Vehicle holding assist and speed control system

Abstract

Vehicle (10) comprising the following: a powertrain (20); and a control unit (100) which is programmed to reduce the output of the powertrain (20) based on a braking comfort parameter while the vehicle (10) is performing a parking maneuver, in response to the vehicle (10) exceeding a threshold, so that the speed falls below the threshold before the parking maneuver is completed, further comprising a braking system (24), wherein the control is further programmed to operate the braking system (24) based on the braking comfort parameter in response to (i) a signal indicating a distance between the vehicle (10) and an object (90) and to (ii) the speed exceeding a further threshold specified by the distance, such that the speed falls below the further threshold, wherein the control is further programmed to operate the braking system (24) in response to a signal indicating a distance between the vehicle (10) and an obstacle (92) in a lane of the vehicle (10) such that the vehicle (10) stops at a predetermined distance from the obstacle (92).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a vehicle speed control and holding assist system. BACKGROUND

[0002] Modern vehicles may be equipped with a system to avoid potential collisions with other vehicles. This system may be a low-speed collision avoidance system that communicates with multiple vehicle sensors that can provide signals indicating vehicle speed and distance to an object, allowing the brakes to be applied to stop the vehicle.

[0003] DE 196 07 788 A1 already discloses a method and a device for controlling the approach of a vehicle to an obstacle. DE 10 2012 223 718 A1 and US 2013 / 0 297 173 A1 each relate to a system and method for preventing a collision of a vehicle. SUMMARY

[0004] In at least one embodiment, a vehicle according to claim 1 is provided.

[0005] In at least one embodiment, a vehicle speed control system according to claim 5 is provided.

[0006] In at least one embodiment, a method for controlling vehicle speed according to claim 6 is provided.

[0007] Advantageous embodiments are specified in the dependent claims and the description. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an embodiment of a vehicle with a stop assist and speed control system. Fig. 2 is a perspective view of a vehicle performing a parking maneuver near a parking space. Fig. 3 is a perspective view of a vehicle on an inclined surface approaching other vehicles. Fig. 4 is an exemplary method for controlling vehicle speed. DETAILED DESCRIPTION

[0008] As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention that may be embodied in various and alternative forms. The figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. The specific structural and functional details disclosed herein are therefore not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art how to variously employ the present invention.

[0009] With reference to Fig. 1, a vehicle 10 may be provided. The vehicle 10 may be a motor vehicle, such as an automobile, a truck, an agricultural implement, or a military transport vehicle. The vehicle 10 may include a powertrain 20, a steering system 22, a braking system 24, and a parking system 26.

[0010] The powertrain 20 may provide torque to one or more wheel assemblies to propel the vehicle 10. The powertrain 20 may include an engine 30, a transmission 32, a powertrain controller 34, and at least one drive axle assembly 36.

[0011] The engine 30 may be configured as an internal combustion engine, which may be configured to operate using any type of fuel, such as gasoline, diesel, ethanol, hydrogen, etc. The engine 30 may provide power or drive torque that may be used to rotate one or more wheel assemblies to propel the vehicle 10.

[0012] The transmission 32 may be drivingly connected to the engine 30 and the drive axle assembly 36. The transmission 32 may be any suitable type, such as an automatic or manual multi-speed or multi-step transmission. The term transmission as used herein may further include a transfer case or differential 40.

[0013] The powertrain controller 34 may be configured to schedule transmission shift events, output a transmission gear position, vary driveline output torque, or split power between driveline components, if the vehicle 10 is so equipped. The powertrain controller 34 may control various friction elements or actuators of the transmission 32, such as clutches and / or brakes, to selectively transfer power from the engine 30 to the vehicle wheels according to various transmission gear ratios.

[0014] The drive axle assembly 36 may rotatably support a wheel assembly via a drive shaft 42. An output shaft 44 may be connected to an input of the differential 40.

[0015] The steering system 22 may be configured to vary a wheel orientation of a wheel assembly 50. The steering system 22 may include a steering wheel 52 rotatably connected to the wheel assembly 50 via a steering linkage 54. The steering linkage 54 may be coupled to a steering mechanism 56. The steering mechanism 56 may be connected to the wheels of the wheel assembly 50.

