TECHNICAL FIELD
[0001] The present disclosure relates generally to the field of automobiles. In particular, the present disclosure relates to an advanced front parking assist system capable of generating alert while performing headfirst parking of a vehicle.
BACKGROUND
[0002] Background description includes information that may be useful in understanding the present disclosure. It is not an admission that any of the information provided herein is prior art or relevant to the presently claimed subject matter, or that any publication specifically or implicitly referenced is prior art.
[0003] For many drivers, parking a vehicle correctly poses a difficult challenge. Parallel parking, in particular, can be especially difficult for some drivers. Given the kinematics of the problem and given small tolerance in parking spaces, cars with conventional front wheel steering only are forced to back into a parallel parking space. This “backing up” parking maneuvering is even more difficult and frustrating than entering headfirst and is also more dangerous due to the fact that the following traffic must stop well behind the parallel parking space and physically allow the parking vehicle to have room and opportunity to back up which often does not occur. Thus, a system which allows a vehicle to be parked from the headfirst direction is desirable.
[0004] An automated parking assist system has been introduced by multiple automobile manufacturers. This system utilizes a vision system that displays the available parking spots to the driver. The driver then selects a particular spot and, after positioning the vehicle in the correct staging state, the driver takes his/her hands off the wheel and an electronically controlled steering system turns the
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front wheels automatically to self-park the vehicle. This pioneering system works well but has several unresolved issues and concerns namely; first, since only the front wheels are steerable, the car must be backed into a spot. Second, the system is totally automatic. While this has its benefits, it typically causes the parking experience to be slow and prone to various diagnostics interrupts. It is also a complex system that may not be appropriate for many vehicles.
[0005] Accordingly, there is a need for an advanced front parking assist system which can address the issues of the existing automated parking assist system.
OBJECTS OF THE DISCLOSURE
[0006] Some of the objects of the present disclosure, which at least one embodiment herein satisfy, are listed hereinbelow.
[0007] It is a general object of the present disclosure to provide systems and methods for performing front parking of a vehicle.
[0008] It is another object of the present disclosure to warn a driver when an obstacle in front or front corners is close by based on the distance between a vehicle and the obstacle, and the steering input of the vehicle. Such warning is primarily aimed for parking scenarios when the vehicle is being parked or removed from a parking slot.
[0009] These and other objects and advantages of the present invention will be apparent to those skilled in the art after a consideration of the following detailed description taken in conjunction with the accompanying drawings in which a preferred form of the present invention is illustrated.
SUMMARY
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[0010] This summary is provided to introduce concepts related to systems and methods for operating a front parking assist system. The concepts are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
[0011] The present disclosure relates to a front parking assistance system (FPAS). The FPAS includes one or more processors and a controller. The controller, which when executed by the one or more processors, receives data values from front-side sensors and front corner sensors of a vehicle; processes the data values to obtain a front distance of an obstacle from the front-side sensors and to estimate a corner distance of the obstacle from the front corner sensors; ascertains a front zone based on the obtained front distance, wherein the front zone is being one of a safe front zone, alert front zone, and high-alert front zone; ascertains a corner zone based on the estimated corner distance, wherein the corner zone is being one of a safe corner zone, alert corner zone, and high-alert corner zone; and generates a warning signal through a warning signal transducer based on one of the ascertained front zone and the ascertained corner zone.
[0012] In an aspect, the safe front zone, the alert front zone, and the high-alert front zone defined by front-side sensors distance threshold values for the obstacle in front-side of the vehicle, wherein the safe corner zone, the alert corner zone, and the high-alert corner zone are defined by front corner sensors distance threshold values for the obstacle in front corner of the vehicle, and wherein the front corner sensors pre-defined thresholds values are smaller than the front-side sensors threshold values.
[0013] In an aspect, the front-side sensors distance threshold values increase with respect to the vehicle, while the front corner sensors distance threshold values increase with respect to the obstacle.
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[0014] In an aspect, the front-side sensors distance threshold values and the front corner sensors distance threshold values are inversely proportional to warning value required to generate a signal.
[0015] In an aspect, a warning signal is generated based on least warning value between the ascertained front zone and the ascertained corner zone.
