System for controlling a vehicle's steering system

Abstract

Steering control system (100) for providing steering assistance to an operator of a vehicle (10) when exiting a parallel parking space, comprising: a processor (102); and a memory (106) containing instructions which, when executed by the processor (102), cause the processor (102) to: to determine a first steering direction of the vehicle (10) based on a clue representing a direction of view of the operator of the vehicle (10) (302), wherein the direction of view of the operator represents a direction in which the operator intends to move the vehicle (10) in order to drive out of the parallel parking space; to determine a selected gear of the vehicle (10) (304); in response to the fact that the selected gear is ‘Driving’, to generate an initial steering control value based on the initial steering direction and the selected gear (306); to selectively control (308) the steering of the vehicle (10) based on the first steering control value, wherein the first steering control value causes the wheels of the vehicle (10) to turn into a first fully turned position in the first steering direction; in response to the fact that the selected gear is "Reverse", generate a second steering control value (404); and to selectively control the steering of the vehicle (10) based on the second steering control value (406), wherein the second steering control value causes the wheels of the vehicle (10) to turn into a second fully turned position in a second steering direction opposite to the first steering direction, so that the operator of the vehicle (10), who shifts the selected gear from "Drive" to "Reverse", causes the steering of the vehicle (10) to change from the first fully turned position to the second fully turned position, and the operator of the vehicle (10), who shifts the selected gear from "Reverse" to "Drive", causes the steering of the vehicle (10) to change from the second fully turned position to the first fully turned position.

Description

TECHNICAL AREA

[0001] The invention relates to a steering control system, a vehicle steering control system and a method for steering a vehicle. BACKGROUND

[0002] Vehicles such as cars, trucks, SUVs, crossovers, minivans, and other suitable vehicles are increasingly equipped with advanced technology that offers operators of such vehicles various advanced functions. For example, typical vehicles may include advanced mirror control, complex engine control, driver assistance functions (e.g., adaptive cruise control), complex safety features, and the like.

[0003] For example, German patent application DE 11 2015 004 150 B4 describes a steering control system for providing steering assistance to the operator of a vehicle when exiting a parallel parking space. This system is designed to determine the direction in which the vehicle's wheels should first turn, based on a comparison between the distance between adjacent vehicles and a threshold value for that distance. German patent applications DE 10 2009 011 990 A1 and DE 100 24 227 A1 describe related systems.

[0004] Although such features offer the operator improved functionality and / or various conveniences, certain aspects of operating a vehicle remain relatively cumbersome. For example, when parallel parking or exiting a parallel parking space, the operator may have to alternate between rotating a steering mechanism, such as a steering wheel, to a fully turned position in one direction (e.g., to one side) and rotating the steering mechanism to a fully turned position in the opposite direction (e.g., to the opposite side). The operator may continue to alternate between rotating the steering mechanism to the fully turned position on one side and the fully turned position on the opposite side until the vehicle is parked. Since more torque is required to steer a vehicle's wheels in a steady state (e.g.,(e.g., by using the steering mechanism) maneuvering the vehicle in this way requires more effort from the operator. This can be tedious and stressful for the operator and may lead to damage to the vehicle or to third-party property.

[0005] Therefore, one of the aims of the invention is to increase driving comfort and safety when parking and unparking.

[0006] The aforementioned problem is solved by a steering control system with the features of claim 1, by a vehicle steering control system with the features of claim 5, and by a method with the features of claim 9. Advantageous further developments are set forth in the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The revelation is best understood from the following detailed description when read in conjunction with the accompanying drawings. It is emphasized that, according to common practice, the various features of the drawings are not to scale. Rather, the dimensions of the various features are arbitrarily enlarged or reduced for clarity. Fig. Figure 1 generally illustrates a vehicle in accordance with the principles of the present disclosure. Fig. Figure 2 illustrates a steering control system in general, in accordance with the principles of the present disclosure. Fig. Figure 3 is a flowchart that generally illustrates a steering control procedure in accordance with the principles of the present disclosure. Fig. Figure 4 is a flowchart that generally illustrates an alternative steering control method in accordance with the principles of the present disclosure. Fig. Figure 5 is a graph that illustrates the implementation of a steering control system according to the principles of the present disclosure. DETAILED DESCRIPTION

[0008] The following discussion relates to various embodiments of the invention. Although one or more of these embodiments may be preferred, the disclosed embodiments should not be interpreted or otherwise used in such a way as to limit the scope of the disclosure, including the claims. Furthermore, a person skilled in the art will understand that the following description has broad application and that the discussion of one embodiment is intended only as an example of that embodiment and does not imply that the scope of the disclosure, including the claims, is limited to that embodiment.

