System and method for vehicle washing detection and access assistance

Abstract

Systems and methods for vehicle wash detection and entry assistance for a vehicle are provided. The system includes a controller operative to identify the presence of the vehicle at the cleaning facility and determine whether an operator of the vehicle has accepted entry assistance. When the operator has accepted the entry assistance, the controller prepares the vehicle to enter the washing facility, determines a path to enter the washing facility, and assists the operator in causing the vehicle to enter the washing facility via the path.

Description

Technical Field

[0001] The present disclosure relates generally to vehicles with advanced driver assistance capabilities and, more particularly, to systems and methods for detecting the initiation of a vehicle entering a car wash and assisting with vehicle preparation and entry into the car wash. Background Art

[0002] Advanced driver assistance systems and autonomous systems collect information about the vehicle and its environment and can assist the driver in performing actions or can automatically control the vehicle. These vehicles use sensing devices such as radar, lidar, image sensors, ultrasonic devices, etc. to sense their environment. These vehicles may use information from global positioning system (GPS) technology, navigation systems, vehicle-to-vehicle communications, vehicle-to-infrastructure technology, and / or drive-by-wire systems to determine actions, such as navigation.

[0003] In order to achieve a high level of automation, vehicles are often equipped with an increasing number of different types of devices for analyzing the environment around the vehicle, such as, for example, cameras or other imaging devices that capture images of the environment, radars or other range-finding devices for surveying or detecting features within the environment, etc. In addition, multiple actuators are used to control the vehicle in response to numerous programs and algorithms. Specific decisions may need to be made for the automatic operation of the vehicle for certain optional purposes. For example, parking requires identification of unoccupied parking spaces. Other optional purposes may require other specific determinations. For example, it may be desirable to specify operations associated with the purpose of washing the car.

[0004] Therefore, it is desirable to provide automated vehicle operations associated with the purpose of washing a vehicle.Other desirable features and characteristics of the present disclosure will become apparent from the subsequent detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing introduction. Summary of the invention

[0005] Systems and methods for vehicle wash detection and entry assistance are provided. In various embodiments, the system includes a controller that operates to identify the presence of a vehicle at a wash facility and to determine whether an operator of the vehicle has accepted entry assistance. When the operator has accepted entry assistance, the controller prepares the vehicle for entry into the wash facility, determines a path to enter the wash facility, and assists the operator in entering the vehicle into the wash facility via the path.

[0006] In additional embodiments, the controller prepares the vehicle for entry into the washing facility by moving components of the vehicle into predetermined positions compatible with entry into the washing facility.

[0007] In additional embodiments, the controller uses the path to operate a steering actuator of the vehicle to align the vehicle in the wash facility.

[0008] In additional embodiments, the controller identifies attributes of the cleaning facility for use in determining the path.

[0009] In an additional embodiment, the controller operates the mirror actuator to fold the mirror against the vehicle as part of preparing the vehicle for entry into the washing facility.

[0010] In additional embodiments, the controller prompts the operator via the interface to release the steering system so that the controller can steer the vehicle.

[0011] In an additional embodiment, a sensor system senses the position of a track of a washing facility. An actuator system operates components of the vehicle. A controller determines a path based on the position of the track and moves the vehicle along the path into the washing facility via the actuator system.

[0012] In additional embodiments, the interface displays information to the operator, and the controller displays the route on the interface.

[0013] In an additional embodiment, the sensor system includes a speed sensor, and the vehicle includes a transmission. The controller senses a property of the washing facility via the sensor system and determines a speed of the vehicle via the speed sensor. When the speed of the vehicle is zero speed, the controller switches the transmission to a parking state or a neutral state according to the sensed property.

[0014] In an additional embodiment, the controller prepares the vehicle for entry into the washing facility by moving components of the vehicle to a predetermined position compatible with entry into the washing facility. The controller determines when the vehicle has exited the washing facility. When the vehicle has exited the washing facility, the controller restores the components of the vehicle to a pre-wash state, which is the position of the components of the vehicle prior to entering the washing facility.

[0015] In various other embodiments, a method for vehicle wash detection and entry assistance includes identifying, by a controller, the presence of a vehicle at a wash facility. The controller determines whether an operator of the vehicle has accepted the entry assistance. When the operator has accepted the entry assistance, the controller prepares the vehicle to enter the wash facility. The controller determines a path to enter the wash facility and assists the operator in entering the vehicle via the path.

[0016] In additional embodiments, the controller prepares the vehicle for entry into the washing facility by moving components of the vehicle into predetermined positions compatible with entry into the washing facility.

[0017] In additional embodiments, the controller uses the path to operate a steering actuator of the vehicle to align the vehicle in the wash facility.