[0016] In an aspect, a warning signal is generated based on the ascertained front zone when the front-side sensors are detecting the obstacle.
[0017] In an aspect, a warning signal is generated based on the ascertained corner zone when the front corner sensors are detecting the obstacle.
[0018] The present disclosure further relates to a method for operating front parking assistance system (FPAS). The method includes receiving, at a controller, data values from front-side sensors and front corner sensors of a vehicle; processing, by the controller, the data values to obtain a front distance of an obstacle from the front-side sensors and to estimate a corner distance of the obstacle from the front corner sensors; ascertaining, by the controller, a front zone based on the obtained front distance, wherein the front zone is being one of a safe front zone, alert front zone, and high-alert front zone; ascertaining, by the controller, a corner zone based on the estimated corner distance, wherein the corner zone is being one of a safe corner zone, alert corner zone, and high-alert corner zone; and generating, by a warning signal transducer, a warning signal based on one of the ascertained front zone and the ascertained corner zone.
[0019] Various objects, features, aspects, and advantages of the inventive subject matter will become more apparent from the following detailed description of preferred embodiments, along with the accompanying drawing figures in which like numerals represent like components.
[0020] It is to be understood that the aspects and embodiments of the disclosure described above may be used in any combination with each other. Several of the aspects and embodiments may be combined to form a further embodiment of the disclosure.
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[0021] The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description.
BRIEF DESCRIPTION OF THE DRAWINGS
[0022] The illustrated embodiments of the subject matter will be best understood by reference to the drawings, wherein like parts are designated by like numerals throughout. The following description is intended only by way of example, and simply illustrates certain selected embodiments of devices, systems, and methods that are consistent with the subject matter as claimed herein, wherein:
[0023] FIG. 1 illustrates an exemplary scenario of headfirst parallel parking using normal front parking assistance system (FPAS);
[0024] FIG. 2 illustrates an exemplary scenario of headfirst parallel parking using steering controlled front parking assistance system (FPAS);
[0025] FIG. 3 illustrates exemplary components of a front parking assistance system (FPAS), in accordance with an exemplary embodiment of the present disclosure;
[0026] FIG. 4 illustrates the field of view of front-side sensors and front corner sensors in accordance with an embodiment of the present disclosure;
[0027] FIG. 5 illustrates obtained front distance and estimated corner distance of an obstacle from a vehicle in accordance with an embodiment of the present disclosure;
[0028] FIG. 6 illustrates an exemplary implementation of calculating an estimated corner distance of an obstacle from a vehicle, in accordance with an embodiment of the present disclosure;
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[0029] FIG. 7A illustrates multiple front zones with respect to a vehicle, in accordance with an embodiment of the present disclosure;
[0030] FIG. 7B illustrates multiple corner zones with respect to an obstacle, in accordance with an embodiment of the present disclosure; and
[0031] FIG. 8 illustrates a method of operating a front parking assistance system (FPAS), in accordance with an embodiment of the present disclosure.
[0032] The figures depict embodiments of the disclosure for purposes of illustration only. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles of the disclosure described herein.
DETAILED DESCRIPTION
[0033] The detailed description of various exemplary embodiments of the disclosure is described herein with reference to the accompanying drawings. It should be noted that the embodiments are described herein in such details as to clearly communicate the disclosure. However, the amount of details provided herein is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure as defined by the appended claims.
[0034] It is also to be understood that various arrangements may be devised that, although not explicitly described or shown herein, embody the principles of the present disclosure. Moreover, all statements herein reciting principles, aspects, and embodiments of the present disclosure, as well as specific examples, are intended to encompass equivalents thereof.
[0035] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms “a”, “an” and “the” are intended to include the
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plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises”, “comprising”, “includes” and/or “including,” when used herein, specify the presence of stated features, integers, steps, operations, elements and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof.