[0016] The steering mechanism 56 may be configured to steer or pivot the wheels of the wheel assembly 50 in response to rotation of the steering wheel 52 about a steering knuckle axis. The wheel orientation of the wheels of the wheel assembly 50 may be indicated as a wheel angle position α, and the corresponding rotational position of the steering wheel 52 may be indicated as a steering angle position β. A steering angle sensor may be configured to provide a signal indicative of the wheel angle position α and / or the steering angle position β.

[0017] A power steering motor 58 may be coupled to the steering linkage 54 and / or the steering mechanism 56. The power steering motor 58 may be configured to impart motion or apply torque to the steering mechanism 56 to vary the wheel alignment of the wheels of the wheel assembly 50.

[0018] The braking system 24 may include a braking assembly 60 that communicates with an ABS module 62. The braking assembly 60 may be configured as a friction brake that slows or prevents rotation of at least one wheel associated with the vehicle 10. The braking assembly 60 may be configured as a drum brake or a disc brake.

[0019] The ABS module 62 may be configured to send a braking torque request to the brake assembly 60. The braking torque request may control the amount or force of brake application provided by the brake assembly 60 in response to a depression of a brake pedal of a vehicle and a braking comfort parameter. In at least one embodiment, the ABS module 62 may be configured to monitor a speed of the vehicle 10 based on a wheel speed and a wheel alignment.

[0020] With reference to Fig. 2 shows a perspective view of the vehicle 10 performing an exemplary parking maneuver near a parking space. The parking system 26 can assist the operator of the vehicle 10 in performing parking maneuvers and can guide the vehicle 10 into an identified parking space without operator intervention. The parking system 26 can be configured to guide the vehicle 10 into the identified parking space and stop the vehicle at a predetermined distance from an object either behind the vehicle 10, P1, or in front of the vehicle 10, P2.

[0021] The parking maneuver may be calculated or determined by the parking system 26 using known techniques. Examples of such guidance path calculation techniques are shown in Toledo et al., U.S. Patent Application No. 20110260887 A1 and Toledo et al., U.S. Patent No. 8,169,341 B2, the disclosures of which are hereby incorporated by reference in their entirety.

[0022] The parking system 26 may be configured to operate the powertrain 20, the steering system 22, and the braking system 24 to perform and complete the parking maneuver. The parking system 26 may include a plurality of parking sensors 70, a forward object detection sensor 72, and a rearward object detection sensor 74, all of which communicate with the parking module 76.

[0023] The plurality of parking sensors 70 may be arranged near the corners of the vehicle 10. The plurality of parking sensors 70 may be configured to provide complete or nearly complete sensor coverage around the vehicle 10. The number, type, or positioning of the plurality of parking sensors 70 may vary depending on the vehicle application. The plurality of parking sensors 70 may include a parking sensor, a proximity sensor, and / or a side view sensor.

[0024] The plurality of parking sensors 70 may be configured as ultrasonic sensors including a transmitter and a receiver. In at least one embodiment, the plurality of parking sensors 70 may be configured as radar, lidar, optical sensors, or the like. The forward object detection sensor 72 may be a forward-facing camera configured to provide information about obstacles or objects located in front of the vehicle 10. The information may be provided to the operator of the vehicle via a human-machine interface 80. The forward object detection sensor 72 may be located near a front portion of the vehicle 10.

[0025] The rear object detection sensor 74 may be a rear-facing camera configured to provide information about obstacles or objects located behind the vehicle 10. The information may be provided to the vehicle operator via a human-machine interface 80. The rear object detection sensor 74 may be located near a rear portion of the vehicle 10.

[0026] The plurality of parking sensors 70 may be configured to provide a signal indicating a distance between the vehicle 10 and an object 90 proximate the vehicle 10. The object 90 may be another vehicle. The plurality of parking sensors 70 may be configured to provide a signal indicating a distance between the vehicle 10 and an obstacle 92 that may enter the path of the vehicle 10 during operation of the vehicle 10, such as a person, a trash can, a bicycle, or another inanimate object.

[0027] The parking system 26 may be configured to monitor a distance between the vehicle 10 and an object 90 based on a plurality of zones extending around the vehicle. The zones may be classified based on distances from the vehicle 10. For example, zone n may be the zone closest to the vehicle 10 and zone n+1 may be the zone farthest from the vehicle 10 in which an object 90 may be detected by the plurality of parking sensors 70. In some embodiments, zone n+1 may be the zone closest to the vehicle 10 and zone n may be the zone farthest from the vehicle 10 in which an object 90 may be detected by the plurality of parking sensors 70.