[0009] As described, vehicles such as cars, trucks, SUVs, crossovers, minivans, and other suitable vehicles are increasingly equipped with advanced technology that offers operators of such vehicles more advanced functions. For example, typical vehicles may include advanced mirror control, complex engine control, driver assistance functions (e.g., adaptive cruise control and the like), complex safety features, and the like.

[0010] Although such features offer the operator improved functionality and / or various conveniences, certain aspects of operating a vehicle remain relatively cumbersome. For example, when parallel parking or exiting a parallel parking space, the operator may alternate between rotating a steering mechanism, such as a steering wheel, to full lock in one direction and rotating it to full lock in the opposite direction. The operator may continue to alternate between rotating the steering mechanism to full lock in one direction and full lock in the opposite direction until the vehicle is parked. Because more torque is required to steer the vehicle's wheels in a stationary state (e.g., by using the steering mechanism), maneuvering the vehicle in this manner requires more effort from the operator.This can be tedious and stressful for the operator and can lead to damage to the vehicle or to third-party property.

[0011] Accordingly, systems and methods are provided that offer the operator steering assistance when exiting a parallel parking space. In some embodiments, the systems and methods described herein may be configured to fully turn the steering mechanism of a vehicle with a driver input of "Drive" or "Reverse" to the left or right. In some embodiments, the systems and methods described herein may be configured to receive an input specifying a parking direction or a departure direction (e.g., to the left or right of the vehicle). The systems and methods described herein may be configured to activate or take action in response to receiving such an input.

[0012] In some embodiments, the systems and methods described herein may be configured to instruct an operator to release themselves from a steering mechanism (e.g., a steering wheel) (e.g., to remove their hands from it). The systems and methods described herein may be configured to determine whether the steering mechanism is being actuated by the operator (e.g., hands on the steering mechanism) or released (e.g., hands away from the steering mechanism). The systems and methods described herein may be configured to deactivate themselves in response to the operator acting on the steering mechanism (e.g., to stop the steering control). In some embodiments, the systems and methods described herein may be configured to activate a steering control in response to the operator releasing the steering mechanism.

[0013] In some embodiments, the systems and methods described herein may be configured to determine whether a selected vehicle gear indicates a reverse or drive mode. If the vehicle is in reverse, the systems and methods described herein are configured to control the steering in a direction opposite to the direction specified by the input, to the fully turned position. Conversely, if the vehicle is in drive mode, the systems and methods described herein are configured to control the steering in a direction specified by the input, to the fully turned position. The systems and methods described herein may also be configured to determine again whether the steering mechanism is engaged or disengaged.When the steering mechanism is released, the systems and procedures described herein may be configured to continue with the vehicle's steering control and repeat the above process. However, when the steering mechanism is actuated, the systems and procedures described herein may be configured to disable the steering control (e.g., return steering control to the operator). In some embodiments, the systems and procedures described herein may be configured to allow the operator to actuate the steering mechanism while the vehicle's steering control is active.

[0014] In some embodiments, the systems and methods described herein can be configured to reduce the operator's effort when interacting with a steering mechanism (e.g., when repeatedly turning a steering wheel). The systems and methods described herein can be configured to reduce or eliminate the need for sensor units (e.g., ultrasonic sensors) for such steering control. The systems and methods described herein can be configured to reduce or eliminate closed-loop trajectory planning. The systems and methods described herein can be configured to give the operator complete control over the vehicle's throttle and braking when steering control is activated.The systems and procedures described herein can be configured to exploit the fact that the fastest way to enter or exit a parking space is to fully turn the steering mechanism alternately left and right, depending on the gear selection. The systems and procedures described herein can also be configured to use parking sensors, when the steering control is activated, to warn the operator of approaching obstacles.