[0036] It should also be noted that in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed concurrently or may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
[0037] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which example embodiments belong. It will be further understood that terms, e.g., those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
[0038] Embodiments explained herein pertain to front parking assistance systems in the field of motor vehicles. In these systems, sensors are provided in the front area of the vehicle, as well as sensors are provided for detecting the steering angle of a set steering direction of the motor vehicle in order to prevent a head-on collision with objects in driving the vehicle. Based on the sensor values, an information signal, for example, in the form of an acoustic or optical signal is generated from a warning device. The aim here is to provide the driver with precise parking assistance, without any risk of collision with adjacent vehicles or the like.
[0039] FIG. 1 illustrates an exemplary scenario of headfirst parallel parking of a vehicle using normal front parking assistance system (FPAS). In normal FPAS,
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sensors are mounted on the front-side and front corners of the vehicle. The front-side sensors and the front corner sensors are generally provided with same threshold values, because of which the normal FPAS continuously generates warning for drivers when the front corner of the vehicle 102 to be parked is approaching towards a vehicle/obstacle 104. Due to the continuous warning, the driver of the vehicle 102 is not able to park the vehicle 102 straight like other vehicles/obstacles 104 and 106, and would not be able to park the vehicle properly as shown in FIG. 1.
[0040] FIG. 2 illustrates another exemplary scenario of the headfirst parallel parking of a vehicle 202 using steering controlled FPAS. In the steering controlled FPAS, the warning for the driver would not be generated when an obstacle/vehicle 204 is not in a predicted path of the vehicle 202. Although this steering controlled FPAS facilitates the headfirst parallel parking, the vehicle 202 may be parked very close to the obstacle/vehicle 204 and hinder door opening and movement of people between the vehicle 202 and the obstacle/vehicle 204.
[0041] A disadvantage of such steering controlled FPAS is that only the front region of the vehicle 202 can be detected and that therefore a complete obstacle detection is enabled only in certain driving situations. Especially when cornering, such a system cannot provide complete monitoring for a possible collision of the vehicle 202 with obstacles/vehicles 204. The steering controlled FPAS also has the disadvantage that obstacles or vehicles (204) fall out quickly from a detection area of the front/corner sensors while driving the vehicle 202 and thus are no longer detectable. The driver of the vehicle 202 is completely dependent on his own perception in such case, resulting in particular in the area of a blind spot of the vehicle 202 to unreliable results and can lead to collisions with the obstacle/vehicle 204.
[0042] To resolve the issues of the normal FPAS and the steering controlled FPAS, various approaches have been developed and implemented by leading automobile manufacturers but none of the approaches are focussed toward
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monitoring the close range of a vehicle to avoid collisions with obstacles so as to provide greater security in detecting obstacles when driving the vehicle and reliably warn the driver of the vehicle in any critical situation.
[0043] To this, the present disclosure proposes an improved FPAS for headfirst parking of a vehicle. FIG. 3 illustrates the functional components of the FPAS 300 proposed herein. The FPAS 300 includes a processor(s) 302, an interface(s) 304, and a memory 306.
[0044] The processor(s) 302 may be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, logic circuitries, and/or any devices that manipulate data based on operational instructions. Among other capabilities, the one or more processor(s) 302 are configured to fetch and execute computer-readable instructions and one or more routines stored in the memory 306.
[0045] The memory 306 may store one or more computer-readable instructions or routines, which may be fetched and executed to manage warehouse over a network service. The memory 306 may include any non-transitory storage device including, for example, volatile memory such as RAM, or non-volatile memory such as EPROM, flash memory, and the like.
[0046] The interface(s) 304 may include a variety of interfaces, for example, interfaces for data input and output devices referred to as I/O devices, storage devices, and the like. The interface(s) 304 may facilitate communication of the FPAS 300 with various devices coupled to the FPAS 300. The interface(s) 304 may also provide a communication pathway for one or more components of the FPAS 300. Examples of such components include, but are not limited to, controller 308 and data 310. The data 310 may include data that is either stored or generated as a result of functionalities implemented by any of the components of the controller 308.