[0028] Zone 1 may be used as used in the present disclosure and as described in Fig. 2, may correspond to a first distance, D1, from the vehicle 10. Zone 2 may correspond to a second distance, D2, from the vehicle 10. Zone 3 may correspond to a third distance, D3, from the vehicle 10.

[0029] A controller 100 may communicate with the powertrain controller 34, the ABS module 62, and the parking module 76. The controller 100 may be a vehicle system controller or multiple controllers interconnected via a CAN bus network.

[0030] Controller 100 may be configured to establish a predetermined vehicle speed threshold associated with a zone while parking system 26 is performing a parking maneuver. Controller 100 may be further configured to establish a predetermined vehicle speed threshold associated with a zone while vehicle 10 is operating and not performing a parking maneuver. The predetermined deceleration threshold associated with the zone may vary depending on whether the vehicle is performing a parking maneuver or not.

[0031] Controller 100 may be configured to establish a predetermined deceleration threshold associated with the zone while parking system 26 is performing a parking maneuver. Controller 100 may be further configured to establish a predetermined deceleration associated with a zone while vehicle 10 is operating and not performing a parking maneuver. The predetermined deceleration associated with the zone may vary depending on whether the vehicle is performing a parking maneuver or not.

[0032] The predetermined deceleration may be a rate at which the vehicle speed is reduced. Controller 100 may be configured to provide the braking comfort parameter for influencing the braking output torque applied to brake assembly 60 based on the predetermined vehicle speed, the predetermined deceleration, the powertrain gear position, the braking torque request, the maximum braking output torque, the zone, and the vehicle wheel alignment.

[0033] The braking comfort parameter may enable a comfortable or steady stop of the vehicle 10 when the vehicle 10 completes a parking maneuver, which may be referred to as a stop control. The braking comfort parameter may also enable a comfortable deceleration of the vehicle 10 as the vehicle 10 approaches an object 90 in front of the vehicle 10 in various situations, which may be referred to as a speed control. The braking comfort parameter may limit the actuation of a brake pump of the brake assembly 60 to bring the vehicle 10 to a stop gradually and more comfortably or to reduce its speed.

[0034] The hold control function may be activated when the vehicle 10 approaches an object 90 during a parking maneuver. The controller 100 may be programmed to monitor a speed of the vehicle 10 while the vehicle 10 is performing a parking maneuver relative to an object 90. The controller 100 may compare the actual speed of the vehicle to the predetermined vehicle speed threshold associated with the current zone and the current distance, D1, between the vehicle 10 and the object 90. The controller 100 may command a reduction in an output torque of the powertrain 20 if the speed of the vehicle 10 exceeds the predetermined vehicle speed threshold associated with the current zone.The reduction in the output torque of the powertrain 20 may be based on the braking comfort parameter such that the speed of the vehicle 10 falls below or approaches the predetermined vehicle speed threshold associated with the current zone before the parking maneuver is completed. The output torque of the powertrain 20 may be reduced at least until the parking maneuver is completed. In at least one embodiment, the output torque of the powertrain 20 may be progressively reduced as the vehicle 10 moves increasingly closer to the object 90. In at least one embodiment, the output speed of the powertrain 20 may be limited or progressively reduced by the controller 100 as the vehicle 10 moves increasingly closer to the object 90.

[0035] The controller 100 may be programmed to monitor a distance, D2, between the vehicle 10 and the object 90 while the vehicle 10 is performing the parking maneuver with respect to an object 90. The controller 100 may operate the braking system 24 to reduce the vehicle speed so that the speed of the vehicle 10 falls below or approaches the predetermined vehicle speed threshold associated with the current zone when the speed of the vehicle 10 exceeds the predetermined vehicle speed threshold associated with the distance, D2. The operation of the braking system 24 may be based on the braking comfort parameter and the speed of the vehicle and / or the predetermined vehicle speed threshold associated with the distance, D2.In at least one embodiment, the braking torque applied to the brake assembly 60 may be increased progressively as the vehicle moves progressively closer to the object 90. The distance, D1, may be greater than the distance, D2.

