Automatic forward parking in perpendicular parking spaces

US9193387B2 · kind B2 · utility

Assignee

• VOLKSWAGEN AKTIENGESELLSCHAFT · DE

Inventor

• Richard Auer · Wolfsburg, DE

Key dates

• Filing date: Nov 23, 2010
• Grant date: Nov 24, 2015
• Expiry date: Nov 23, 2030

Classification

• Technology area (CPC G): Physics
• CPC primary: G08G1/168
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method for forward parking a motor vehicle in a perpendicular parking space, wherein the motor vehicle has environment sensors for detecting environment data and obstacles in the environment of the motor vehicle, including pre-aligning the motor vehicle in front of the perpendicular parking space such that a target steering angle lies between a maximum steering angle δmax and a minimum steering angle δmin, iterative searching of the admissible steering angle range between the maximum steering angle δmax and the minimum steering angle δmin for a current steering angle δakt, during a forward maneuver of the vehicle into the perpendicular parking space, wherein the current steering angle δakt,i ensures a maximum free path length si, i=01 . . . , n into the perpendicular parking space without the vehicle hitting obstacles, and terminating the forward maneuver if the end of the parking operation has been reached or a reversing maneuver has to be carried out owing to an obstacle.