# US 2017/0282914 A1 · Park assist with tire radius consideration > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0282914 A1 - Document ID: US20170282914A1 - Status: Published application - Kind: A1 - Application number: 15/626,909 - Filed: 2017-06-19 - Published: 2017-10-05 - Earliest claimed: 2015-03-04 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Erick Michael LAVOIE; Kerem BAYAR; Michael Edward BREWER - Web page: https://patentgrep.com/patent/US20170282914A1 ## CPC - B60W 30/06: Automatic manoeuvring for parking - B62D 15/027: {Parking aids, e.g. instruction means} - B60W 10/04: including control of propulsion units - B60W 10/20: including control of steering systems - G01S 5/017: {Detecting state or type of motion} - G01S 19/52: Determining velocity - B60W 2510/20: Steering systems - B60W 2520/10: Longitudinal speed - B60W 2520/12: Lateral speed - B60W 2520/14: Yaw - B60W 2520/28: Wheel speed - B60W 2520/30: Wheel torque - B60W 2710/20: Steering systems - B60W 2720/10: Longitudinal speed - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - 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) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## 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. ## Claims ### Claim 1 A vehicle comprising: a powertrain; a steering system; and a controller programmed to, in response to a steering angle of the steering system exceeding a threshold value, operate the powertrain and steering system 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 the drive cycle, and wheel and GPS vehicle speeds for the drive cycle. ### Claim 2 (depends on 1) The vehicle of claim 1 further comprising: a wheel speed sensor disposed proximate a tire spaced apart from a default tire; and a parking sensor configured to identify the parking location, wherein the controller is further programmed to provide the default tire radius prior to the parking sensor identifying the parking location, and wherein the default tire radius is based on a yaw rate, a track width, and the tire angular velocity. ### Claim 3 (depends on 2) The vehicle of claim 2 wherein the controller is further programmed to guide the vehicle into the parking location further based on the default tire radius and a tire angular velocity of the tire spaced apart from the default tire. ### Claim 4 (depends on 3) The vehicle of claim 3 wherein the controller is further programmed to guide the vehicle into the parking location based on the GPS vehicle speed, the tire angular velocity, the tire angular velocity of the tire spaced apart from the default tire, and a wheel slip estimate. ### Claim 5 A vehicle comprising: an engine; a steering system; a parking sensor configured to identify a parking location for a vehicle relative to a curb; and a controller programmed to, in response to a park assist request, operate the engine and the steering system to guide the vehicle into the parking location 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. ### Claim 6 (depends on 5) The vehicle of claim 5 wherein the initial tire radius is associated with a reference tire disposed proximate a rear axle of the vehicle. ### Claim 7 (depends on 6) The vehicle of claim 6 wherein the changes in tire radius away from the initial tire radius are based on the initial tire radius, and first and second tire radius estimates associated with a tire laterally spaced apart from the reference tire. ### Claim 8 (depends on 7) The vehicle of claim 7 wherein the initial tire radius is based on an angular velocity of the reference tire, a vehicle track width, and the yaw rate. ### Claim 9 (depends on 8) The vehicle of claim 8 wherein the first tire radius estimate is based on the initial tire radius, an angular velocity of the tire spaced apart from the reference tire, and the vehicle track width. ### Claim 10 (depends on 8) The vehicle of claim 8 wherein the second tire radius estimate is based on the wheel speed, the GPS vehicle speed, and a net wheel torque. ### Claim 11 A vehicle comprising: a controller programmed to operate a steering system to guide the vehicle into a parked position relative to a curb 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 a drive cycle do not cause a distance between the parked position and the curb to be greater than a predetermined threshold distance. ### Claim 12 (depends on 11) The vehicle of claim 11 wherein the default tire radius is associated with a reference tire disposed proximate a rear axle of the vehicle. ### Claim 13 (depends on 12) The vehicle of claim 12 wherein the changes in tire radius away from the default tire radius are based on the default tire radius, and first and second tire radius estimates associated with a tire spaced apart from the reference tire. ### Claim 14 (depends on 13) The vehicle of claim 13 wherein the first tire radius estimate is based on the default tire radius, an angular velocity of the tire spaced apart from the reference tire, and the track width. ### Claim 15 (depends on 13) The vehicle of claim 13 wherein the second tire radius estimate is based on the wheel speed, the GPS vehicle speed, and a net wheel torque. ### Claim 16 (depends on 12) The vehicle of claim 12 wherein the default tire radius is based on an angular velocity of the reference tire, the track width, and the yaw rate.