[0036] The controller 100 may be programmed to operate the braking system 24 as the vehicle 10 approaches completion of the parking maneuver with respect to the object 90 and in response to a signal indicating that the object 90 is in a zone closer to the vehicle 10. The braking system 24 may be operated to maintain the vehicle 10 within the predetermined distance, P1 or P2, from the object 90 without operator intervention.

[0037] The braking torque applied by the braking assembly 60 to stop the vehicle 10 within the predetermined distance, P1 or P2, may be below a maximum braking torque capability of the braking system 24 to reduce noise, vibration, and harshness of the stop. By reducing the maximum braking torque capability, the extent of suspension rocking can be reduced and occupant comfort during the stop can be improved.

[0038] The controller 100 may be programmed to stop the vehicle 10 within a predetermined distance of an obstacle 92 without operator intervention. The obstacle 92 may be detected by the plurality of parking sensors 70 while the vehicle 10 is performing the parking maneuver relative to the object 90. The controller 100 may be programmed, in response to the plurality of parking sensors 70 providing a signal indicative of a distance, D3, between the vehicle and the obstacle, to operate the braking system 24 to stop the vehicle 10 within a predetermined distance, P3, of the obstacle 92.

[0039] The braking torque applied by the braking assembly 60 to stop the vehicle 10 within the predetermined distance, P3, from the obstacle 92 may be below a maximum braking torque capability to reduce noise, vibration, and harshness of the stop. The braking torque applied to the braking assembly 60 may be higher than the braking torque applied to the braking assembly when no obstacle 92 is detected. Increasing the braking torque applied to the braking assembly 60 may increase the extent of suspension rock and may prove less comfortable than the stop performed at the conclusion of the parking maneuver.

[0040] With reference to Fig. 3 shows a perspective view of the vehicle 10 on an inclined surface 110 approaching other vehicles. The speed control function may be activated upon the vehicle 10 approaching an object 90, such as another vehicle, in front of the vehicle 10 without performing a parking maneuver. The vehicle 10 may be operating on an inclined surface 110 and may have a pitch angle 112. The vehicle 10 may be equipped with a standalone vehicle pitch angle sensor or may include a body control module configured to provide various vehicle dynamic parameters, such as roll angle, pitch angle, and yaw rate.

[0041] The controller 100 may be programmed to monitor a distance between the vehicle 10 and the obstacle 92 when the vehicle 10 is operating on an inclined surface 110. The controller 100 may have a desired vehicle speed associated with various distances between the vehicle 10 and the object 90. In response to a distance, D, between the vehicle 10 and the object 90 falling below a first threshold distance, t1, and a speed of the vehicle 10 being above the desired vehicle speed associated with the distance, D, the controller 100 may reduce the speed of the vehicle 10 to approximately the desired vehicle speed associated with the distance, D, without operator intervention. The speed of the vehicle 10 may be reduced based on the pitch angle 112 and the distance, D.

[0042] The speed of the vehicle 10 may be reduced such that the distance, D, between the vehicle 10 and the object 90 increases above the first threshold distance, t1. The controller 100 may be programmed to reduce the speed of the vehicle 10 by limiting a powertrain output torque or speed or activating the braking system 24. The powertrain output may be reduced without operator intervention at least until the point at which the distance, D, between the vehicle 10 and the object 90 increases above the first threshold distance, t1.

[0043] In at least one embodiment, powertrain output may be reduced by providing a modified accelerator pedal position. The modified accelerator pedal position may provide a reduced powertrain output torque or speed command compared to the current accelerator pedal position. The modified accelerator pedal position may be based on a pedal map relating an accelerator pedal position to a powertrain output torque or speed.

[0044] The controller 100 may reduce the speed of the vehicle 10 by activating the braking system 24. The braking system 24 may be activated to apply braking torque to the braking assembly 60 while the distance, D, between the vehicle 10 and the object 90 is below a second threshold distance, t2. The braking torque may be based on a predetermined deceleration, the distance, D, and the braking comfort parameter. The second threshold distance, t2, may be below the first threshold distance, t1.