[0018] In additional embodiments, the controller identifies attributes of the cleaning facility for use in determining the path.

[0019] In an additional embodiment, the controller operates the mirror actuator to fold the mirror against the vehicle as part of preparing the vehicle for entry into the washing facility.

[0020] In additional embodiments, the controller prompts the operator via the interface to release the steering system so that the controller can steer the vehicle.

[0021] In an additional embodiment, the controller senses the position of a track of the washing facility via a sensor system. The controller operates components of the vehicle via an actuator system. The controller determines a path based on the position of the track. The controller moves the vehicle along the path into the washing facility via the actuator system.

[0022] In additional embodiments, the controller displays information including the path to the operator via the interface.

[0023] In an additional embodiment, the controller senses a property of the washing facility via a sensor system. The controller determines the speed of the vehicle via a speed sensor. When the speed of the vehicle is zero speed, the controller switches to a parking state or a neutral state via a transmission according to the sensed property.

[0024] In a number of additional embodiments, a vehicle includes wash detection and entry assistance. The vehicle includes a sensing system to sense properties of the vehicle and the vehicle's surroundings. An actuator system operates features of the vehicle. A controller identifies the presence of the vehicle at a wash facility and determines whether an operator of the vehicle has accepted the entry assistance. When the operator has accepted the entry assistance, the controller prepares the vehicle to enter the wash facility by moving components of the vehicle to predetermined positions compatible with entering the wash facility. The controller determines a path into the wash facility, assists the operator in entering the wash facility via the path, and determines when the vehicle has exited the wash facility. When the vehicle has exited the wash facility, the controller restores components of the vehicle to a pre-wash state, which is the position of components of the vehicle prior to entering the wash facility. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Exemplary embodiments will be described below with reference to the following drawings, wherein like reference numerals denote like elements, and wherein:

[0026] Figure 1 is a functional block diagram illustrating an autonomous vehicle for collecting data according to various embodiments;

[0027] Figure 2 is a flow chart of a process for controlling the alignment of a vehicle during a car wash entry according to an exemplary embodiment, which process may be combined with Figure 1 vehicles and vehicle components; and

[0028] Figure 3is a diagram showing a method according to one or more exemplary embodiments Figure 1 Vehicles and Figure 2 Flowchart of the process of car washing entry method. DETAILED DESCRIPTION

[0029] The following detailed description is merely exemplary in nature and is not intended to limit application and use. In addition, it is not intended to be bound by any express or implied theory presented in the previous introduction, the invention content or the detailed description below. As used herein, the term module refers to any hardware, software, firmware, electronic control component, processing logic and / or processor device, alone or in any combination, including but not limited to: application-specific integrated circuits (ASICs), electronic circuits, processors (shared, dedicated or groups) and memories that execute one or more software or firmware programs, combinational logic circuits and / or other suitable components that provide the described functions.

[0030] Embodiments of the present disclosure may be described herein in terms of functional and / or logical block components and various processing steps. It should be understood that these block components may be implemented by any number of hardware, software and / or firmware components configured to perform a specified function. For example, embodiments of the present disclosure may employ various integrated circuit components, such as memory elements, digital signal processing elements, logic elements, lookup tables, etc., which may perform various functions under the control of one or more microprocessors or other control devices. In addition, those skilled in the art will appreciate that embodiments of the present disclosure may be practiced in conjunction with any number of systems, and the systems described herein are merely exemplary embodiments of the present disclosure.

[0031] For the sake of brevity, conventional techniques related to other functional aspects of signal processing, data transmission, signaling, imaging, ranging, synchronization, calibration, control systems, and systems (and the various operating components of the systems) may not be described in detail herein. In addition, the connecting lines shown in the various figures included herein are intended to represent example functional relationships and / or physical couplings between the various elements. It should be noted that many alternative or additional functional relationships or physical connections may exist in the embodiments of the present disclosure.

[0032] refer to Figure 1, in one or more exemplary embodiments, a vehicle 10 is shown. The vehicle 10 has a powertrain system 12 that can be configured in any of a variety of forms to provide torque to propel the vehicle 10. In various embodiments, the powertrain system 12 includes a prime mover 14 that is controlled to provide torque based on a requested or commanded load. The load can be based on a driver request or based on an autonomous input of torque and / or speed. In order to transmit the requested torque and / or speed from the prime mover 14, a transmission 15 can be included in the powertrain system 12. The transmission 15 can be operated to provide forward operation of the vehicle 10, reverse operation of the vehicle 10, a parking state, a neutral state, and multiple speed ratios for output from the prime mover 14, wherein power can be transmitted to the wheels of the vehicle 10. When the transmission 15 is selectively placed in a parking state or a neutral state, power / torque is not transmitted to the wheels of the vehicle 10.

