Claims:We claim:

1. An automotive Semi-Autonomous Parking (SAP) system, comprising: a device having a plurality of sensors attached to the vehicle at different positions thereon and equipped with a control unit for automatically detecting the free parking space by determining the sensors dead band and active band based on the detected free parking space dimensions for ascertaining its suitability for parking the vehicle either in a parallel or perpendicular or angled parking in the detected free parking space, when a corresponding active band is detected; and to proceed to the next free parking space by using a skip-lot mechanism, when no active band is detected for any of above parking types; and repeats the above process until an active band is detected for any of above parking types and the said parking type is displayed to the driver.

2. Semi-Autonomous Parking (SAP) system as claimed in claim 1, wherein an indicator trigger is provided to facilitate the driver to select to park the vehicle either in the free parking space detected on the right or left side.

3. Semi-Autonomous Parking (SAP) system as claimed in claim 1, wherein the system comprises at least seven sensors attached to the vehicle, preferably two for parking space detection and two for auto-steer initiation.

4. Semi-Autonomous Parking (SAP) system as claimed in claim 3, wherein the system is adaptable for ten to twelve sensors with additional sensors for all four-direction support and for parking space detection, the sensors being a combination of long-range and short-range sensors.

5. Semi-Autonomous Parking (SAP) system as claimed in claim 4, wherein the system enables angled parking at angles of 30º, 45º or 60º.

6. Semi-Autonomous Parking (SAP) system as claimed in claim 1, wherein the skip-lot mechanism comprises an indicator trigger for toggling between left and right.
7. Semi-Autonomous Parking (SAP) system as claimed in claim 1, wherein the control unit compares the dimensions of the detected free parking space captured by the sensors with the standard parking space dimensions to determine the active or dead bands for parallel or perpendicular or angled parking stored therein and to initializes auto-steer function by steering set-up for the corresponding parking type on detecting an active band.

8. Semi-Autonomous Parking (SAP) system as claimed in claim 7, wherein the auto-steer function is initiated by enabling the reverse gear along with brakes.

9. Semi-Autonomous Parking (SAP) system as claimed in claim 7, wherein the control unit enables the vehicle to skip pass on detecting the dimensions of the free parking space captured by the sensors to be smaller than the standard parking space dimensions for parallel or perpendicular or angled parking stored therein.

10. Semi-Autonomous Parking (SAP) system as claimed in anyone of the claims 1 to 9, wherein system is adapted to other sensing devices, preferably LIDAR or camera.

11. A method for parking an automotive vehicle independent of infrastructural support and signal connectivity by using the Semi-Autonomous Parking (SAP) system as claimed in anyone of the claims 1 to 10, wherein the method comprises the steps of:

• Manoeuvring the plurality of sensors for the interpretation between the sensors and dimension-mapping to allow SAP system to estimate the free space and differentiating between available free parking space type;

• Controlling the vehicle speed, gear and brake positions for functional safety or to direct the system to the required function; and

• Automatic differentiation between parallel and perpendicular parking takes place using the sensors and associated logic;
• Parallel or perpendicular parking the vehicle in the detected free parking space either on the right side or left side of the vehicle by toggling the indication trigger, brakes and reverse gear by facilitating the steering to automatically park the vehicle at the required parking angle with caution for safety with respect to the accelerator and brakes; or

• Issuing alerts to the driver during the course of parking the vehicle in the detected free parking space by object detection.

Dated: this 26th day of October 2017. SANJAY KESHARWANI
APPLICANT’S PATENT AGENT , Description:FIELD OF INVENTION

The present invention relates to a parking assist system for automotive vehicles. In particular, the present invention relates to a parking assist system which helps in Semi-Autonomous Parking (SAP) of automotive vehicles. More particularly, the present invention relates to a parking assist system comprising a cost-effective SAP system for facilitating parallel as well as angled parking of automotive vehicles.

BACKGROUND OF THE INVENTION

Parking a vehicle involves moving it from an initial position to a final position in a parking slot or parking space. So, for parking an automotive vehicle manually, one has to first locate a vacant parking space which is large enough to accommodate the vehicle properly and allows a safe exit to the driver after parking.

