Parking assist system for vehicle

  • US 10,214,206 B2
  • Filed: 07/11/2016
  • Issued: 02/26/2019
  • Est. Priority Date: 07/13/2015
  • Status: Active Grant
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First Claim
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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;

    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 said control controls steering of the vehicle to maneuver the vehicle along the selected target path of travel from the current location of the vehicle to the target parking space.

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