[0015] Fig. Figure 1 illustrates a vehicle 10 in general, in accordance with the principles of this disclosure. The vehicle 10 may include any suitable vehicle, such as a car, truck, off-road vehicle, minivan, crossover, any other passenger vehicle, any suitable commercial vehicle, or any other suitable vehicle. Although the vehicle 10 is illustrated as a wheeled passenger vehicle for use on roads, the principles of this disclosure may apply to other vehicles, such as airplanes, boats, trains, drones, or other suitable vehicles.

[0016] The vehicle 10 comprises a vehicle body 12 and an engine hood 14. A passenger compartment 18 is defined, at least in part, by the vehicle body 12. Another section of the vehicle body 12 defines an engine compartment 20. The engine hood 14 can be movably attached to a section of the vehicle body 12 such that the engine hood 14 provides access to the engine compartment 20 when the engine hood 14 is in a first or open position, and the engine hood 14 covers the engine compartment 20 when the engine hood 14 is in a second or closed position. In some embodiments, the engine compartment 20 may be located in the rear section of the vehicle 10, unlike the generally illustrated one.

[0017] The passenger compartment 18 can be located behind the engine compartment 20, but in embodiments where the engine compartment 20 is located in the rear section of the vehicle 10, it can be located in front of the engine compartment 20. The vehicle 10 can have any suitable propulsion system, including an internal combustion engine, one or more electric motors (e.g., in an electric vehicle), one or more fuel cells, a hybrid propulsion system (e.g., in a hybrid vehicle) comprising a combination of an internal combustion engine, one or more electric motors, and / or any other suitable propulsion system.

[0018] In some embodiments, the system 10 may have a gasoline engine, such as a spark-ignition engine. In some embodiments, the vehicle 10 may have a diesel engine, such as a compression-ignition engine. The engine compartment 20 houses and / or encloses at least some components of the vehicle 10's drive system. Additionally or alternatively, drive controls such as an acceleration actuator (e.g., an accelerator pedal), a brake actuator (e.g., a brake pedal), a steering wheel, and other such components are arranged in the passenger compartment 18 of the vehicle 10. The drive controls can be actuated or controlled by a driver of the vehicle 10 and can be directly connected to corresponding components of the drive system, such as a throttle valve, a brake, a vehicle axle, a vehicle transmission, and the like.In some embodiments, the drive controllers can communicate signals (e.g., in drive-by-wire systems) to a vehicle computer, which in turn can control the corresponding drive component of the drive system. Thus, in some embodiments, the vehicle 10 can be an autonomous vehicle.

[0019] In some embodiments, the vehicle 10 comprises a transmission communicating with a crankshaft via a flywheel, a shift clutch, or a fluid coupling. In some embodiments, the transmission comprises a manual transmission. In some embodiments, the transmission comprises an automatic transmission. The vehicle 10 may, in the case of an internal combustion engine or a hybrid vehicle, comprise one or more pistons that work together with the crankshaft to generate power that is transmitted by the transmission to one or more axles, rotating wheels 22. If the vehicle 10 comprises one or more electric motors, a vehicle battery and / or fuel cell provides energy to the electric motors to rotate the wheels 22.

[0020] Vehicle 10 may include automatic vehicle propulsion systems such as cruise control, adaptive cruise control, automatic braking control, other automatic vehicle propulsion systems, or a combination thereof. Vehicle 10 may be an autonomous or semi-autonomous vehicle or another suitable vehicle type. Vehicle 10 may include additional or fewer features than those generally illustrated and / or disclosed herein.

[0021] In some embodiments, the vehicle 10 may include an Ethernet component 24, a Controller Area Network (CAN) component 26, a Media-Oriented Systems Transport (MOST) component 28, a FlexRay component 30 (e.g., a brake-by-wire system and the like), and a Local Interconnect Network (LIN) component 32. In some embodiments, the vehicle 10 is configured for domain control via wireless programming assistance. As described, for example, the vehicle 10 can receive updates for any suitable software component of the vehicle 10 via the Internet (or, for example, another suitable network). The vehicle 10 can update or modify software components based on the update. The vehicle 10 may include additional or fewer features than those generally illustrated and / or disclosed herein.