[0033] In various embodiments, the vehicle 10 comprises an automobile. It will be appreciated that the vehicle 10 may be any of a variety of different types of automobiles, such as, for example, a sedan, van, truck, or sport utility vehicle (SUV), and in certain embodiments may be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD) or all-wheel drive (AWD), and / or various other types of vehicles. In certain embodiments, the vehicle 10 may also include a truck and / or one or more other types of vehicles.

[0034] In the illustrated embodiment, the vehicle 10 includes a body that substantially surrounds the other components of the vehicle 10. Also in the illustrated embodiment, the vehicle 10 includes a plurality of axles and wheels. The wheels are each rotatably coupled to one or more axles near respective corners of the body to facilitate movement of the vehicle 10. In one embodiment, the vehicle 10 includes four wheels, but this may vary in other embodiments (e.g., for trucks and certain other vehicles).

[0035] The vehicle 10 also includes a control system 28 associated with various systems of the vehicle 10. In response to the control system 28, the actuator system 22 may include various actuators to operate components of the vehicle 10. The actuator system 22 may include a brake actuator 23 for decelerating the vehicle 10, a steering actuator 24 of a steering system 29 for steering the wheels of the vehicle 10, a mirror actuator 25 for folding the outside mirrors, a roof panel actuator 26 for moving a panel such as a sunroof, and other actuators 27 for operating other components or features of the vehicle 10.

[0036] The powertrain system 12 can drive the wheels of the vehicle 10 to rotate forward or backward, also in response to the control system 28. The powertrain system 12 generally includes a plurality of components and subsystems, including a prime mover 14 and a transmission 15.

[0037] When the prime mover is an internal combustion engine, the powertrain system 12 may include an ignition system 16, an intake system 17, an exhaust system 18, a fuel system 19, and a valve system 20. In various embodiments, the powertrain system 12 may be a four-stroke internal combustion engine, wherein the piston in each cylinder completes an intake stroke, a compression stroke, a combustion stroke, and an exhaust stroke to drive the prime mover 14. Any number of cylinders may be included in the prime mover 14. The intake system 17 delivers air to the cylinders, such as via a throttle, and controls the mass flow of the air. The fuel system 19 delivers fuel to the cylinders and controls its timing and amount via a plurality of injectors, as further described below. The valve system 20 includes a plurality of valves to control the flow of air / gas into and out of the cylinders, and the valves may have variable timing. The ignition system 16 is operated to control the timing of combustion in the cylinders and to initiate combustion. The exhaust system 18 delivers combustion gases from the prime mover 14 to the atmosphere, and may include an aftertreatment device.

[0038] In other embodiments, the prime mover 14 may be an electric motor, in which case the ignition system 16, the intake system 17, the exhaust system 18, the fuel system 19, and the valve system 20 are not included. In additional embodiments, the prime mover 14 may be configured in a hybrid arrangement with an internal combustion engine and an electric motor. In additional embodiments, the powertrain system 12 and / or the prime mover 14 may be configured in another form to provide power to propel the vehicle 10.

[0039] In various embodiments, the control system 28 provides instructions for controlling various aspects of the vehicle 10, including for controlling the vehicle wash detection and entry assist system 40. In general, the vehicle wash detection and entry assist system 40 identifies the presence of a car wash in front of the vehicle 10, assists with preparation of the vehicle 10 prior to entering the car wash, assists with maneuvering tasks of the vehicle 10 into the car wash at an optimal approach angle, and may assist with operation of the vehicle within and exiting the car wash.

[0040] In various embodiments, the control system 28 includes an engine control unit for the prime mover 14. In other embodiments, the control system 28 includes a motor controller having power electronics. In other embodiments, the control system 28 is configured for the type of powertrain system 12 used. Furthermore, in various embodiments, among other functions, the control system 28 selectively controls the operation of the powertrain system 12 to achieve a desired torque and speed output. In various embodiments, the control system 28 is configured according to the following in combination with Figure 3The steps of method 200 are further described to provide these functions.

[0041] like Figure 1 As shown in , in various embodiments, the control system 28 includes a controller 30 and a sensor array 32. In various embodiments, the sensor array 32 includes sensors for measuring observable conditions of the vehicle 10 (including the environment around the vehicle 10) and generating sensor data based thereon. The sensing devices in the sensor array 32 may include, but are not limited to, radar, lidar, global positioning system, optical camera, thermal camera, ultrasonic sensor, angle sensor, position sensor, speed sensor, temperature sensor, and / or other sensors. Figure 1 As shown in , in various embodiments, the sensor array 32 includes one or more vehicle sensors 34. In various embodiments, the vehicle sensors 34 are attached to, disposed within, or otherwise disposed near the vehicle 10 to measure various temperatures, positions, settings, speeds, and other observable parameters.

