. The vehicle of claim 15, wherein the at least one controller is further programmed to enable an actual acceleration of the vehicle to increase towards a demanded acceleration of the vehicle based on a distance between the vehicle and at least one of the first and second objects.

17. The vehicle of claim 15, wherein the at least one controller is further programmed to enable an actual acceleration of the vehicle to increase towards a demanded acceleration of the vehicle based on a time since the vehicle exited the parallel parking spot.

18. The vehicle of claim 15, further comprising a steering wheel sensor coupled to the at least one controller, wherein the at least one controller is further programmed to remove the constraint on permissible acceleration of the vehicle based on a force being applied to the steering wheel.

19. The vehicle of claim 15, wherein the at least one controller is further programmed to turn wheels of the vehicle to a position based on a location of the first object.

20. The vehicle of claim 19, wherein an intended direction of travel is defined by the position of the wheels, and wherein the at least one controller is further programmed to reduce the constraint on the permissible acceleration of the vehicle based on the first object being located along the intended direction of travel.