# US 2014/0195114 A1 · Suspension Control System To Facilitate Wheel Motions During Parking > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195114 A1 - Document ID: US20140195114A1 - Status: Published application - Kind: A1 - Application number: 13/738,150 - Filed: 2013-01-10 - Published: 2014-07-10 - Earliest claimed: 2013-01-10 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Eric H. Tseng; Davor Hrovat; Jianbo Lu; Mitch McConnell; Matthias Dehmel; Michael Seemann; Fredrick V. Owens - Web page: https://patentgrep.com/patent/US20140195114A1 ## CPC - B60G 17/0165: to an external condition, e.g. rough road surface, side wind - B60G 17/015: the regulating means comprising electric or electronic elements ({B60G17/002}, B60G17/005 take precedence) - B60G 17/017: characterised by their use when the vehicle is stationary, e.g. during loading, engine start-up or switch-off - B60G 17/0195: characterised by the regulation being combined with other vehicle control systems {(conjoint control of vehicle sub-units including control of suspension systems B60W10/22)} - B62D 15/027: {Parking aids, e.g. instruction means} - B60G 2400/0513: Yaw angle - B60G 2400/204: Vehicle speed - B60G 2400/252: vertical - B60G 2400/37: Brake pad or disc friction - B60G 2400/42: Steering torque - B60G 2401/142: Visual Display Camera, e.g. LCD - B60G 2401/16: GPS track data - B60G 2401/174: Radar - B60G 2401/21: Laser - B60G 2800/01: Attitude or posture control - B60G 2800/20: Stationary vehicle - B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00}) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A method for controlling a vehicle includes the step of determining if a curb parking operation is feasible for the vehicle. If a curb parking operation is deemed infeasible, an operator of the vehicle is notified that curb parking is infeasible. If a curb parking operation is deemed feasible, actuatable elements of the vehicle are controlled to facilitate the curb parking operation. ## Claims ### Claim 1 A method for controlling a vehicle comprising steps of: determining if a curb parking operation is feasible for the vehicle; if a curb parking operation is deemed infeasible, notifying an operator of the vehicle that curb parking is infeasible; and if a curb parking operation is deemed feasible, controlling actuatable elements of the vehicle to facilitate curb parking. ### Claim 2 (depends on 1) The method of claim 1 wherein the step of determining if a curb parking operation is feasible comprises the step of determining a size and configuration of a space envelope adjacent the vehicle. ### Claim 3 (depends on 1) The method of claim 1 wherein the step of determining if a curb parking operation is feasible comprises the step of determining a height of a curb on which the vehicle is to be parked. ### Claim 4 (depends on 3) The method of claim 3 wherein the step of determining a height of a curb comprises the step of contacting the curb with a vehicle wheel. ### Claim 5 (depends on 3) The method of claim 3 wherein the step of determining a height of a curb comprises the step of detecting the curb prior to the vehicle contacting the curb. ### Claim 6 (depends on 1) The method of claim 1 wherein the step of controlling actuatable elements of the vehicle comprises the step of calculating optimum values of vehicle parameters needed to facilitate curb parking. ### Claim 7 (depends on 6) The method of claim 6 wherein the step of calculating optimum values of various vehicle parameters comprises calculating an angle of approach of a vehicle wheel toward the curb. ### Claim 8 (depends on 1) The method of claim 1 wherein the step of controlling actuatable elements of the vehicle comprises the step of controlling the actuatable elements so as to adjust heights of portions of the vehicle during the curb parking operation. ### Claim 9 (depends on 8) The method of claim 8 wherein the step of controlling heights of portions of the vehicle during the curb parking operation comprises the step of raising the height of at least a portion of the vehicle prior to contacting the curb. ### Claim 10 (depends on 9) The method of claim 9 wherein the step of raising the height of at least a portion of the vehicle prior to contacting the curb comprises the step of raising the height of the vehicle corner proximate a wheel closest to the curb to a predetermined height prior to climbing the curb. ### Claim 11 (depends on 9) The method of claim 9 wherein the step of raising the height of at least a portion of the vehicle comprises the step of raising the vehicle height to a level above the wheel of more than 2% of the wheel diameter. ### Claim 12 (depends on 9) The method of claim 9 wherein the step of raising the height of at least a portion of the vehicle prior to contacting the curb comprises the step of raising the height of the entire vehicle to a predetermined height prior to contacting the curb. ### Claim 13 (depends on 12) The method of claim 12 wherein the step of raising the height of the entire vehicle to a predetermined height comprises the step of raising the height of the entire vehicle to a height Hp at least equal to (HMIN+HC), where HMIN is the minimum or lowest vehicle height above the road surface attainable by a vehicle height control system, and HC is equal to an estimated height of the curb. ### Claim 14 (depends on 12) The method of claim 12 wherein the step of raising the height of the entire vehicle to a predetermined height comprises the step of raising the height of the entire vehicle to a height equal to the maximum vehicle height above the road surface attainable by a vehicle height control system. ### Claim 15 (depends on 9) The method of claim 9 further comprising the step of, subsequent to the step of raising the height of at least a portion of the vehicle, increasing turning angles of front wheels of the vehicle prior to a front wheel contacting the curb. ### Claim 16 (depends on 1) The method of claim 1 wherein a first control zone comprises a first wheel projected to ascend the curb first during the curb parking operation, and a second wheel located diagonally from the first wheel, a second control zone comprises the remaining wheels located diagonally with respect to each other, and wherein the step of controlling the heights of portions of the vehicle during the curb parking operation comprises the step of, prior to ascending the curb, raising the heights of the portions of the vehicle proximate the wheels of the second control zone. ### Claim 17 (depends on 1) The method of claim 1 wherein the step of controlling actuatable elements of the vehicle comprises the step of controlling actuatable elements responsible for raising a first vehicle wheel to ascend the curb, to raise the wheel responsive to a tire pressure of the wheel while the wheel is ascending the curb and so as to maintain the tire pressure at a value within a predetermined range. ### Claim 18 (depends on 1) The method of claim 1 wherein the step of controlling actuatable elements of the vehicle comprises the steps of: prior to a wheel ascending the curb, raising the height of the entire vehicle to an initial height Hp above a surface on which the wheel rests; and during the wheel ascending the curb, raising the wheel toward the vehicle until the vehicle height above the curb at the raised wheel is equal to Hp−HC, where HC is equal to a height of the curb. ### Claim 19 A system for controlling a vehicle comprising indicating means for indicating when a predetermined angle between a vertical plane passing through a center of a vehicle wheel and extending in the direction in which the wheel is pointing, and a line defining a curb adjacent the wheel, has been achieved. ### Claim 20 (depends on 9) The method of claim 9 wherein the step of raising the height of at least a portion of the vehicle prior to contacting the curb comprises the step of raising the height of the vehicle corner proximate a wheel closest to the curb to a predetermined height prior to climbing the curb. ### Claim 21 (depends on 7) The method of claim 7 wherein the step of controlling actuatable elements of the vehicle comprises the step of after calculating the angle of approach of the vehicle wheel toward the curb, implementing and maintaining the angle of approach as the wheel climbs the curb.