[0042] The sensor array 32 includes one or more environmental sensors 36. In various embodiments, the environmental sensors 36 are configured to monitor the surrounding environment of the vehicle 10, thereby measuring various temperatures, locations, features, distances, images, and other observable parameters. In some embodiments, the sensor array 32 may also include one or more other sensors 38, such as for sensing and / or transmitting information related to the vehicle 10, and the other sensors 38 may include any other sensors described herein. For example, in some embodiments, the other sensors 38 may include one or more sensors and / or transceivers for communicating with a global positioning system, infrastructure, other vehicles, and other desired functions. In various embodiments, a control module on the autonomous vehicle 10 (such as a control module in the controller 30) can use the various on-board sensors in the sensor array 32, and can spatially or otherwise associate the data from those different types of sensors with each other for object detection, object classification, with the purpose of controlling the operation of the vehicle 10.

[0043] In various embodiments, the controller 30 is coupled to the sensor array 32 and provides instructions for controlling the vehicle 10 and the powertrain system 12 based on the sensor data, such as via commands to the actuator system 22. Figure 1 As shown in FIG. 1 , the controller 30 includes a computer system. In certain embodiments, the controller 30 may also include a sensor array 32 and / or one or more other vehicle components. In addition, it will be understood that the controller 30 may be different from Figure 1For example, controller 30 may be a set of controllers and / or may be coupled to or otherwise utilize one or more remote computer systems and / or other control systems, such as as part of one or more of the above-described vehicle devices and systems.

[0044] In the illustrated embodiment, the computer system of the controller 30 includes a processor 42, a memory 44, an interface 48, a storage device 50, and a bus 52. The processor 42 performs the computational and control functions of the controller 30 and may include any type of processor or multiple processors, a single integrated circuit such as a microprocessor, or any suitable number of integrated circuit devices and / or circuit boards that work together to perform the functions of the processing unit. During operation, the processor 42 executes one or more programs 54 contained in the memory 44 and, as such, controls the overall operation of the controller 30 and the computer system of the controller 30, generally in performing the processes described herein, such as those described below in conjunction with Figure 3 Method 200 is discussed further.

[0045] The memory 44 may be any type of suitable memory. For example, the memory 44 may include various types of dynamic random access memory (DRAM), such as SDRAM, various types of static RAM (SRAM), and various types of non-volatile memory (PROM, EPROM, and flash memory). In some examples, the memory 44 may be located and / or co-located on the same computer chip as the processor 42. In the illustrated embodiment, the memory 44 stores the above-described program 54 as well as stored values ​​56 (e.g., including, in various embodiments, predefined thresholds for controlling emissions).

[0046] The bus 52 is used to transfer programs, data, status and other information or signals between the various components of the computer system of the controller 30. The interface 48 allows communication with the computer system of the controller 30, such as from / to the vehicle operator and / or another computer system, and is implemented using any suitable method and device. In one embodiment, the interface 48 obtains various data from the operator of the vehicle 10 and / or transmits information to the operator. In one example, the interface 48 is a driver information center with a touch screen or other input device. In additional embodiments, the interface 48 includes a display screen. In other embodiments, the interface 48 can be any form of human-machine interface that allows human input and transmits information to humans.

[0047] The storage device 50 may be any suitable type of storage device, including various types of direct access storage and / or other memory devices. In an exemplary embodiment, the storage device 50 includes a program product from which the memory 44 receives a program 54 for executing one or more embodiments of one or more processes of the present disclosure, such as the following in conjunction with Figure 3 The steps of method 200 are further discussed. In another exemplary embodiment, the program product may be directly stored in and / or otherwise accessed by memory 44 and / or storage device 50 and / or other memory devices. Storage device 50 may also store information collected during operation of vehicle 10, including data from sensor array 32, and may be part of the vehicle's recording system. In this way, the stored information represents real-world information of actual scenes, objects, functions, and operations.

[0048] The bus 52 may be any suitable physical or logical means of connecting computer systems and components. This includes, but is not limited to, direct hard-wired connections, optical fiber, infrared, and wireless bus technologies. During operation, the program 54 may be stored in the memory 44, transmitted via the bus 52, and executed by the processor 42.