Another difficulty involves managing the vehicle speed, direction and/or angle in tight parking spaces. With exponential growth in number of automobiles throughout the world, the parking space constraints are also increasing at an unbelievable pace. This requires optimum utilization of parking spaces and that too by avoiding potentially dangerous situations like hitting neighbouring vehicles/obstacles in such tight spaces.

PRIOR ART

The development of Advance Driver Assistance System (ADAS) and effectiveness of this technology is making present day automotive vehicles smarter and safer to handle on roads.

This is a major outcome of sensors used on the smarter cars equipped with such ADAS, which can sense any potential danger in time and accordingly can react to such situations to avoid accidents.
This technology is prominently used for plying vehicles on roads smartly and safely, particularly while parking in parking lots etc. These smarter vehicles equipped with ADAS are capable of detecting any potential danger in time and thus are much safer by intelligently avoiding any dangerous situations.

DISADVANTAGES WITH THE PRIOR ART

However, the existing ADAS used for parking are equipped with highly sensitive input sensors like LIDAR, CAMERA etc. which obviously involve exorbitant costs, require many changes in vehicle architecture or networking along with high computational algorithm or sequence of process steps.

Moreover, SAP systems available in the market come with additional triggers or switches to select the parking lot differentiation, which also increase cost. Presently, there is no SAP system available in the market, which can automatic distinguish between different types of parking lots, especially including a skip lot mechanism as taught by the present invention.

OBJECTS OF THE INVENTION

Some of the objects of the present invention - satisfied by at least one embodiment of the present invention - are as follows:

An object of the present invention is to provide a cost-effective semi-autonomous parking system (SAP) for automotive vehicles.

Another object of the present invention is to provide a semi-autonomous parking system for automotive vehicles, which requires fewer sensors to be mounted on the vehicle.

Still another object of the present invention is to provide a semi-autonomous parking system for automotive vehicles, which facilitates SAP execution without requiring the driver to use separate switches or triggers therefor.

Yet another object of the present invention is to provide a semi-autonomous parking system for automotive vehicles, which enables the parking space differentiation without using any external switches or relay controls.

These and other objects and advantages of the present invention will become more apparent from the following description, when read with the accompanying figures of drawing, which are however not intended to limit the scope of the present invention in any way.

DETAILED DESCRIPTION OF THE INVENTION

Semi-Autonomous Parking (SAP) system for automotive vehicles developed in accordance with the present invention is a parking assist system comprising a cost-effective SAP system for facilitating parallel as well as angled parking of automotive vehicles.

This system involves a device for using the flow of parking information as a sequence of process steps converted into an algorithm using STATEFLOW and virtually tested for various automotive vehicles by using PRESCAN software, whereby in spite of a longitudinal control, the obstacle detection and parking status is displayed in Head-Up-Display (HUD). The SAP system configured in accordance with the present invention focuses about the confirmative or proof done using virtual simulations.

The characteristic features of the present invention, which clearly distinguish it from the existing SAP systems available in the market are the automated parking lot differentiation and skip-lot mechanism. The system is independent of infrastructural support and signal connectivity, which makes the present invention an epitome in all environmental working conditions.

Prescan along with Stateflow and CarSim are employed to perform virtual simulations of this SAP, with the overall schematics of SAP shown in Fig. 1a.

The usage of sensors as well as the positions and number of sensors mounted on the vehicle are as detailed in Table-I, which indicates six different sensor mountings (Figure 1b) and the impact of each mounting arrangement on the autonomy.
Table-I