[0022] Vehicle 10 can, as in Fig. Figure 2 is generally illustrated to include a steering control system 100. The system 100 can be configured to assist an operator of the vehicle 10 by controlling the steering of the vehicle 10 when maneuvering into or out of a parking space. The system 100 can include a controller 102, one or more input devices 104, and a memory 106. The controller 102 can include any suitable controller, such as a vehicle electronic control unit, a processor, or any other suitable controller as described herein.

[0023] The controller 102 can communicate with the memory 106. The memory 106 can comprise any suitable non-volatile or volatile memory. The memory 106 can comprise a memory array, a memory device, or any other suitable memory. The memory 106 can contain instructions which, when executed by the controller 102, cause the controller 102 to control at least the steering of the vehicle 10. Additionally or alternatively, when executed by the controller 102, the instructions can cause the controller 102 to perform various other functions of the vehicle 10. The controller 102 can also be configured to receive inputs from the input devices 104.

[0024] The input devices 104 can comprise any suitable input device or a variety of suitable input devices. For example, the input devices 104 can comprise an image acquisition device (e.g., a camera or other suitable image acquisition devices), a radar sensor, a LiDAR sensor, a global positioning system sensor (GPS sensor), a sonar sensor, other suitable sensors, or a combination thereof. The input devices 104 are configured to acquire various properties of the vehicle 10 and / or an environment outside the vehicle 10. The input devices 104 can transmit the acquired properties to the controller 102.

[0025] In some embodiments, the input devices 104 comprise one or more torque sensors, one or more angular position sensors, one or more other suitable sensors, or a combination thereof. The input devices 104 can be located near the steering mechanism of the vehicle 10. The input devices 104 can be configured to detect a torque value corresponding to a measure of the torque acting on the steering mechanism. Additionally or alternatively, the input devices 104 can be configured to detect an angular position of the steering mechanism relative to a reference position of the steering mechanism.

[0026] The controller 102 can receive the detected properties from the input devices 104. For example, the controller 102 can receive one or more measurements corresponding to a torque value, an angular position, or other suitable detected properties of the steering mechanism. The controller 102 can be configured to determine a steering direction for the vehicle 10 based on the detected properties of the steering mechanism. For example, the controller 102 can determine a steering direction for the vehicle 10 using a detected angular position of the steering mechanism. The steering direction of the vehicle 10 can be a direction (e.g., left or right) from the operator's perspective. The steering direction specifies the direction required to park the vehicle 10 in a parallel parking space or to drive the vehicle 10 out of a parallel parking space.

[0027] In embodiments, the operator of the vehicle 10 indicates the required steering direction (e.g., for parking in or exiting a parallel parking space) by actuating a turn signal on the vehicle to a first position (indicating, for example, the first side of the vehicle 10) or to a second position (indicating, for example, the opposite side of the vehicle 10). The controller 102 can be configured to receive an input indicating the position of the turn signal. For example, the controller 102 can receive an input indicating that the turn signal is in the first position, which may represent an intention on the part of the operator to move the vehicle 10 to the right to park in the parallel parking space. Conversely, the input may indicate that the turn signal is in the second position, which may represent an intention on the part of the operator to move the vehicle 10 to the left to exit the parallel parking space.Although left and right directions are described herein as a corresponding exit from the parallel parking space or parking in the parallel parking space, it should be understood that a right and left direction may correspond to an exit from the parallel parking space or parking in the parallel parking space (as, for example, in countries where vehicles drive on the left side of the road), without deviating from the scope of the embodiments described herein.

[0028] In some embodiments, the controller 102 can receive an input from a driver monitoring system that captures various properties of an environment inside (e.g., the passenger compartment) of the vehicle 10. The driver monitoring system can include one or more image acquisition devices, such as a camera, a passive infrared sensor, or a wearable device that tracks the operator's movement. The driver monitoring system captures image data of the operator. The controller 102 can use this image data to determine the desired direction of travel for the vehicle 10. For example, the controller 102 can receive image data from the driver monitoring system showing the position of a turn signal. In some situations, the operator cannot use the turn signal (e.g., because the vehicle 10 does not have one, because using a turn signal is more cumbersome, and so on).In some embodiments, the driver monitoring system can use a convolutional neural network trained to determine where the operator is looking. The controller 102 can be configured to determine the direction based on this determination of the driver's gaze. Additionally or alternatively, the driver monitoring system can track additional cues (e.g., the operator's head position or movement, gaze vector, and the like) that the controller 102 can use to determine the desired direction in which the operator intends to move or steer the vehicle 10.

