Enhanced alignment method for park assist

• US 8,957,786 B2
• Filed: 05/21/2013
• Issued: 02/17/2015
• Est. Priority Date: 05/21/2013
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Stempnik, Vern, Choi, Brian, Crawford, Mark, Shaffer, Aric David, Kane, Michael David
• Primary Examiner(s): HOFSASS, JEFFERY A
• Application Number:
  US13/898,583
• Publication Number:
  US 20140347195A1
• Time in Patent Office: 637 Days
• Field of Search: 340/425.5, 340/435, 340/436, 340/932.2, 701/1, 701/41, 348/148, 180/167, 180/199
• US Class Current: 340/932.2
• CPC Class Codes: G08G 1/14 indicating individual free spaces in parking areas
• 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 running vehicle includes measuring a length of a parked vehicle that is proximate to a desired parking location, and estimating the width of the parked vehicle based on a regression equation. The running vehicle is parked based on the estimated width.

Claims

1. A method of parking a running vehicle comprising:

measuring a first length of a parked vehicle that is proximate to a desired parking location;

estimating a second length of the parked vehicle based on the measured first length; and

parking the running vehicle based on the estimated second length.

2. The method of claim 1, wherein measuring the first length comprises measuring the first length of the parked vehicle using at least one ultrasonic sensor positioned on the running vehicle.

3. The method of claim 1, further comprising estimating the second length of the parked vehicle based on a population of vehicles having known lengths and widths.

4. The method of claim 3, wherein the known lengths and widths of the population of vehicles is expressed as a regression equation that is derived from the known lengths and widths.

5. The method of claim 4, wherein the regression equation is linear in the form of y=mx+b, where x corresponds to the first length, y corresponds to the second length, m corresponds to the slope of the regression equation, and b corresponds to the y-intercept of the regression equation.

6. The method of claim 1, wherein:

the first length is an axial length of the parked vehicle; and

the second length is a width of the parked vehicle;

the method further comprising;

determining an outer edge location of the parked vehicle;

determining an inner edge location of the parked vehicle based on its estimated width; and

parking the running vehicle based on the inner edge location.

7. The method of claim 1, further comprising:

determining a location of a parking space proximate the parked vehicle, wherein the parked vehicle is in front of or behind the parking space;

determining a trajectory for the running vehicle to park the running vehicle in the parking space; and

instructing a driver of the running vehicle which actions to take to park the running vehicle in the parking location.

8. The method of claim 7, further comprising:

measuring a third length of a second parked vehicle that is parked behind or in front of the parking space;

estimating a fourth length of the second parked vehicle based on the measured third length; and

parking the running vehicle based on an average of the estimated fourth length and the second length.

9. A non-transitory computer-readable medium tangibly embodying computer-executable instructions comprising steps to:

measure a first length of a parked vehicle that is adjacent to a desired parking location;

determine a second length of the parked vehicle based on the measurement; and

execute a vehicle parking algorithm based on the second length estimation.

10. The non-transitory computer-readable medium of claim 9, further comprising steps to measure the first length of the parked vehicle using an ultrasonic sensor.

11. The non-transitory computer-readable medium of claim 9, further comprising steps to determine the second length of the parked vehicle based on a regression equation that is derived from known lengths and widths of a population of vehicles.

12. The non-transitory computer-readable medium of claim 9, wherein the regression equation is linear in the form of y=mx+b, where x corresponds to the first length, y corresponds to the second length, m corresponds to the slope of the regression equation, and b corresponds to the y-intercept of the regression equation.

13. The non-transitory computer-readable medium of claim 9, further comprising steps to:

determine an inner edge of the parked vehicle based on a known location of an outer edge of the parked vehicle and based on the second length of the parked vehicle; and

execute the parking algorithm based on the determination.

14. The non-transitory computer-readable medium of claim 9, wherein the algorithm includes instructions of which actions to take to park a running vehicle in the desired parking location for a driver to execute.

15. A host vehicle comprising:

a system for measuring a first length of a parked vehicle; and

a computer programmed to;

estimate a second length of the parked vehicle based on the first length; and

instruct a controller to park the host vehicle based on the estimated length.

16. The host vehicle of claim 15, wherein the system comprises at least one ultrasonic sensor.

17. The host vehicle of claim 15, wherein the computer is further programmed to estimate the second length of the parked vehicle based on a population of vehicles having known lengths and widths, wherein the known lengths and widths of the population of vehicles is expressed as a regression equation that is derived from the known lengths and widths.

18. The host vehicle of claim 17, wherein the regression equation is linear in the form of y=mx+b, where x corresponds to the first length, y corresponds to the second length, m corresponds to the slope of the regression equation, and b corresponds to the y-intercept of the regression equation.

19. The host vehicle of claim 15, wherein:

the first length is an axial length of the parked vehicle; and

the second length is a width of the parked vehicle;

wherein the computer is further programmed to;

determine an outer edge location of the parked vehicle;

determine an inner edge location of the parked vehicle based on its estimated width; and

park the host vehicle based on the inner edge location.

20. The host vehicle of claim 15, wherein the computer is further programmed to:

determine a location of a parking space proximate the parked vehicle, wherein the parked vehicle is in front of or behind the parking space;

determine a trajectory for the host vehicle to park the host vehicle in the parking space; and

instruct a driver of the host vehicle which actions to take to park the host vehicle in the parking location.