Sensor Mounting No. No. of Sensors Characteristic Features
SM1 12 - Completely robust system
- Combination of short and long-range sensors.
- Support and detection in four directions
- No object avoidance
SM2 10 - Comparatively less robust system
- Combination of short and long-range sensors.
- Less no. of long-range sensors
- Support and detection in four directions
- No object avoidance
SM3 7 - Sufficient for reverse detection
- 2 sensors for detection
- 2 sensors for Auto-steer initiation
- No long-range sensors.
- No support and detection in all four directions
- No object avoidance
SM4 5 - Similar structure, but sensor B on back is replaced by a camera
- 2 sensors for detection
- 2 sensors for Auto-steer initiation
- No long-range sensors.
- No support and detection in all four directions
- No object avoidance
SM5 4 - No separate sensors for detection
- 1 sensor for Auto-steer initiation and detection
- No long-range sensors.
- No support and detection in all four directions
- No object avoidance
- Ideal for only 2-way parking, where detection may be only on one of the two sides of vehicle
- Difficult to differentiate between type of parking
SM6 3 - Similar structure, but sensor B on back is replaced by a camera
- No separate sensors for detection
- 1 sensor for Auto-steer initiation and detection
- No long-range sensors.
- No support and detection in all four directions
- No object avoidance
- Ideal for only 2-way parking, where detection may be only on one of the two sides of vehicle
- Difficult to differentiate between type of parking

The system functions in the following manner:

• Detecting the parking space,

• Automatically differentiating between a parallel parking space and angled parking space possible without driver or occupant’s intervention,

• Indicating the driver’s preferred parking space out of the detected available parking spaces by using a Skip-lot mechanism, and

• Autonomous steering of the vehicle to the respective parking lot of driver’s preference.

Thus, in short, the differentiation between the available parking lots is automated, however the driver can still suggest where to park using the “Skip lot” mechanism.

Further, in order to avoid the driver’s annoyance due to the need of using too many switches or triggers, “Skip lot” mechanism is also made easy here by just toggling the indicator trigger (right or left). This avoids the monopoly of machine selection over human preference.

Since the existing low-cost SAP system in market is available with 8 to 10 ultrasonic sensors mounted on the vehicle to achieve both parallel and perpendicular parking, the sensors and their mountings have a special role to play in this new system.

Accordingly, the sensors involved in SAP system configured in accordance with the present invention are optimized in the following manner:
• Reducing the number of sensors used and yet simultaneously making the system adaptable to use up to 12 sensors, if so required in future.

• Configuring the robustness of the complete system is primarily a function of the following factors:

(i) Number of sensors,

(ii) Range of each sensor,

(iii) Sensor mounting locations on vehicle, and

(iv) Functionality of the sensor.

• Supporting and helping the system to automatically manoeuvre the vehicle depending on the sensor mounting and availability.

• Assisting the system to park at 600 and 450 angles by increasing the number of sensors to more than seven sensors normally used therein.

The parking lots dimensions are standardized across the world. The dimensions are adhered to by the decision makers taking the infrastructure-development related. These standard parking lot dimensions for parallel and row/perpendicular parking space are shown in Figure 2.

Further, there are several parking strategies used in the SAP system configured in accordance with the present invention. The first strategy of sensor manoeuvring involves the interpretation between the sensors and dimension-mapping to allow this SAP system to estimate the free space as well as to differentiate between different types of available parking lots. The second important strategy involves the state configuration behind the architecture, wherein the flow diagram for state architecture of the system includes many check points such as vehicle speed, trigger, gear and brakes. The third important strategy involves the state configuration behind parallel parking. and the fourth strategy involves state configuration behind perpendicular parking.

These four strategies are briefly described in the following:

A) SENSOR MANOEUVRING: This first strategy involves the interpretation between the sensors and dimension-mapping to allow this SAP system to estimate the free space as well as to differentiate between different types of available parking lots.

This is done by detecting the depth of signal penetration varying according to the parking type. Here, the dimensions or sensor-band varies according to the vehicle manufacturer, and tuned during the calibration.

Sensors are used as space-detectors/differentiators to follow this first band strategy. A dead band, which is sometimes referred to as neutral zone or dead zone is the interval of a signal domain or band where no action occurs, meaning that the system is 'dead' or the system output is zero, whereas an active band means there is a positive system output.

Accordingly, the present invention uses the dead band and active bands of the sensors for making a differentiation between the parking space dimensions to determines the actual size thereof for ascertaining its suitability for parking the vehicle.

The following Table 2 summarizes the dead and active bands for parallel or perpendicular parking of the vehicle in the detected/available parking space:

Table-2

Type Band (mm) Purpose
?r 4200 - 4500 1. Active-band, when there is no object interruption.

2. In case of object-interruption, it is considered as the non-availability of space.
0 - 4200 1. Dead- band, if the above active-band is not interrupted.