[0047] The controller 308 may be implemented as a combination of hardware and programming (for example, programmable instructions) to implement one or
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more functionalities of the controller 308. In examples described herein, such combinations of hardware and programming may be implemented in several different ways. For example, the programming for the controller 308 may be processor executable instructions stored on a non-transitory machine-readable storage medium and the hardware for the controller 308 may include a processing resource (for example, one or more processors), to execute such instructions. In the present examples, the machine-readable storage medium may store instructions that, when executed by the processing resource, implement the controller 308. In such examples, the FPAS 300 may include the machine-readable storage medium storing the instructions and the processing resource to execute the instructions or the machine-readable storage medium may be separate but accessible to the FPAS 300 and the processing resource. In other examples, the controller 308 may be implemented by electronic circuitry.
[0048] In an aspect, the controller 308 may determine a course that a vehicle should follow in order to perform parking of the vehicle in a headfirst forward direction, wherein the controller 308 controls steering system of the vehicle so that the steering system directs the vehicle to follow the course determined in a headfirst direction.
[0049] In an aspect, the controller 308 may operate in different operating modes. For instance, in a fully automatic controller mode, the controller 308 controls the vehicle and actively turns a steering wheel of the vehicle via the steering system so that a driver of the vehicle does not have to manually control or touch the steering wheel. In a semi-automatic controller mode, the controller 308 actively corrects a driver’s manual turning of a steering wheel of the vehicle via the steering system so that the driver’s manual inputs to the steering wheel are actively corrected to be on the course determined by the controller 308. In a non-automatic controller mode, the controller 308 only actively monitors the steering system so as to active other operating modes when the vehicle deviates from the course determined by the controller 308.
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[0050] The FPAS 300 further includes a warning signal transducer 312 to generate a warning for the driver of the vehicle in case of any critical situation during parking.
[0051] The FPAS 300 further includes front-side sensors 314a, 314b (collectively 314) and front corner sensors 316a, 316b (collectively 316). For implementing parking assistance functions, the FPAS 300 includes sensors 314 and 316 such as, for example, radar sensors, proximity sensors, global positioning system (GPS) sensors, lidar sensors, ultrasound sensors, and video sensors. Since these sensors are well known in the art, the detailed working or operation of these sensors are not described in the present disclosure for the sake of brevity.
[0052] Further, although front-side sensors 314 and the front corner sensors 316 are shown as a part of the FPAS 300 in FIG. 3; however, the front-side sensors 314 and the front corner sensors 316 can be disposed anywhere in the vehicle and can be coupled to the FPAS 300 without deviating from the scope of the present disclosure. In an example, the front-side sensors 314 and the front corner sensors 316 may be mounted on the exterior side of the vehicle to sense surrounding conditions of the vehicle. For instance, as can be seen from FIG. 4, the front-side sensors 314 are mounted on the front-side of the vehicle, while the front corner sensors 316 are mounted on front corners of the vehicle. The front-side sensors 314 and the front corner sensors 316 are mounted in such a way that no blind spot is left while detecting an obstacle, as shown by field of view lines of front-side sensors 314 and the front corner sensors 316 in FIG. 4.
[0053] In operation, the FPAS 300 is activated upon receipt of an instruction from a driver of a vehicle. The driver of the vehicle may provide the instruction when the driver wants to initiate the headfirst parking of the vehicle. In an example, the driver can provide the instruction by pressing an actuation button associated with the FPAS 300.
[0054] Upon receipt of the instruction, the FPAS 300 may retrieve sensing data from the front-side sensors 314 and the front corner sensors 316 to determine
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surrounding conditions to implement the headfirst parking of the vehicle. For determining the surrounding conditions, the controller 308 of the FPAS 300 retrieves data values from the front-side sensors 314 and the front corner sensors 316, and processes these data values to obtain a front distance D of an obstacle from the front-side sensors 314 and to estimate a corner distance L of the obstacle from the front corner sensors 316 in the vehicle course determined by the controller 308 (FIG. 5).