[0045] With reference to Fig.4, an example method for controlling vehicle speed is shown. The method may receive a signal indicative of a distance between the vehicle 10 and an object 90 and a vehicle speed. At block 200, the method may determine whether the vehicle 10 is moving toward an object 90. The vehicle 10 may be moving toward an object 90 if a first distance between the vehicle and the object 90 falls below a first threshold distance and the vehicle speed is above a predetermined speed associated with the first threshold distance. The first threshold distance may be a distance associated with the farthest zone from the vehicle 10, Zone 1, in which an object 90 may be detected by the plurality of parking sensors 70. If the vehicle 10 is not moving toward an object 90, the method may restart performing the cycle.

[0046] At block 202, the method may determine whether the vehicle 10 is performing a parking maneuver. The vehicle 10 may perform the parking maneuver if the parking system 26 has identified a parking space and the powertrain 20 and steering system 22 are operated to guide the vehicle 10 into the parking space. If the vehicle 10 is performing a parking maneuver, the method may proceed to block 204. If the vehicle 10 is not performing a parking maneuver while moving toward an object 90, the method may proceed to block 206.

[0047] At block 204, the method may compare the vehicle speed to the predetermined parking maneuver speed associated with the first threshold distance. If the vehicle speed is above the predetermined parking maneuver speed associated with the first threshold distance, the method may reduce the powertrain output torque at block 208. At block 208, the powertrain output may be speed-limited or torque-limited based on a combination of at least two of the following: the vehicle speed, a set vehicle speed, a braking speed set above the set vehicle speed, and a predetermined deceleration threshold such that the vehicle deceleration is below the predetermined deceleration threshold.Limiting the vehicle deceleration to less than the predetermined deceleration threshold may improve the comfort of the vehicle occupants while the vehicle 10 is decelerated to the predetermined parking maneuver speed associated with the first threshold distance. If the vehicle speed is not above the predetermined parking maneuver speed associated with the first threshold distance, the method may restart execution of the cycle. In at least one embodiment, the vehicle speed may be reduced at block 208 by operating the braking system 60 and the powertrain 12 to control the overall vehicle speed.

[0048] The method may continue assessing the distance between the vehicle 10 and the object 90. At block 210, the method may compare the distance between the vehicle 10 and the object 90 to a second threshold distance. If the distance between the vehicle 10 and the object 90 is less than the second threshold distance, the method may operate the braking system 24 at block 212. The braking system 24 may be operated to reduce the vehicle speed based on the distance between the vehicle 10 and the object 90 and a predetermined deceleration threshold based on the braking comfort parameter. If the distance between the vehicle 10 and the object 90 is greater than the second threshold distance, the method may proceed to block 214.

[0049] At block 214, the method may continue assessing whether an obstacle is within view of the plurality of parking sensors 70. The method may assess the distance between the vehicle 10 and the obstacle 92. If an obstacle 92 is detected to be at a distance between the vehicle 10 and the obstacle 92 that is less than a third threshold distance while the vehicle is performing the parking maneuver, the method may operate the braking system 24. The braking system 24 may be operated based on the braking comfort parameter such that the vehicle 10 is stopped within a predetermined distance, P3, between the vehicle 10 and the obstacle 92. Should the distance between the vehicle 10 and the obstacle 92 be greater than the third threshold distance, the method may restart execution of the cycle.

[0050] Returning to block 206, the method may receive a signal indicative of a pitch angle 112. The vehicle 10 may be operating on an inclined surface 110 if the pitch angle 112 is above a pitch angle threshold. If the vehicle is operating on an inclined surface 110, the method may proceed to block 216. If the pitch angle is below a pitch angle threshold, the method may restart execution of the cycle.

[0051] At block 216, the method may compare the vehicle speed to a vehicle speed threshold associated with the first threshold distance. If the vehicle speed is above the vehicle speed threshold associated with the first distance, the method may operate a powertrain 20 to meet the vehicle speed threshold at block 218. The powertrain output may be torque limited or speed limited based on the pitch angle 112 and the distance between the vehicle and the object 90. The powertrain output torque may be reduced at least until the point where the distance between the vehicle 10 and the object 90 increases above the first threshold distance. Should the vehicle speed be below the vehicle speed threshold associated with the first distance, the method may restart performing the cycle.