2. In case, object interrupts the above band, the detection is routed to parallel.
? 1800 - 2000 1. Active- band, when there is no object-interruption.

2. In case, object interrupts, it is considered as non-availability of space
0 - 1800 1. Dead-band, if the above active-band is not interrupted.

2. In case, object interrupts the above band, the detection is routed to parallel.
Differenti-ation 2000 - 4500 1.NO SPACE – Object interrupts the signal-band.

2.FREE SPACE- No interruptions of signal.

3.PARALLEL - If maximum range is interrupted.

B) THE STATES BEHIND THE ARCHITECTURE: This second important strategy involves the flow diagram or algorithm for state architecture of the system and comprises many check points (speed, trigger, gear and brakes etc.) either provided for the functional safety or for directing the system to the required function. From the functional safety point of view, the throttle speed limit is set at about 5-10 kmph as shown in Figure 3, which varies according to the vehicle dynamics. So, the brakes are manually engaged by the driver during reverse turns and also used as a trigger to initiate Auto-Steer function after detecting a free space in the parking lot.

Apart from the functional safety, the functionality of the system is defined by ensuring that the system does not create any nuisance to the driver by using separate switches or triggers for SAP execution.

The existing indicator trigger is used to obtain the driver’s input, if there is free space available in two directions and also to enable skip pass w.r.t the direction of parking (Figure 4). Here, the trigger performs the skip pass operation and also understands the direction of the parking lot.
The reverse gear when enabled along with brake, initiates auto-steer. Otherwise, it helps in skip pass after detecting free space. After every skip pass as in shown in Figure 4, the system gets reset within the parking lot differentiated. For example, if the differentiated parking lot is parallel right, then the reset for skip pass is inside said differentiated parking space. In contrast, in the existing systems in market, the parking space differentiation is carried out by external switches or relays control.

Here in this new SAP system, it is simplified with a truth table which avoids any external interruption during parking. This truth table collects signal data from 4 sensors as tabulated in the Table-3 below and routes accordingly in logic:
Table-3

No. DESCRIPTION CONDITION D1 D2 D3 D4 D5 D6 D7 D8 D9 D10
1 RIGHT_MIRROR USS_1 = 0 T T T T T F F F F -
2 C_PILLAR_RIGHT USS_2 = 0 T T F F F T T F F -
3 LEFT_MIRROR USS_7 = 0 F F T F F T T T T -
4 C_PILLAR_LEFT USS_6 = 0 T F F T F T F T F -
Actions: Specify a row from the
Action Table. A1 A2 A3 A4 A5 A6 A7 A8 A9 DA

Generally, a pair of 2 sensors is considered, i.e. USS_1 and USS_2 for parallel right and USS_7 and USS_6 for parallel left, also depicts same for perpendicular as tabulated in Table-2. The time of detection and processing of signal in the system is distinguished between the parking types.

C) STATE CONFIGURATION BEHIND PARALLEL PARKING: This third important strategy involves developing the state configuration behind parallel parking which has two subsets, the first subset involves a parallel parking towards right direction and the second subset involves a parallel parking towards left direction.

The system user is free to choose at any time the direction of parking lot between these two parallel parking strategies.

Here, the speed limit is more stringent and the reverse gear along with brake is also accorded more importance. In the initial stage, the existing steering angle is considered as a reference point and adjusted to 0º. Thereafter, the required steering angle for right and left is processed as represented in Figures 5 and 6.

The steering angle after the enabling the reverse gear is automated based on the vehicle dimensions and dynamics. The sensor pairs mounted on the right and left side of the mirror and C-pillar as shown in Figure 1 has different functions based on the time of detection of the free space. This third strategy for parallel parking is enabled only when either of sensor pairs detects the free space, for example USS_1 and USS_2 simultaneously detect the free space based on the band specified in Table-2. After detecting free space, by toggling brakes and reverse gear, the steering automates to the required angle for parking with caution for safety w.r.t the accelerator and brakes.

D) STATE CONFIGURATION BEHIND PERPENDICULAR PARKING:

This fourth important strategy involves developing the state configuration behind perpendicular parking, which is quite similar to the parallel parking strategy (Figures 5 and 6) with two side parking direction follow up.