[0049] It will be understood that while the exemplary embodiment is described in the context of a fully functional computer system, those skilled in the art will recognize that the mechanisms of the present disclosure are capable of being distributed as a program product in which one or more types of non-transitory computer-readable signal-bearing media are used to store the program and its instructions and to perform its distribution, such as a non-transitory computer-readable medium that carries the program and contains computer instructions stored therein for causing a computer processor (such as processor 42) to execute the program. Such a program product may take a variety of forms, and the present disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used to perform the distribution. Examples of signal-bearing media include recordable media, such as floppy disks, hard disks, memory cards, and optical disks, as well as transmission media, such as digital and analog communication links. It will be understood that cloud-based storage and / or other technologies may also be used in certain embodiments. Similarly, it will be understood that the computer system of controller 30 may also differ in other ways. Figure 1 In the embodiment shown in FIG. 1 , for example, the computer system of controller 30 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems.

[0050] In various embodiments, one or more instructions of the controller 30 are contained in the control system 28 (e.g., in the storage device 50), and when executed by the processor 42, cause the processor 42 to detect or identify the stationary or moving condition of the vehicle 10 based on output data from the sensor array 32 (e.g., speed sensor, position sensor, etc.), obtain data captured or generated from the imaging and ranging devices of the sensor array 32, and make a determination based thereon. Thereafter, the processor 42 can establish a correlation between the stored value 56 and the sensed environment to assign attributes for object detection, object classification, etc. The resulting objects and their classifications can be used to operate the vehicle 10, which in turn affects the commands generated or otherwise provided by the processor 42, which control the actuators of the vehicle 10 via the actuator system 22, such as for steering, braking, acceleration, and other functions. When the data is captured or generated, the data is recorded and can be stored in the storage device 50 or other devices of the vehicle 10.

[0051] The control system 28 synthesizes and processes data from the sensor array 32 and predicts the presence, location, classification and / or state of objects, as well as attributes and characteristics of the environment of the vehicle 10. The control system 28 processes the sensor data, as well as other data, to determine the location of the vehicle 10 relative to the environment (e.g., local location relative to a map, building, address, precise location relative to a road lane, vehicle heading, speed, etc.). The control system 28 processes the sensor data, as well as other data (such as stored values ​​56), to determine control actions for the vehicle 10 to recommend to the driver or to follow autonomously. The vehicle control system 28 generates control signals for controlling the vehicle 10 based on the determination.

[0052] refer to Figure 2 and Figure 1 According to various embodiments, a vehicle 10 may be presented with a scene of entering a washing facility designated as a car wash system 100. For example, it may be desirable to periodically or occasionally clean the exterior of the vehicle 10 via an automatic car wash system 100. An automatic car wash system 100 is a system that cleans the vehicle 10 without requiring an operator / driver to perform a cleaning function. The car wash system 100 may have walls 102 defining an enclosed space having an entrance 104 through which the vehicle 10 is intended to enter and an exit 105 through which the vehicle 10 is intended to exit.

[0053] The vehicle 10 may include various components or features that are preferably placed in a specific state via the actuators of the actuator system 22 prior to the operation of the car wash system 100. This may include moving the components of the vehicle 10 to a predetermined position that is compatible with entering a washing facility (in this example, the automatic car wash system 100). For example, the vehicle 10 may have windows 62, a roof (e.g., a sunroof) 64, doors 66, hatches 68, and other features, each of which may be selectively moved. For example, these features may be opened and closed by their actuators (such as by the panel actuator 26 and the other actuators 27). In addition, the vehicle 10 may include an exterior rearview mirror 70 that may be selectively folded / unfolded relative to the side of the vehicle 10 by their actuators via the rearview mirror actuator 25. The vehicle 10 may have various other components or features, such as accessories (e.g., spoilers, antennas, etc.), that are preferably placed in a desired state by the other actuators 27 prior to the operation of the car wash system. In some embodiments, the infotainment system of the vehicle 10 may be adjusted to a preset saved as part of the vehicle wash detection and entry assist system 40 .

[0054] As part of the sensor array 32, the vehicle 10 may include a front camera module 72 that captures images in the area in front of the vehicle 10. For example, the front camera module 72 may have a field of view 74 that captures images that the controller 30 may use to discern the presence of the car wash system 100. The car wash system 100 may have a number of identifiable attributes for determining the presence of the vehicle 10 at the entrance of the car wash system 100. For example, the car wash system 100 may have a wall 102 that defines an entrance 104. Inside the wall 102, the car wash system may have one or more rails 106 for guiding the wheels of the vehicle 10. In some embodiments, the car wash system 100 may have a conveyor 108 configured to move the vehicle 10 through the car wash system 100. When the conveyor 108 is configured, the transmission 15 of the vehicle 10 is preferably placed in neutral for operation of the car wash system 100. In some embodiments, the car wash system 100 may have a brush 110 that cleans the sides or other portions of the vehicle 10 and is an identifiable feature / attribute. In some embodiments, the car wash system can be configured with a gantry 112 that moves over the vehicle 10. In these gantry embodiments, it may be desirable to move the vehicle 10 into the car wash system 100 and put the transmission 15 in park. The car wash system 100 may also have one or more signals 114. For example, the signal 114 may indicate whether the vehicle 10 should be stopped, whether the transmission 15 should be placed in a particular state, and whether the vehicle 10 should move forward, which may be discerned by the sensor array 32. In additional embodiments, the car wash system 100 may have other identifiable features / attributes that may be stored in the storage device 50 for determining the presence of a vehicle at the entrance to the car wash system 100.