[0052] At block 220, the method may compare the distance between the vehicle 10 and the object 90 to a second threshold distance. If the distance between the vehicle 10 and the object 90 is less than the second threshold distance and the vehicle speed is above a predetermined speed associated with the second threshold distance, the method may operate the braking system 24 at block 222. The braking system 24 may be operated to reduce the vehicle speed based on the distance and a predetermined deceleration threshold associated with the second threshold distance. Should the distance between the vehicle and the object 90 be greater than the second threshold distance and the vehicle speed is below the predetermined speed associated with the second threshold distance, the method may restart performing the cycle.

[0053] Although exemplary embodiments are described above, these embodiments are not intended to describe all possible forms of the invention. Instead, the terms used in the description are for the purpose of description rather than limitation, and it is understood that various changes may be made without departing from the spirit and scope of the invention. Furthermore, the features of the various implementation embodiments may be combined to form further embodiments of the invention.

Claims

[1] Vehicle (10) comprising: a drive train (20); and a controller (100) programmed to reduce an output of the powertrain (20) based on a braking comfort parameter while the vehicle (10) is performing a parking maneuver and in response to a speed of the vehicle (10) exceeding a threshold, such that the speed falls below the threshold before completion of the parking maneuver, further comprising a braking system (24), wherein the controller is further programmed, in response to (i) a signal indicative of a distance between the vehicle (10) and an object (90) and (ii) the speed exceeding a further threshold predetermined by the distance, to operate the braking system (24) based on the braking comfort parameter such that the speed falls below the further threshold, wherein the controller is further programmed, in response to a signal indicative of a distance between the vehicle (10) and an obstacle (92) in a lane of the vehicle (10), to operate the braking system (24) such that the vehicle (10) stops at a predetermined distance from the obstacle (92). [2] The vehicle (10) of claim 1, wherein the braking comfort parameter is based on a driveline gear position, a braking torque request, or a vehicle wheel alignment. [3] The vehicle (10) of claim 1, wherein the braking comfort parameter is based on a maximum braking output torque and a predetermined deceleration threshold associated with the distance between the vehicle (10) and the object (90) and the distance between the vehicle (10) and the obstacle (92). [4] The vehicle (10) of claim 1, wherein the distance between the vehicle (10) and the object (90) is greater than the distance between the vehicle (10) and the obstacle (92). [5] Vehicle speed control system comprising: a controller programmed to, in response to a distance between a vehicle (10) and an object (90) falling below a first threshold and a speed of the vehicle (10) exceeding a desired speed based on a slope of the vehicle (10) and the distance, reduce the speed to the desired speed, wherein reducing the speed comprises reducing an output of the powertrain (20) at least to the point where the distance exceeds the first threshold, wherein reducing the speed comprises activating a braking system (24) to apply a braking torque based on a predetermined deceleration while the distance is below a second threshold, the second threshold being below the first threshold. [6] A method for controlling vehicle speed, comprising: in response to a distance between a vehicle (10) and an object (90) falling below a first threshold and a vehicle speed exceeding a first predetermined speed specified by the first distance, reducing an output of the powertrain (20) according to a pitch of the vehicle (10) to reduce the vehicle speed to the first predetermined speed, further comprising, in response to the distance falling below a second threshold and the vehicle speed exceeding a second predetermined speed specified by the second threshold, operating a braking system (24) to reduce the vehicle speed according to a predetermined deceleration. [7] The method of claim 6, wherein the output of the powertrain (20) is reduced at least until the point at which the distance increases above the first threshold. [8] The method of claim 6, further comprising, in response to the vehicle speed exceeding a predetermined speed associated with a parking maneuver while the vehicle (10) is performing the parking maneuver, reducing the output of the powertrain (20) based on the vehicle speed and a predetermined deceleration threshold such that the vehicle deceleration is below the predetermined deceleration threshold. [9] The method of claim 8, further comprising, in response to a distance between the vehicle (10) and an obstacle (92) proximate the vehicle (10) falling below a third threshold while the vehicle (10) is performing the parking maneuver, operating a braking system (24) based on a braking comfort parameter to stop the vehicle (10) at a predetermined distance from the obstacle (92). [10] The method of claim 9, wherein the braking comfort parameter is based on vehicle speed and a vehicle wheel alignment. [11] Method according to claim 8, wherein the output of the drive train (20) is reduced at least until the completion of the parking maneuver.

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