[0055] As can be understood to those skilled in the art, the front distance D can be calculated or obtained based on the data values sensed by the front-side sensors 314a, 314b; however, the corner distance L is to be estimated based on the data values sensed by front corner sensors 316a, 316b and data values sensed by front-side sensors 314a, 314b. For instance, in an implementation as shown in FIG. 6, the corner distance L of the vehicle from an obstacle can be estimated based on the following calculations:
Radius of a vehicle path course = Length OP = B/Sinθ = B Cosecθ
Circle equation passing through point S(x1, y1) = x2 + y2 = (B Cosecθ)2
SQ line equation = B + D CosΦ
By solving circle and line equation, derive point S(x1, y1)
Q(x2, y2)
x2 = B Cotθ + DSinΦ
y2 = D CosΦ + B
wherein
θ = wheel angle = (steering angle) * (wheel to steering rotation ratio)
D = minimum distance of the obstacle from the front corner sensor
Φ = angle of arrival of obstacle
B = length of the vehicle to be parked
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W = width of the vehicle to be parked
[0056] Based on the above-described equations and parameters, the corner distance L of the vehicle from an obstacle can be estimated based on the following equation:
L = x2 – x1
[0057] Once the front distance D is obtained and the corner distance L is estimated, value of the front distance D is placed in a particular front zone defined by front-side sensors distance threshold values for the obstacle in front-side of the vehicle, value of the corner distance L is placed in a corner zone defined by front corner sensors distance threshold values for the obstacle in front corner of the vehicle.
[0058] For example, as shown in FIG. 7A, front zones are defined as:
i) Distance d1 to d2 is Zone 1 or “High-Alert Front Zone” where the continuous warning is given as the obstacle is very close.
ii) Distance d2 to d3 is Zone 2 or “Alert Front Zone” where high-frequency warning beep is given as obstacle is not as close as high-alert front zone or as far as safe front zone.
iii) Distance d3 to d4 is Zone 3 or “Safe Front Zone” where low-frequency warning beep is given as obstacle is still in detection range but is far.
iv) If the obstacle is out of the detection zone of the front-side sensors 314a, 314b, no warning is given.
[0059] Similarly, as shown in FIG. 7B, corner zones are defined as:
i) Distance L1 to L2 is Zone 1 or “High-Alert Corner Zone” where the continuous warning is given as the obstacle is very close.
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ii) Distance L2 to L3 is Zone 2 or “Alert Corner Zone” where high-frequency warning beep is given as obstacle is not as close as a high-alert corner zone or as far as a safe corner zone.
iii) Distance L3 to L4 is Zone 3 or “Safe Corner Zone” where low-frequency warning beep is given as obstacle is still in detection range but is far.
iv) If an obstacle is out of the detection zone, no warning is given.
[0060] In an aspect, the front-side sensors distance threshold values increase with respect to the vehicle to be parked, while the front corner sensors distance threshold values increase with respect to the obstacle/vehicle along which the vehicle is to be parked.
[0061] Once the values of the obtained front distance D and the estimated corner distance L are ascertained in respective front and corner zones, the warning signal transducer 312 of FPAS 300 is triggered by the controller 308 to generate a warning signal for the driver based on one of the ascertained front zone and the ascertained corner zone.
[0062] In an aspect, the front-side sensors distance threshold values and the front corner sensors distance threshold values are inversely proportional to warning value required to generate a warning signal. Accordingly, the warning signal transducer 312 generates a warning signal based on least warning value between the ascertained front zone and the ascertained corner zone.
[0063] For example, if the corner distance L falls in Zone 1 and the front distance D falls in Zone 2, a warning signal/sound of Zone 2 would be given; and if the corner distance L falls in Zone 2 and the front distance D falls in Zone 1, a warning signal/sound of Zone 2 would be again given.
[0064] However, if only front-side sensors 314 are detecting the obstacle then warning would be based on only front-side sensors thresholds and if only front corner sensors 316 are detecting then warning would be based on only estimated
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front corner distance thresholds. In an aspect, if more than one obstacle is determined, the warning is based on the closer obstacle.
[0065] Also, by using the two different thresholds, i.e., the front-side sensors distance threshold values and the front corner sensors distance threshold values, for ascertaining the obstacle in headfirst parking of a vehicle, the driver of that vehicle would have more freedom to park better than conventional FPAS as estimated front corner sensor distance threshold values would be in a smaller range as compared to front sensor distance threshold values. Also, by giving warning when the obstacle is not in the path/course, the FPAS 300 proposed herein is avoiding very close parking which was a disadvantage of the conventional steering controlled FPAS.