[0055] Apart from Figure 1 and Figure 2 In addition, reference Figure 3 , a method 200 for detecting a vehicle 10 and allowing it to enter a car wash system 100 is shown in the form of a flow chart. It will be understood from the present disclosure that the order of operations within the method 200 is not limited to the following. Figure 3 Rather, the embodiments are not performed in the order shown in the drawings, but may be performed in one or more different orders where applicable and in accordance with the present disclosure.

[0056] The method 200 starts at 202 and can be scheduled to run based on one or more predetermined events, or can be run while the vehicle 10 is operating. In the current embodiment, the method 200 starts 202 when the vehicle 10 approaches a car wash entrance, such as the car wash entrance of the car wash system 100. In some embodiments, the location of the car wash system 100 can be input into the navigation system of the vehicle 10, and upon arrival, the car wash system 100 can be identified by the controller 30 and start 202 is implemented. In some embodiments, when the vehicle 10 is operating autonomously, the vehicle 10 knows its location and start 202 is implemented. In other embodiments, the method 200 recognizes the presence of the car wash system 100. The vehicle 10 can use any part of the sensor array 32, whether it is a camera, radar, lidar, ultrasound, or other form for identification. The processor 42 of the controller 30 can compare the captured scene with the feature data (such as the stored value 56) stored in the storage device 50, and when a match is found with the car wash system 100, start 202 is implemented. For better robustness, a search may be performed using a series of attributes (features extracted from the attributes) rather than actual image pixels. Once a match is found, method 200 may continue. In other embodiments, start 202 may be accomplished by other methods (such as by using GPS location data).

[0057] In an alternative to starting 202 based on identifying the presence of a car wash in front of the vehicle 10, an operator of the vehicle 10 may provide input 204 to the vehicle wash detection and entry assistance system 40, such as through the interface 48, to initiate the method 200 when the car wash system 100 is located in front of the vehicle 10. The interface 48 may communicate with the operator through any of a variety of modes, such as visual / touch screen, audio / voice, or other means.

[0058] The method 200 continues by capturing 206 features of the car wash system 100 and its entrance area. The current embodiments may be described in a camera-based sensing system, such as for capturing 206, but may be performed in other forms. For example, portions of the method 200, including capturing 206, may also be performed by ultrasonic parking assist sensors on the front, sides, and rear of the vehicle 10. Various systems for capturing and identifying various aspects of the car wash system 100 may be used to capture 206 the scene, whether as a series of images or otherwise, for analysis on the processor 42 chip to identify objects of interest, such as the entrance 104, track 106, conveyor 108, brush 110, stand 112, signal 114, and / or other attributes / features.

[0059] After capturing 206 the features of the car wash system 100, the controller 30 determines 208, such as through the processor 42, whether the vehicle 10 is operating in an autonomous mode. When the determination 208 is affirmative and the vehicle 10 is operating in an autonomous mode, the method 200 continues to prepare 215 the vehicle 10 for car wash entry. When the determination 208 is negative and the vehicle 10 is not operating in an autonomous mode, the method 200 continues to prompt 212, such as through the interface 48, for the driver to confirm the engagement of the car wash detection and entry assistance system 40 by the controller 30. The method 200 determines 214 whether the driver has confirmed the engagement. When the determination 214 is negative, meaning that the driver has declined the assistance or entered manual operation without entry assistance, the method 200 ends 216, and the driver controls the vehicle 10 without assistance, and the controller 30 provides no assistance or limited assistance to the driver. For example, in an embodiment, if the action begins while the operator is moving the vehicle 10, the controller 30 may continue to remind the operator.

[0060] When the determination 214 is positive, meaning that the operator has accepted the automatic car wash entry assist mode of operation of the controller 30, the method 200 continues to prepare 215 the vehicle 10 for entry into the car wash system 100. Prior to preparing 215 the vehicle 10, the controller 30 may save a profile with component positions and / or feature settings of the vehicle 10 in, for example, the storage device 50 before entering the car wash system 100. The preparation 215 may include folding the exterior mirrors 70, moving / verifying that the windows 62 are in or moved to an up and closed position, moving / verifying that the roof (sunroof) 64 is in or moved to a closed position, and verifying that the doors 66 and hatches 68 are in a fully closed and latched position. In embodiments where the vehicle 10 is a convertible, the controller 30 verifies that the roof is in a fully closed and latched position. As part of the preparation 215, the controller 30 may also disable various sensors of the sensor array 32. For example, when the vehicle 10 is in the car wash system 100, the front and rear parking assist warning messages may be disabled to avoid giving the operator unnecessary feedback.