Apart from the above similarity, the perpendicular parking has unique scope for sensor signal processing, for example sensors USS_1 and USS_2 should detect the free space based on the band for perpendicular parking specified in Table-2.

However, both sensors USS_1 and USS_2 do not detect the free parking space simultaneously.

The purpose of the sensors USS_3, 4, 5 involves object detection and issuing alerts, but does not involve object avoidance or emergency braking while performing reverse parking process.

PREPARING SIMULATION MODELS

For performing any virtual simulations for SAP system, a realistic parking scenario is required to be represented. For this purpose, a general parking layout often used in Indian parking lots is considered.

This typical process layout of SAP system configured in accordance with the present invention is shown in the flow diagram shown in Figure 7.

Finally, virtual testing of the aforesaid system is performed by plugging to the environment prepared with sensor data and vehicle dynamics. Here, the parking scenarios considered for better understanding are:

- Perpendicular parking environment towards right, and

- Parallel towards left of the test vehicle (depicted in blue color).

SUMMARY OF THE INVENTION

In accordance with the present invention, there is provided an automotive Semi-Autonomous Parking (SAP) system, comprising: a device having a plurality of sensors attached to the vehicle at different positions thereon and equipped with a control unit for automatically detecting the free parking space by determining the sensors dead band and active band based on the detected free parking space dimensions for ascertaining its suitability for parking the vehicle either in a parallel or perpendicular or angled parking in the detected free parking space, when a corresponding active band is detected; and to proceed to the next free parking space by using a skip-lot mechanism, when no active band is detected for any of above parking types; and repeats the above process until an active band is detected for any of above parking types and the said parking type is displayed to the driver.

Typically, an indicator trigger is provided to facilitate the driver to select to park the vehicle either in the free parking space detected on the right or left side.
Typically, the system comprises at least seven sensors attached to the vehicle, preferably two for parking space detection and two for auto-steer initiation.

Typically, the system is adaptable for ten to twelve sensors with additional sensors for all four-direction support and for parking space detection, the sensors being a combination of long-range and short-range sensors.

Typically, the system enables angled parking at angles of 30º, 45º or 60º.

Typically, the skip-lot mechanism comprises an indicator trigger for toggling between left and right.

Typically, the control unit compares the dimensions of the detected free parking space captured by the sensors with the standard parking space dimensions to determine the active or dead bands for parallel or perpendicular or angled parking stored therein and to initializes auto-steer function by steering set-up for the corresponding parking type on detecting an active band.

Typically, the auto-steer function is initiated by enabling the reverse gear along with brakes.

Typically, the control unit enables the vehicle to skip pass on detecting the dimensions of the free parking space captured by the sensors to be smaller than the standard parking space dimensions for parallel or perpendicular or angled parking stored therein.

Typically, the system is adapted to other sensing devices, preferably LIDAR or camera.

In accordance with the present invention, there is also provided a method for parking an automotive vehicle independent of infrastructural support and signal connectivity by using the Semi-Autonomous Parking (SAP) system as claimed in anyone of the claims 1 to 10, wherein the method comprises the steps of:

• Manoeuvring the plurality of sensors for the interpretation between the sensors and dimension-mapping to allow SAP system to estimate the free space and differentiating between available free parking space type;

• Controlling the vehicle speed, gear and brake positions for functional safety or to direct the system to the required function; and

• Automatic differentiation between parallel and perpendicular parking takes place using the sensors and associated logic;

• Parallel or perpendicular parking the vehicle in the detected free parking space either on the right side or left side of the vehicle by toggling the indication trigger, brakes and reverse gear by facilitating the steering to automatically park the vehicle at the required parking angle with caution for safety with respect to the accelerator and brakes; or

• Issuing alerts to the driver during the course of parking the vehicle in the detected free parking space by object detection.

BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS

The present invention will be briefly described with reference to the accompanying drawings, wherein:

Figure 1a shows the overall architecture of an automotive Semiautonomous Parking (SAP) system equipped with sensors and actuators along with ECU signals thereof.

Figure 1b shows a sensor mounting arrangement with different number of sensors mounted at various positions on the vehicle.