[0066] FIG. 8 illustrates a method 800 for operating front parking assistance system (FPAS) 300, according to an embodiment of the present disclosure. The order in which the method 800 is described is not intended to be construed as a limitation, and any number of the described method blocks can be combined in any appropriate order to carry out the method 800 or an alternative method. Additionally, individual blocks may be deleted from the method 800 without departing from the scope of the subject matter described herein.
[0067] At block 802, the method 800 includes receiving, at a controller 308, data values from front-side sensors 314 and front corner sensors 316 of a vehicle.
[0068] At block 804, the method 800 includes processing, by the controller 308, the data values to obtain a front distance D of an obstacle from the front-side sensors 314 and to estimate a corner distance L of the obstacle from the front corner sensors 316.
[0069] At block 806, the method 800 includes ascertaining, by the controller 308, a front zone based on the obtained front distance D, wherein the front zone is being one of a safe front zone, alert front zone, and high-alert front zone. In an aspect, the safe front zone, the alert front zone, and the high-alert front zone
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defined by the front-side sensors distance threshold values for the obstacle in the front-side of the vehicle.
[0070] At block 808, the method 800 includes ascertaining, by the controller 308, a corner zone based on the estimated corner distance L, wherein the corner zone is being one of a safe corner zone, alert corner zone, and high-alert corner zone. In an aspect, the safe corner zone, the alert corner zone, and the high-alert corner zone are defined by front corner sensors distance threshold values for the obstacle in the front corner of the vehicle.
[0071] In an aspect, the front corner pre-defined thresholds values are smaller than the front-side sensors threshold values, so as to allow the proper headfirst parking of the vehicle.
[0072] In an aspect, the front-side sensors distance threshold values increase with respect to the vehicle, while the front corner sensors distance threshold values increase with respect to the obstacle. In the said aspect, the front-side sensors distance threshold values and the front corner sensors distance threshold values are inversely proportional to warning value required to generate a warning signal.
[0073] At block 810, the method 800 includes generating, by a warning signal transducer 312, a warning signal based on one of the ascertained front zone and the ascertained corner zone.
[0074] In an aspect, a warning signal is generated based on least warning value between the ascertained front zone and the ascertained corner zone.
[0075] In an aspect, a warning signal is generated based on the ascertained front zone when the front-side sensors are detecting the obstacle.
[0076] In an aspect, a warning signal is generated based on the ascertained corner zone when the front corner sensors are detecting the obstacle.
[0077] Thus, with the implementation of the method 800 of the present subject matter, driver of that vehicle having FPAS 300 would have more freedom
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to park better than conventional FPAS as estimated front corner sensor distance threshold values would be in a smaller range as compared to front sensor distance threshold values.
[0078] The above description does not provide specific details of the manufacture or design of the various components. Those of skill in the art are familiar with such details, and unless departures from those techniques are set out, techniques, known, related art or later developed designs and materials should be employed. Those in the art can choose suitable manufacturing and design details.
[0079] It should be understood, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically stated otherwise, as apparent from the discussion herein, it is appreciated that throughout the description, discussions utilizing terms such as “receiving,” or “processing,” or “ascertaining,” or “generating,” or the like, refer to the action and processes of an electronic control unit, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the control unit’s registers and memories into other data similarly represented as physical quantities within the control unit memories or registers or other such information storage, transmission or display devices.
[0080] Further, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. It will be appreciated that several of the above-disclosed and other features and functions, or alternatives thereof, may be combined into other systems or applications. Various presently unforeseen or unanticipated alternatives, modifications, variations, or improvements therein may subsequently be made by those skilled in the art without departing from the scope of the present disclosure as encompassed by the following claims.
[0081] The claims, as originally presented and as they may be amended, encompass variations, alternatives, modifications, improvements, equivalents, and
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substantial equivalents of the embodiments and teachings disclosed herein, including those that are presently unforeseen or unappreciated, and that, for example, may arise from applicants/patentees and others.
[0082] It will be appreciated that variants of the above-disclosed and other features and functions, or alternatives thereof, may be combined into many other different systems or applications. Various presently unforeseen or unanticipated alternatives, modifications, variations, or improvements therein may be subsequently made by those skilled in the art which are also intended to be encompassed by the following claims.