[0061] In embodiments, various other preparation 215 operations may be implemented, which may be customized by the operator through interface 48. For example, preparation 215 may be customizable such that the operator of vehicle 10 may input preferences, such as through interface 48, regarding what actions controller 30 may take. In various embodiments, any automated aspects of vehicle wash detection and entry assistance system 40 may be customizable / optional. In some embodiments, controller 30 may set the heating, ventilation, and air conditioning system to a preset selected by the operator of vehicle 10. In some embodiments, controller 30 may set the infotainment system of vehicle 10 to a preset selected by the operator, such as a radio station, volume, etc.

[0062] Before, during, or after preparation 215, method 200 determines 218 a path into car wash system 100, including approach and alignment. For example, controller 30 calculates a steering angle to place the wheels of vehicle 10 on conveyor 108. In other embodiments, controller 30 calculates a steering angle to center vehicle 10 within gantry 112. In other embodiments, other attributes / features of car wash system 100 may be used to calculate a path for vehicle 10 into car wash system 100.

[0063] With the route into the car wash system 100 determined 218 , the vehicle wash detection and entry assistance system 40 prepares to move the vehicle 10 into the car wash system 100 . The method 200 determines 220 whether the vehicle is in an autonomous operating mode.

[0064] When the determination 220 is negative, meaning that the vehicle 10 is not operating autonomously, the method 200 determines 222 the details of the selected operation. At this step, there are several options to choose from. When the operator of the vehicle 10 has configured the vehicle wash detection and entry assistance system 40 for automatic steering and acceleration of the vehicle 10, such as through the interface 48, the controller 30 prompts 224 the operator through the interface 48 to remove their hands from the steering system (steering wheel) and avoid applying pressure to the accelerator and brake pedals.

[0065] In embodiments where the vehicle 10 is not equipped for autonomous operation or advanced parking assistance, or in embodiments where the operator has chosen to take control, the controller 30 may display guidance, through the interface 48 and via the front view image, for the best path into the car wash system 100 to assist the operator of the vehicle 10 while moving as part of the prompt 224. For example, the guidance may display wheel paths to assist the operator in properly placing the wheels of the vehicle 10 on the conveyor 108, or centering the vehicle 10 within the gantry 112. Upon entering the car wash system 100, the driver is prompted 224 to follow instructions for operating the vehicle 10.

[0066] When entry of the vehicle 10 into the car wash system 100 is complete, as determined by zero speed of the vehicle 10 and / or the transmission 15 being shifted into neutral or park, the controller 30 alerts the operator via the interface 48, such as via prompt 224, that the vehicle 10 is positioned within the car wash system 100. In the event that the vehicle 10 is manually driven by the operator, or when autonomous shifting is not activated, the controller 30 prompts 224 the operator via the interface 48 that they are in control of the vehicle 10 and shift into park or neutral depending on the type of car wash system detected.

[0067] The method 200 may continue by detecting 226 the end of the wash cycle and prompting 228 the operator of the vehicle 10 that the car wash system 100 has completed its cycle. For example, the controller 30 may determine via the sensor array 32 that the signal 114 indicates exiting the car wash system 100. The controller 30 may restore the parking assist warning information and set the steering angle to straight ahead. The controller 30 may remind the operator that the car wash is complete, such as via the prompt 228 and through the interface 48. The method 200 prompts 228 the driver to follow the instructions for operating the vehicle 10 to exit the car wash system 100. When the vehicle 10 is manually operated, the operator may switch the transmission 15 to drive and move forward.

[0068] Returning to determination 220, when determination 220 is affirmative, meaning that the vehicle 10 is in autonomous mode, the vehicle 10 operates autonomously and enters 230 the car wash system 100. The controller 30 operates the systems of the vehicle 10, including steering, acceleration, and braking, to move the vehicle 10 into the car wash system 100 along the path determined 218 using the actuator system 22. As part of the entry 230 operation, the controller 30 may monitor the distance to the attributes / features of the car wash system 100 via the sensor array 32, and may monitor the signal 114 to park the vehicle 10 in the appropriate position of the car wash system 100. Data is collected from the sensor array 32 of the vehicle 10. This includes raw data from the sensor array 32 about the environment of the vehicle 10, such as raw data from the front camera module 72, lidar, radar, GPS, and other sensors, and data from onboard sensors that monitor the state of the vehicle 10, such as speed sensors, steering angle sensors, brake application sensors, inertial measurement units, and other sensors. When the vehicle 10 is moved into position and the car wash system 100 has a conveyor 108, the controller 30 places the transmission 15 in a neutral state. When the car wash system 100 has a platform 112 that moves on a stationary vehicle, the controller 30 places the transmission 15 in a parked state within the wash facility. In the case of autonomous driving of the vehicle 10, the controller 30 maintains control of the vehicle 10. The vehicle 10 can continue to monitor the signal 114 via the controller 30 and the sensor array 32.