Figure 2 shows the parking lot dimensions act as reference points for free space detection and space differentiator, both in parallel parking and row/perpendicular parking arrangement.

Figure 3 shows the state architecture of the semi-autonomous parking (SAP) configured in accordance with the present invention, with initial functional safety and incorporated parallel and perpendicular one and two-way parking.

Figure 4 shows the Skip-pass mechanism configured in accordance with the present invention.

Figure 5a shows parallel parking towards right direction initiation and angle setup thereof.

Figure 5b shows parallel parking towards left direction initiation and angle setup thereof.

Figure 6a shows perpendicular parking towards right direction initiation and angle setup thereof.

Figure 6b shows perpendicular parking towards right direction initiation and angle setup thereof.

Figure 7 shows a typical process layout used for virtual SAP configured in accordance with the present invention.

Figure 8a shows perpendicular parking on a normal lighting condition.

Figure 8b shows perpendicular parking towards right direction.

Figure 8c shows perpendicular parking towards left direction.

Figure 9a shows the vehicle initial position in snow considering the perpendicular parking environment.

Figure 9b shows the final position of parked vehicle in snow considering the perpendicular parking environment.

Figure 10a shows the vehicle initial position in rains considering the perpendicular parking environment.
Figure 10b shows the final position of parked vehicle on right side in a rainy environment by considering the perpendicular parking.

Figures 11a-11c show the final position of the vehicle parked on the left side for normal day light, snow and rainy environment respectively.

DETAILED DESCRIPTION OF THE ACCOMPANYING DRAWINGS

In the following, the cost-effective system automotive vehicle configured for semi-autonomous parallel and angled parking in accordance with the present invention will be described in more details with reference to the accompanying drawings without limiting scope and ambit of the present invention in any way.

Figure 1a shows the overall architecture of an automotive Semiautonomous Parking (SAP) system equipped with sensors and actuators along with ECU signals thereof. It includes an infotainment display D, an EMS-speed sensor marked EMS, an Auto-steer drive unit AS, an indicator trigger TI, ABS for speed and braking; a TCU to signal gear position; a pair of free space detectors USS_1, USS_7; another pair of parking differentiators USS_2, USS_6; and a plurality of object differentiators, preferably 3 object differentiators USS_3, 4, 5.

Figure 1b shows a sensor mounting arrangement with different number of sensors mounted at various positions on the vehicle. In this arrangement:

- SM1 shows the sensor mounting arrangement with 12 sensors and their mounting on the vehicle for configuring a completely robust system with support and detection in all four directions of the vehicle.

- SM2 shows a sensor mounting arrangement with 10 sensors and their mounting on the vehicle with a combination of short and long-range sensors to provide support and detection in all four vehicle directions.

- SM3 shows a sensor mounting arrangement with 7 sensors and their mounting on the vehicle with two sensors for detection and two sensors for auto-steer initiation.

- SM4 shows a sensor mounting arrangement with 5 sensors and their mounting on the vehicle with two sensors for detection and two sensors for auto-steer initiation as in Figure 2c, but back B sensor replaced by camera.

- SM5 shows a sensor mounting arrangement with 4 sensors and their mounting on the vehicle with one sensor for auto-steer initiation and detection, and considered ideal only for two-way parking for enabling detection only on one side of the vehicle.

- SM6 shows a sensor mounting arrangement with 3 sensors and their mounting on the vehicle with one sensor for auto-steer initiation and detection, but back B sensor replaced by camera. It is considered ideal to be used only for two-way parking for enabling detection only on one side of the vehicle.

Figure 2 shows the parking lot dimensions act as reference points for free space detection and space differentiator, both in parallel parking and row/perpendicular parking arrangement. Here, based on the parking lot dimensions the dead and active bands of the sensors are also decided. Types of differentiations, bands (mm) and purpose are tabulated in Table-2.

Figure 3 shows the state architecture of the semi-autonomous parking (SAP) configured in accordance with the present invention, with initial functional safety and incorporated parallel and perpendicular one and two-way parking.

