Vehicle parking assist system
First Claim
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1. A parking assist system for a vehicle, comprising:
- a parking controller configured to output a static or dynamic distance to target signal, wherein the static or dynamic distance to target signal is based on the position of the vehicle relative to a target parking location;
a scheduler configured to accept the distance to target signal and output a distance error signal based on either the static signal and a linear distance traveled by the vehicle or the dynamic signal, wherein the distance error signal is based on the distance between the vehicle and the target parking location; and
a control module configured to longitudinally control parking of the vehicle based on the error signal and operated in a first mode in a proportional-integral control and is configured to determine a brake torque based on a difference between a vehicle velocity and a reference velocity, a second mode in a proportional-derivative control based on the distance error signal and a third mode which increases brake torque inversely proportional to the distance error signal.
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Abstract
A parking assist system for a vehicle is provided that includes a proximity sensor configured to sense a distance to an obstacle, a parking controller configured to output a distance to target signal and a scheduler configured to process the distance to target signal and output a distance error signal to a control module configured to longitudinally control the vehicle. The scheduler is configured to process both a static and a dynamic distance to target signal.
81 Citations
15 Claims
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1. A parking assist system for a vehicle, comprising:
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a parking controller configured to output a static or dynamic distance to target signal, wherein the static or dynamic distance to target signal is based on the position of the vehicle relative to a target parking location; a scheduler configured to accept the distance to target signal and output a distance error signal based on either the static signal and a linear distance traveled by the vehicle or the dynamic signal, wherein the distance error signal is based on the distance between the vehicle and the target parking location; and a control module configured to longitudinally control parking of the vehicle based on the error signal and operated in a first mode in a proportional-integral control and is configured to determine a brake torque based on a difference between a vehicle velocity and a reference velocity, a second mode in a proportional-derivative control based on the distance error signal and a third mode which increases brake torque inversely proportional to the distance error signal. - View Dependent Claims (2, 3, 4)
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5. A method for assisting in parking a vehicle, comprising the steps of:
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initiating a parking sequence to a target location; transmitting a static or dynamic distance to target signal from a parking controller to a scheduler, wherein the static or dynamic distance to target signal is based on the position of the vehicle relative to a target parking location; generating a distance error signal using the scheduler based on either the static signal and a linear distance traveled by the vehicle or the dynamic signal, wherein the distance error signal is based on the distance between the vehicle and the target parking location; and moving the vehicle based on the distance error signal, wherein a control module is operated in a first mode in a proportional-integral control and is configured to determine a brake torque based on a difference between a vehicle velocity and a reference velocity, a second mode in a proportional-derivative control based on the distance error signal and a third mode which increases brake torque inversely proportional to the distance error signal. - View Dependent Claims (6, 7, 8, 9, 10)
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11. A method for assisting in parking a vehicle, comprising the steps of:
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initiating a parking sequence to a target location; receiving a dynamic distance to target signal at a scheduler based on a distance between the vehicle and the target location; sensing the presence of an obstacle with a proximity sensor and a distance between the vehicle and the obstacle, wherein the distance error signal is based on the distance between the vehicle and one of a target parking location and the obstacle; determining a distance traveled by the vehicle since sensing of the obstacle; generating a distance error signal based on the closer of the target location and obstacle; and parking the vehicle proximate one of the target location and obstacle based on the distance error signal using a control module which is operated in a first mode in a proportional-integral control and is configured to determine a brake torque based on a difference between a vehicle velocity and a reference velocity, a second mode in a proportional-derivative control based on the distance error signal and a third mode which increases brake torque inversely proportional to the distance error signal. - View Dependent Claims (12, 13, 14, 15)
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Specification