[0069] The method 200 may continue by detecting 232 the end of the wash cycle. For example, the controller 30 may determine via the sensor array 32 that the signal 114 indicates exiting the vehicle wash system 100. The controller 30 may alert the operator that the vehicle wash is complete, such as through the interface 48. When the vehicle is operating autonomously, the controller 30 may shift the transmission 15 to drive and move the vehicle 10 forward.

[0070] Upon exiting the car wash system 100, whether autonomously or manually, the controller 30 returns 234 the features of the vehicle 10 to their saved pre-car wash state. The controller 30 may turn on the exterior rearview mirrors 70. The controller 30 may operate the windshield and rear window wiper systems to clean the glass via a wipe cycle. The number of wipe cycles may be customized via the interface 48. In an embodiment, the controller 30 may reset any moving parts or change features, use the saved profile for pre-car wash setup of the vehicle 10, and the method 200 may end 216.

[0071] Although at least one exemplary embodiment has been proposed in the foregoing detailed description, it should be understood that there are a large number of variations. It should also be understood that one or more exemplary embodiments are merely examples and are not intended to limit the scope, applicability or configuration of the present disclosure in any way. On the contrary, the foregoing detailed description will provide a convenient roadmap for implementing one or more exemplary embodiments for those skilled in the art. It should be understood that various changes may be made to the functions and arrangements of the elements without departing from the scope of the present disclosure as set forth in the attached claims and their legal equivalents.

Claims

1. A system for car wash detection and entry assistance for a vehicle, the system comprising a controller, the controller being configured to: identifying the presence of the vehicle at a washing facility; determining whether an operator of the vehicle has accepted entry assistance; when the operator has accepted entry assistance, preparing the vehicle for entry into the washing facility; determining a route to access the cleaning facility; as well as The operator is assisted in entering the washing facility via the vehicle via the path.

2. The system according to claim 1, wherein: The controller is configured to prepare the vehicle for entry into the washing facility by moving components of the vehicle to a predetermined position compatible with entry into the washing facility.

3. The system according to claim 1, wherein: The controller is configured to operate a steering actuator of the vehicle using the path to align the vehicle in the washing facility.

4. The system according to claim 1, wherein: As part of preparing the vehicle to enter the washing facility, the controller is configured to operate a rear view mirror actuator to fold a rear view mirror against the vehicle.

5. The system according to claim 1, wherein: The controller is configured to prompt the operator via an interface to release the steering system so that the controller can steer the vehicle.

6. The system according to claim 1, comprising: a sensor system configured to sense a position of a track of the washing facility; as well as an actuator system configured to operate a component of the vehicle, Wherein the controller is configured to determine the path based on the position of the track and to move the vehicle along the path into the cleaning facility via the actuator system.

7. The system of claim 1, comprising a sensor system and a transmission of the vehicle, the sensor system comprising a speed sensor, wherein: The controller is configured to: sensing a property of the washing facility via the sensor system; determining a speed of the vehicle via the speed sensor; as well as When the speed of the vehicle is zero speed, the transmission is switched to one of a park state or a neutral state according to the sensed attribute.

8. The system according to claim 1, wherein: The controller is configured to: preparing the vehicle to enter the washing facility by moving components of the vehicle to predetermined positions compatible with entering the washing facility; determining when a vehicle has exited the washing facility; as well as When the vehicle has left the washing facility, the components of the vehicle are restored to a pre-wash state, which is the position of the components of the vehicle before entering the washing facility.

9. A method for car wash detection and entry assistance, the method comprising: identifying, by a controller, the presence of a vehicle at a washing facility; determining, by the controller, whether an operator of the vehicle has accepted entry assistance; when the operator has accepted entry assistance, preparing the vehicle for entry into the washing facility; The controller determines a path to enter the cleaning facility; as well as The operator is assisted by the controller in causing the vehicle to enter the washing facility via the path.

10. The method of claim 9, comprising preparing, by the controller, the vehicle to enter the washing facility by moving a component of the vehicle to a predetermined position compatible with entering the washing facility.

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