Park assist with tire radius consideration

Patent metadata

Field	Value
Publication number	US-9714031-B2
Application number	US-201514637440-A
Country	US
Kind code	B2
Filing date	Mar 4, 2015
Priority date	Mar 4, 2015
Publication date	Jul 25, 2017
Grant date	Jul 25, 2017

Abstract

A vehicle, a vehicle parking assist system, and a parking method, is provided. A powertrain and a steering system may be operated to guide the vehicle into a parking location to complete a drive cycle based on a default tire radius, a tire angular velocity acquired during a drive cycle in response to a steering angle of the steering system exceeding a threshold value, and wheel and GPS vehicle speeds for the drive cycle.

First claim

What is claimed is:

1. A vehicle parking assist system comprising:
a parking sensor configured to identify a parking location for a vehicle relative to a curb; and
a controller programmed to guide the vehicle into the parking location in response to a park assist request based on a yaw rate, GPS vehicle speed, wheel speed, and initial tire radius such that changes in tire radius away from the initial tire radius during a preceding drive cycle do not cause a distance between a parked location of the vehicle and the curb to be greater than a predetermined threshold distance.

2. The vehicle parking assist system of claim 1 wherein the initial tire radius is associated with a reference tire disposed proximate a rear axle of the vehicle.

3. The vehicle parking assist system of claim 2 wherein the changes in tire radius away from the initial tire radius are based on the initial tire radius, a first tire radius estimate, and a second tire radius estimate, wherein the first tire radius estimate and the second tire radius estimate are radius estimates of a tire laterally spaced apart from the reference tire.

4. The vehicle parking assist system of claim 3 wherein the initial tire radius is based on an angular velocity of the reference tire, a vehicle track width, and the yaw rate.

5. The vehicle parking assist system of claim 4 wherein the first tire radius estimate is based on the initial tire radius, an angular velocity of the tire laterally spaced apart from the reference tire, and the vehicle track width.

6. The vehicle parking assist system of claim 4 wherein the second tire radius estimate is based on the wheel speed, the GPS vehicle speed, and a net wheel torque.

7. A parking method comprising:
guiding, by a controller, a vehicle into a parked position relative to a curb to complete a drive cycle based on a yaw rate, GPS vehicle speed, wheel speed, track width, and default tire radius such that changes in tire radius away from the default tire radius during the drive cycle do not cause a distance between the parked position and the curb to be greater than a predetermined threshold distance.

8. The parking method of claim 7 wherein the default tire radius is associated with a reference tire disposed proximate a rear axle of the vehicle.

9. The parking method of claim 8 wherein the changes in tire radius away from the default tire radius are based on the default tire radius, a first tire radius estimate, and a second tire radius estimate, wherein the first tire radius estimate and the second tire radius estimate are radius estimates of a tire laterally spaced apart from the reference tire.

10. The parking method of claim 8 wherein the default tire radius is based on an angular velocity of the reference tire, the track width, and the yaw rate.

11. The parking method of claim 9 wherein the first tire radius estimate is based on the default tire radius, an angular velocity of the tire laterally spaced apart from the reference tire, and the track width.

12. The parking method of claim 9 wherein the second tire radius estimate is based on the wheel speed, the GPS vehicle speed, and a net wheel torque.

Assignees

• Ford Global Tech Llc

Inventors

• Lavoie Erick Michael
• Bayar Kerem
• Brewer Michael Edward

Classifications

• B60W40/10

  related to vehicle motion · CPC title

• B62D15/027 Primary

  Parking aids, e.g. instruction means · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W30/06 Primary

  Automatic manoeuvring for parking · CPC title

• G01S19/52

  Determining velocity · CPC title