[0029] The input devices 104 can be configured to measure and acquire image data corresponding to an environment outside the vehicle 10 within a field of view of the input devices 104 and / or various other data, such as radar data, lidar data, sonar data, GPS data, other suitable data, or a combination of the image data and the various other data. The image data can indicate the position of the vehicle 10's wheels relative to a road, a curb, other vehicles, and / or third-party property. For example, the controller 102 can use image data from one or more parking indicators to determine the direction for entering or exiting a parking space. Additionally or alternatively, the controller 102 can use the convolutional neural network described herein to detect the one or more parking indicators.

[0030] In some embodiments, the input devices 104 may include a user interface located inside the vehicle 10. For example, the user interface may be located in a dashboard of the vehicle 10. The user interface may be a display, a switch, or another suitable interface. The user interface may be configured to receive a steering control selection from the operator. For example, the operator may interact with the user interface (e.g., via touch, voice, etc.) to select the desired direction and action. The desired action may include parallel parking or exiting a parallel parking space. The user interface may be configured to enable the operator to initiate the steering control system 100 and to transmit the direction in which the operator intends to steer or move the vehicle 10.The user interface can transmit the steering control selection to the controller 102.

[0031] In some embodiments, the input devices 104 can transmit inputs to the controller 102, including data representing a selected gear of the vehicle 10 (e.g., a gear in which the vehicle is currently located, such as "Drive," "Reverse," etc.). For example, after the operator puts the vehicle 10 into "Reverse," a driver monitoring system can capture an image of the gearshift lever in the "Reverse" position, and the controller 102 can receive an input, including image data of the gearshift lever's position in "Reverse," from the driver monitoring system. Additionally or alternatively, an input can include data representing the selected gear, generated and transmitted by a gear position sensor that monitors the shift rail position of a transmission in the vehicle 10.

[0032] In some embodiments, the controller 102 can execute the methods described herein. However, the methods described herein, as executed by the controller 102, are not intended to be limiting, and any type of software running on a controller can execute the methods described herein without deviating from the scope of this disclosure. For example, a controller, such as a processor, that executes software in a computer device can execute the methods described herein.

[0033] Fig. Figure 3 is a flowchart that generally illustrates a steering control method 300 according to the principles of the present disclosure. In step 302, the method 300 determines a steering direction of a vehicle. For example, the controller 102 determines the steering direction of the vehicle 10. In 304, the method 300 determines a selected gear of the vehicle. For example, the controller 102 determines a selected gear of the vehicle 10. In step 306, the method generates an initial steering control value based on the steering direction and the selected gear. For example, the controller 102 generates an initial steering control value based on the steering direction and the selected gear. In step 308, the method 300 selectively controls the steering of the vehicle 10 based on the initial steering control value. For example, the controller 102 selectively controls the steering of the vehicle 10 based on the initial steering control value.In some embodiments, the controller 102 can use artificial intelligence, such as machine learning, a neural network (e.g., a convolutional neural network or other suitable neural networks), and the like, to determine the steering direction of the vehicle 10 using image data and / or other various data received from the input devices 104. For example, the input devices 104, as described, can include an image acquisition device that captures images of the vehicle 10's internal and external environment within a field of view of the image acquisition device. In some embodiments, the field of view can include a portion of the environment outside the vehicle 10 that lies within the vehicle 10's travel path. The controller 102 can process this image data and / or other data types (e.g.,analog voltage outputs generated by sensors, which are converted into digital numbers using an analog-to-digital converter, are processed, which were collected by the input devices 104 to determine a steering direction of a vehicle.

