US 2011/0087405 A1Published application

Autonomous Parking Strategy of the Vehicle with Rear Steer

AssigneeGM Global Technology Operations LLC

InventorsNikolai K. Moshchuk, Shih-Ken Chen

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Abstract

A method includes parallel parking a vehicle between a first object and a second object in response to an available parking distance therebetween. The vehicle includes front steerable wheels and rear steerable wheels. A distance between the first object and the second object is remotely sensed determining whether to apply a one or two cycle parking strategy. An autonomous one cycle parking strategy includes pivoting the front and rear steerable wheels in respective directions for steering the vehicle in a first reverse arcuate path of travel and then cooperatively pivoting the steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path of travel to a final park position. The autonomous two cycle parking strategy includes performing the one cycle parking maneuver and then changing a transmission gear to a drive gear and pivoting the front and rear steerable wheels in the first direction for moving the vehicle forward to a final park position.

Claims19

Dependent claims

A method of controlling a parallel parking of a vehicle between a first object and a second object in response to an available parking distance therebetween, the vehicle having front steerable wheels and rear steerable wheels, the method comprising the steps of:

remotely sensing a distance between the first object and the second object;
comparing the distance to first predetermined distance and a second predetermined distance wherein the first predetermined distance is greater than the second predetermined distance;
if the distance is greater than the first predetermined distance, then performing an autonomous one cycle parking strategy that pivots the front steerable wheels and the rear steerable wheels in respective directions for steering the vehicle in a first reverse arcuate path of travel and then cooperatively pivoting the front steerable wheels and rear steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path of travel to a final park position;
and
if the distance is between the first predetermined distance and the second predetermined distance, then performing an autonomous two cycle parking strategy, the autonomous two cycle parking strategy comprising:
pivoting the front steerable wheels and the rear steerable wheels in respective directions for cooperatively steering the vehicle in a first reverse arcuate path of travel;
pivoting the front steerable wheels and rear steerable wheels in a counter direction for cooperatively steering the vehicle in a second reverse arcuate path of travel;
applying a transmission gear change for moving the vehicle in a forward direction;
and
pivoting the front steerable wheels and the rear steerable wheels in the first direction for moving the vehicle forward to a final park position.

7 more elements

An autonomous parking system for parallel parking a driven vehicle between a first object and a second object, the system comprising:

a controller for autonomously controlling steering of front steerable wheels and rear steerable wheels for parallel parking the driven vehicle, and
a sensing device for detecting objects proximate to the driven vehicle, the sensing device in communication with the controller to provide signals to the controller for identifying a space between the first object and the second object;
wherein a distance is determined between the first object and the second object in response to sensing the detected objects, wherein the controller compares the determined distance to a first predetermined distance and a second predetermined distance, wherein the controller determines that a one cycle parking strategy may be used to park the vehicle if the distance is greater than the first predetermined distance;
wherein an autonomous one cycle parking strategy is performed that pivots the front steerable wheels and the rear steerable wheels in a first direction for steering the vehicle in a first reverse arcuate path of travel and then cooperatively pivots the steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path of travel to a final park position.

1 more element

Dependencies are inferred from the claim text.