Curb detection for vehicle parking

• US 9,841,765 B2
• Filed: 03/14/2016
• Issued: 12/12/2017
• Est. Priority Date: 03/14/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Simmons, Kyle, Xu, Li, Tseng, Eric Hongtei, Pilutti, Thomas Edward, Blue, Douglas
• Primary Examiner(s): Kan, Yuri
• Application Number:
  US15/069,361
• Publication Number:
  US 20170261994A1
• Time in Patent Office: 638 Days
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• 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: G05D 1/0891 specially adapted for land vehicles

Abstract

Systems and methods for curb detection for parking are disclosed. An example vehicle parking assist system includes a processor and memory. An example program stored in the memory is configured to move a vehicle using a set of maneuvers to park the vehicle in a parking space based on an estimated location of a curb. The example program is also configured to compare a first yaw rate to a reference yaw rate to detect when the vehicle contacts the curb. Additionally, the example program is configured to move the vehicle using an adjusted set of maneuvers based on an actual location of the curb.

Claims

1. A vehicle comprising:

wheel speed sensors;

a curb detector configured to compare a first yaw rate to a reference yaw rate to physically detect an actual location of a curb based on measurements from the wheel speed sensors; and

a steering control system configured to;

before detecting the curb, maneuver the vehicle into a parking space based on an estimated location of the curb; and

in response to detecting the curb, maneuver the vehicle into the parking space based on the actual location of the curb.

2. The vehicle of claim 1, including a yaw rate sensor configured to measure the reference yaw rate of the vehicle.

3. The vehicle of claim 1, wherein the wheel speed sensors include first wheel speed sensors configured to measure speeds of wheels associated with a first axle of the vehicle;

and wherein the curb detector is configured to calculate the first yaw rate based on measurements from the first wheel speed sensors.

4. The vehicle of claim 3, wherein the wheel speed sensors include second wheel speed sensors configured to measure speeds of wheels associated with a second axle of the vehicle;

and wherein the curb detector is configured to calculate the reference yaw rate based on measurements from the second wheel speed sensors.

5. The vehicle of claim 1, wherein the curb detector is configured to determine that the vehicle contacts the curb when a difference between the reference yaw rate and the first yaw rate satisfies a threshold.

6. The vehicle of claim 1, wherein when comparing the first yaw rate to the reference yaw rate, the curb detector detects when one of a first set of wheels associated with a rear axle of the vehicle contacts the curb, and wherein the curb detector is configured to:

compare a second yaw rate to the reference yaw rate to detect when one of a second set of wheels associated with a front axle of the vehicle contacts the curb; and

when the vehicle contacts the curb, determine which one of the wheels contacted the curb based on the reference yaw rate, the first yaw rate and the second yaw rate.

7. A vehicle parking assist system comprising:

wheel speed sensors;

a processor;

a program stored in memory configured to;

move a vehicle using a set of maneuvers to park the vehicle in a parking space based on an estimated location of a curb;

compare a first yaw rate to a reference yaw rate to detect when the vehicle physically contacts the curb based on measurements from the wheel speed sensors; and

move the vehicle using an adjusted set of maneuvers based on an actual location of the curb.

8. The parking assist system of claim 7, including a yaw rate sensor to measure the reference yaw rate of the vehicle.

9. The parking assist system of claim 7, wherein the wheel speed sensors include first wheel speed sensors configured to measure speeds of wheels associated with a first axle of the vehicle;

and wherein the program stored in the memory is configured to calculate the first yaw rate based on measurements from the first wheel speed sensors.

10. The parking assist system of claim 9, including wherein the wheel speed sensors include second wheel speed sensors configured to measure speeds of wheels associated with a second axle of the vehicle;

and wherein the program stored in the memory is configured to calculate the reference yaw rate based on measurements from the second wheel speed sensors.

11. The parking assist system of claim 7, wherein the program stored in the memory is configured to determine that the vehicle contacts the curb when a difference between the reference yaw rate and the first yaw rate satisfies a threshold.

12. The parking assist system of claim 7, wherein comparing the first yaw rate to the reference yaw rate detects when one of a first set of wheels associated with a rear axle of the vehicle contacts the curb, and wherein the program stored in the memory is configured to:

compare a second yaw rate to the reference yaw rate to detect when one of a second set of wheels associated with a front axle of the vehicle contacts the curb; and

when the vehicle contacts the curb, determine which one of the wheels contacted the curb based on the reference yaw rate, the first yaw rate and the second yaw rate.

13. A method comprising:

moving a vehicle along a calculated path to park the vehicle in a parking space based on an estimated location of a curb;

comparing, with a processor, a first yaw rate to a reference yaw rate to detect when a wheel of the vehicle physically contacts the curb based on measurements from wheel speed sensors; and

changing the calculated path to account for on an actual location of the curb.

14. The method of claim 13, including calculating the reference yaw rate based on measurements from a yaw rate sensor.

15. The method of claim 13, including calculating the first yaw rate based on measurements from at least one of the wheel speed sensors associated with a first axel of the vehicle.

16. The method claim 15, including calculating the reference yaw rate based on measurements from at least one of the wheel speed sensors associated with a second axel of the vehicle.

17. The method of claim 13 including estimating a location of the curb based on objects around the parking space detected by at least one of an ultrasonic sensor, a RADAR sensor, or a LiDAR sensor.