US 11,772,635 B2
Automated parking assist system for parking a vehicle in a parking spot
Martin Bonander, Gothenburg (SE)
Assigned to VOLVO CAR CORPORATION, Gothenburg (SE)
Filed by Volvo Car Corporation, Gothenburg (SE)
Filed on Feb. 12, 2021, as Appl. No. 17/174,589.
Claims priority of application No. 20157268 (EP), filed on Feb. 13, 2020.
Prior Publication US 2021/0253091 A1, Aug. 19, 2021
Int. Cl. B60W 30/06 (2006.01); B60W 60/00 (2020.01); B60W 30/18 (2012.01)
CPC B60W 30/06 (2013.01) [B60W 30/18036 (2013.01); B60W 60/001 (2020.02); B60W 60/0051 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a controller configured to execute an automated parking process while a vehicle in motion is being driven by a human driver at a current speed, wherein the automated parking process comprises:
handing over drive control of the vehicle at the current speed from the human driver to the controller;
while the vehicle is still in motion, determining a parking procedure to park the vehicle in a parking spot selected for the vehicle, wherein the parking procedure comprises a minimum quantity of stops between a current location of the vehicle and the parking spot determined based on a type of the parking spot and a parking direction in which the vehicle will park in the parking spot, wherein, in response to determining that the type of parking spot is a parallel type:
the determining is further based upon a defined safety criteria, and the parking procedure comprises:
two stops in a parallel parking procedure, wherein the parallel parking procedure comprises:
 continuing the motion of the vehicle on a first trajectory to a first stop of the two stops in the parallel parking procedure,
 stopping the vehicle at the a first stop of the two stops in the parallel parking procedure,
 turning on an indicator signal of the vehicle to indicate the vehicle is going to park in the parking spot,
 driving the vehicle on a second trajectory to a second stop of the two stops in the parallel parking procedure;
 stopping the vehicle at the second stop of the two stops in the parallel parking procedure,
 selecting a reverse gear of the vehicle, and
 driving the vehicle on a third trajectory to a final parking position in the parking spot; and
performing the parking procedure.