Figure 4 shows the Skip-pass mechanism configured in accordance with the present invention, which is a vital function without integrated external extra switches. At any time during parking, the driver is free to choose other parking lot which is automatically done when the indication trigger points to the particular direction

Figure 5a shows parallel parking towards right direction initiation and +3600 set up thereof for parallel parking in right direction.

Figure 5b shows parallel parking towards left direction initiation and -3600 set up thereof for parallel parking in left direction.
Figure 6a shows parallel parking towards right direction initiation and +900 set up thereof for perpendicular parking in right direction.

Figure 6b shows parallel parking towards right direction initiation and -900 set up thereof for perpendicular parking in left direction.

Figure 7 shows a typical process layout used for virtual SAP configured in accordance with the present invention. Here, at step P1, the parking environment is created in the Prescan software tool. After creating the parking environment, at step SM of sensor modelling, sensor data is obtained for the test vehicle at various locations as described subsequently. At step VM of vehicle modelling, wherein the vehicle dynamics is developed by Simulink at steps P2 and CarSim at step P3, i.e. major vehicle systems such as driveline system, engine and steering system are attached to the test vehicle. In Simulink at step P4, the algorithm is developed for SAP. Finally, during post processing step PP, numerous reiterations of steps of VM (P2 + P3) and step (P4) for fine-tuning the algorithm are conducted to optimize the system.

For system reliability and robust validation, different weather conditions such as normal daylight, snow and rainy environment are considered for the analysis. For all the test scenarios considered, the vehicle which is under testing is shown in blue color, whereas other dummy vehicles are shown in black color. The method discussed above is tested virtually.

Figure 8a shows perpendicular parking on a normal lighting condition.

Figure 8b shows perpendicular parking towards right direction.

Figure 8c shows perpendicular parking towards left direction.

For simple visualization purpose, moderate level of snow is considered. Here, different test cases involving various infrastructure objects such as houses and trees along with different pedestrians are considered to detect any potential malfunctioning of the systems.

Figure 9a shows the vehicle initial position in snow considering the perpendicular parking environment.

Figure 9b shows the final position of parked vehicle in snow considering the perpendicular parking environment.

Similarly, rainy scenarios are also considered. The system can operate well with any environment considered for testing.

Figure 10a shows the vehicle initial position in rainy environment considering the perpendicular parking environment.

Figure 10b shows the final position of parked vehicle on right side in a rainy environment considering the perpendicular parking using a dummy (green) vehicle.

In both the cases of snow and rain environment discussed above, only the parking on right side of the vehicle is considered for simplicity of analysis. Similar to the scenario and test cases of perpendicular parking, the parallel parking environment is also performed. The system can also operate well with the parallel parking environment considered for testing. In this case, parking on the left side of the vehicle is considered.

Figure 11a shows the final position of the vehicle parked on the left direction in a normal day light.

Figure 11b shows the final position of the vehicle parked on the left direction in snow.

Figure 11c shows the final position of the vehicle parked on the left side in rainy environment.

Accordingly, Semi-Autonomous Parking (SAP) system configured in accordance with the present invention substantially reduces the probability of accidents and offers a cost-effective solution, which can be easily incorporated in all category of vehicles. The system and the configuration thereof specified according to the present invention is flexible to any changes required at any point of time.

In this system, the angle 30º, 45º and 60º can also be extended by increasing the number of sensors used and corresponding mountings. The system can be easily adapted to any other sensing devices like LIDAR or camera, although by incurring additional costs.

This basic cost-effective SAP can also be enhanced further to a fully autonomous SAP system for controlling brakes, ABS, throttle and steering along with TCU and EMS.

WORKING OF THE INVENTION

Semi-Autonomous Parking System (SAP) configured in accordance with the present invention, the following process sequence is undertaken:

• Detecting the parking space,

• Automatically differentiating between a parallel parking space and angled parking space possible without driver or occupant’s intervention,

• Indicating the driver’s preferred parking space out of the detected available parking spaces by using a Skip-lot mechanism, and

• Autonomous steering of the vehicle to the respective parking lot of driver’s preference.

TECHNICAL ADVANTAGES AND ECONOMIC SIGNIFICANCE

The cost-effective system for semi-autonomous parallel and angled parking of automotive vehicle and configured in accordance with the present invention has the following technical and economic advantages:

• Provides low-cost semi-autonomous parking system (SAP) for vehicles.