We claim:

1. A front parking assistance system (FPAS) (300) comprising:
one or more processors (302); and
a controller (308), which when executed by the one or more processors (302),
receives data values from front-side sensors (314) and front corner sensors (316) of a vehicle;
processes the data values to obtain a front distance (D) of an obstacle from the front-side sensors (314) and to estimate a corner distance (L) of the obstacle from the front corner sensors (316);
ascertains a front zone based on the obtained front distance (D), wherein the front zone is being one of a safe front zone, alert front zone, and high-alert front zone;
ascertains a corner zone based on the estimated corner distance (L), wherein the corner zone is being one of a safe corner zone, alert corner zone, and high-alert corner zone; and
generates a warning signal through a warning signal transducer (312) based on one of the ascertained front zone and the ascertained corner zone.
2. The FPAS (300) as claimed in claim 1, wherein the safe front zone, the alert front zone, and the high-alert front zone defined by front-side sensors distance threshold values for the obstacle in front-side of the vehicle, wherein the safe corner zone, the alert corner zone, and the high-alert corner zone are defined by front corner sensors distance threshold values for the obstacle in front corner of the vehicle, and wherein the front corner pre-defined thresholds values are smaller than the front-side sensors sensors threshold values.
3. The FPAS (300) as claimed in claim 2, wherein the front-side sensors distance threshold values increase with respect to the vehicle, while the
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front corner sensors distance threshold values increase with respect to the obstacle.
4. The FPAS (300) as claimed in claim 2, wherein the front-side sensors distance threshold values and the front corner sensors distance threshold values are inversely proportional to warning value required to generate a signal.
5. The FPAS (300) as claimed in claim 4, generating a warning signal is carried out based on least warning value between the ascertained front zone and the ascertained corner zone.
6. The FPAS (300) as claimed in claim 1, wherein generating a warning signal based on the ascertained front zone when the front-side sensors (314) are detecting the obstacle.
7. The FPAS (300) as claimed in claim 1, wherein generating a warning signal based on the ascertained corner zone when the front corner sensors (316) are detecting the obstacle.
8. A method for operating front parking assistance system (FPAS) (300), the method comprising:
receiving, at a controller (308), data values from front-side sensors (314) and front corner sensors (316) of a vehicle;
processing, by the controller (308), the data values to obtain a front distance (D) of an obstacle from the front-side sensors (314) and to estimate a corner distance (L) of the obstacle from the front corner sensors (316);
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ascertaining, by the controller (308), a front zone based on the obtained front distance (D), wherein the front zone is being one of a safe front zone, alert front zone, and high-alert front zone;
ascertaining, by the controller (308), a corner zone based on the estimated corner distance (L), wherein the corner zone is being one of a safe corner zone, alert corner zone, and high-alert corner zone; and
generating, by a warning signal transducer (312) coupled to the controller (308), a warning signal based on one of the ascertained front zone and the ascertained corner zone.
9. The method as claimed in claim 8, wherein the safe front zone, the alert front zone, and the high-alert front zone defined by front-side sensors distance threshold values for the obstacle in front-side of the vehicle, wherein the safe corner zone, the alert corner zone, and the high-alert corner zone are defined by front corner sensors distance threshold values for the obstacle in front corner of the vehicle, and wherein the front corner pre-defined thresholds values are smaller than the front-side sensors threshold values.
10. The method as claimed in claim 9, wherein the front-side sensors distance threshold values increase with respect to the vehicle, while the front corner sensors distance threshold values increase with respect to the obstacle.
11. The method as claimed in claim 9, wherein the front-side sensors distance threshold values and the front corner sensors distance threshold values are inversely proportional to warning value required to generate a signal.
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12. The method as claimed in claim 11, wherein the generating comprises generating a warning signal based on least warning value between the ascertained front zone and the ascertained corner zone.
13. The method as claimed in claim 8, wherein the generating comprises generating a warning signal based on the ascertained front zone when the front-side sensors (314) are detecting the obstacle.
14. The method as claimed in claim 8, wherein the generating comprises generating a warning signal based on the ascertained corner zone when the front corner sensors (316) are detecting the obstacle.