Vehicle parking assist system

• US 9,849,864 B2
• Filed: 07/31/2015
• Issued: 12/26/2017
• Est. Priority Date: 07/31/2015
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Bales, John, Hafner, Michael
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US14/814,855
• Publication Number:
  US 20170028970A1
• Time in Patent Office: 879 Days
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations

Abstract

A parking assist system for a vehicle is provided that includes a brake system having at least one wheel count encoder configured to output a wheel count signal and a controller configured to limit a velocity of the vehicle in a first mode. The controller is also configured to stop the vehicle at a target location in a second mode, and prevent overshoot of the target location by the vehicle in a third mode.

Claims

1. A parking assist system for a vehicle, comprising:

a brake system having at least one wheel count encoder configured to output a wheel count signal; and

a controller configured to limit a velocity of the vehicle in a first mode, configured to stop the vehicle at a target location in a second mode, and configured to prevent overshoot of the target location by the vehicle in a third mode by outputting a brake torque inversely proportional to a calculated distance to the target stop location of the vehicle.

2. The parking assist system of claim 1, further comprising a scheduler configured to convert the wheel count signal into a linear distance traveled by the vehicle.

3. The parking assist system of claim 2, wherein the second mode of the controller is operated in a proportional-derivative control based on a distance error signal.

4. The parking assist system of claim 1, wherein the controller is configured to transition from the first mode to the second mode at a predetermined distance threshold from the target location.

5. The parking assist system of claim 4, wherein the third mode of the controller is configured to stop the vehicle at the target location with essentially no overshoot.

6. A parking assist system for a vehicle, comprising:

a scheduler in electrical communication with a parking aid controller and a vehicle communication bus and configured to output feedback signals to a control module configured to operate in a first, a second and a third mode, wherein the control module in the third mode is configured to output a brake torque inversely proportional to a calculated distance to a target stop location of the vehicle.

7. The parking assist system of claim 6, wherein the first mode is operated in a proportional-integral control based on a velocity error signal.

8. The parking assist system of claim 7, wherein the second mode of the control module is configured to be operated in a proportional-derivative control based on a distance error signal.

9. The parking assist system of claim 8, wherein the second mode of the control module is configured to stop the vehicle at the target location.

10. The parking assist system of claim 6, wherein the feedback signals include at least a distance error signal and a velocity error signal.