• Requires fewer sensors to be mounted on the vehicle, however can be adapted to mount up to 12 sensors.

• Facilitates the execution of SAP without requiring the driver to use separate switches or triggers therefor.

• Enables parking space differentiation without using any external switches or relay controls.

• Easily validated by virtual simulations to avoid any prospective hazards thereto.

• System supports and helps to automatically manoeuvre towards detected free parking space based on sensor mounting and availability.

• Assisting the system to park at 600 and 450 angles by increasing the number of sensors to more than seven sensors normally used therein.

The exemplary embodiments described in this specification are intended merely to provide an understanding of various manners in which this embodiment may be used and to further enable the skilled person in the relevant art to practice this invention. The description provided herein is purely by way of example and illustration.

Although, the embodiments presented in this disclosure have been described in terms of its preferred embodiments, the skilled person in the art would readily recognize that these embodiments can be applied with modifications possible within the spirit and scope of the present invention as described in this specification by making innumerable changes, variations, modifications, alterations and/or integrations in terms of materials and method used to configure, manufacture and assemble various constituents, components, subassemblies and assemblies, in terms of their size, shapes, orientations and interrelationships without departing from the scope and spirit of the present invention.

While considerable emphasis has been placed on the specific features of the preferred embodiment described here, it will be appreciated that many additional features can be added and that many changes can be made in the preferred embodiments without departing from the principles of the invention. These and other changes in the preferred embodiment of the invention will be apparent to those skilled in the art from the disclosure herein, whereby it is to be distinctly understood that the foregoing descriptive matter is to be interpreted merely as illustrative of the invention and not as a limitation.

Many of the fastening, connection, processes and other means and components utilized in this invention are widely known and used in the field of the invention described, and their exact nature or type is not necessary for an understanding and use of the invention by a person skilled in the art and they will not therefore be discussed in significant detail.
The numerical values given of various physical parameters, dimensions and quantities are only approximate values and it is envisaged that the values higher or lower than the numerical value assigned to the physical parameters, dimensions and quantities fall within the scope of the disclosure unless there is a statement in the specification to the contrary.

Throughout this specification the word “comprise”, or variations such as “comprises” or “comprising”, shall be understood to implies including a described element, integer or method step, or group of elements, integers or method steps, however, does not imply excluding any other element, integer or step, or group of elements, integers or method steps.

The use of the expression “a”, “at least” or “at least one” shall imply using one or more elements or ingredients or quantities, as used in the embodiment of the disclosure in order to achieve one or more of the intended objects or results of the present invention.

Also, any reference herein to the terms ‘left’ or ‘right, ‘up’ or ‘down, or ‘top’ or ‘bottom’ are used as a matter of mere convenience, and are determined by standing at the rear of the machine facing in its normal direction of travel.
Furthermore, the various components shown or described herein for any specific application of this invention can be widely known or used in the art by persons skilled in the art and each will likewise not therefore be discussed in significant detail. When referring to the figures, like parts are numbered the same in all of the figures.

Acronyms

SAP - Semi-Autonomous Parking.

USS_1 - Ultrasonic Sensor (USS) mounted on right rear-view mirror functions as free space detector.

USS_2 - USS mounted near right C-Pillar functions as parking lot differentiator.

USS_3 - USS mounted on right corner of back bumper functions as object detector.

USS_4 - USS mounted on middle of back bumper functions as obstacle or object detector.

USS_5 - USS mounted on left corner of back bumper functions as object detector.

USS_7 - USS mounted on left rear-view mirror functions as free space detector.

USS_6 - USS mounted near left C-Pillar functions as parking lot differentiator.

TCU - Transmission Control Unit to signal gear position.

E1 - Engine Management System.

ABS - Anti-lock Braking System - Speed and Braking.

ECU - Parking Electronic Control Unit.

HUD - Head Up Display (Optional).

ACC - Accelerator.

TI - Indicator Trigger.

LIDAR - Light Detection and Ranging.

TCU - Transmission Control Unit.

EMS - Engine Management System.

ADAS - Advance Driver Assistance System.

CoG - Center of Gravity.