[0034] Additionally or alternatively, the controller 102 can use a steering control value (e.g., a steering command) to control the steering of the vehicle 10. For example, in some embodiments, in steps 302 and 304 of Fig. 3, a steering direction “right”, indicating the direction in which the operator intends to move the vehicle 10 to park, and a selected gear “reverse”, indicating the gear the operator has engaged with the vehicle 10. The controller 102 can generate a steering control value that causes the steering control system 100 to turn the wheels of the vehicle 10 fully to the left. In some embodiments, the operator wishes to drive the vehicle 10 out of a parallel parking space to the left. The controller 102 can determine a steering direction “left” and a selected gear “reverse” by tracking the operator engaging “reverse” with the vehicle 10. The controller 102 can generate a steering control value that causes the steering control system 100 to turn the wheels of the vehicle 10 fully to the right.

[0035] In some embodiments, the controller 102 can control the steering of the vehicle 10 by activating one or more motors that control the direction in which the vehicle's wheels rotate. In particular, the controller 102 can control the rotation of one or more motors based on a steering control value, and the rotation of one or more motors can, in turn, cause the vehicle's wheels to rotate fully to the right or fully to the left. The controller 102 can also control other mechanisms used to rotate the vehicle's wheels.

[0036] In some cases, the operator may need to maneuver the vehicle 10 times to park in or out of a parallel parking space. Accordingly, the steering control system can provide 100% support.

[0037] Fig. Figure 4 is a flowchart that generally illustrates an alternative steering control method 400 according to the principles of the present disclosure. In step 402, the method 400 determines whether a gear selection has changed. For example, the controller 102 determines whether a gear selection has changed. In step 404, the method 400 generates a second steering control value based on the steering direction and a second selected gear. In step 404, the controller 102 generates a second steering control value based on the steering direction and a second selected gear. In step 406, the method 400 selectively controls the steering of the vehicle based on the second steering control value. In step 406, the controller 102 selectively controls the steering of the vehicle 10 based on the second steering control value.

[0038] In some embodiments, the controller 102 determines a steering direction "right," indicating the direction in which the operator intends to move the vehicle 10 to park, and a selected gear "reverse," indicating the gear the operator has engaged. The controller 102 can generate a first steering control value that causes the steering control system 100 to turn the wheels of the vehicle 10 fully to the left, enabling the operator to reverse the vehicle 10 into the parking space without any interaction with the vehicle 10's steering mechanism. Following the vehicle's reversing and in response to the operator shifting the vehicle 10 from "reverse" to "drive," the controller 102 can generate a second steering control value based on the second selected gear "reverse" and the steering direction "right."In this example, the second steering control value will cause the steering control system 100 to turn the wheels of vehicle 10 fully to the right. The operator can maneuver vehicle 10 forward into the space without interacting with any of its steering mechanisms. This process can be repeated until vehicle 10 is aligned in the parking space. When the operator selects "Reverse" or "Drive," the steering control system 100 causes the wheels to turn right or left, respectively. In embodiments, when vehicle 10 is in "Reverse," the steering control system 100 can generally cause the wheels of vehicle 10 to turn in a direction opposite to the detected steering direction, and when vehicle 10 is in "Drive," the steering control system 100 can cause the wheels of vehicle 10 to turn in the same direction as the detected steering direction.

[0039] In some embodiments, the steering control system 100 can also cause a steering mechanism (e.g. a steering wheel) to rotate as soon as the wheels of the vehicle 10 turn - thus allowing the operator to observe a representation of the turning wheels of the vehicle 10 from a passenger compartment of the vehicle 10.

[0040] Fig. Figure 5 shows a first graph where a handwheel or steering wheel angle is plotted against time, and a second graph where a gear state is plotted against time. During a period from t2000 to t4000, as shown in Fig.Figure 5 shows the gear state of vehicle 10 as "Reverse" and the steering wheel is rotated by a maximum angle in a counterclockwise (or left) direction. During a period from t4000 to t6000, the gear state of vehicle 10 is "Drive" and the steering wheel is rotated by a maximum angle in a clockwise (or right) direction. In some embodiments, the operator can deactivate the steering control system 100 and regain control of the steering by placing a hand on a steering mechanism. For example, the controller 102 can disable the steering control of vehicle 10 in response to a detection that the operator of vehicle 10 has actuated the steering mechanism of vehicle 10. The controller 102 can still provide instructions for the operator of vehicle 10 to release the steering mechanism of vehicle 10 (e.g.,by instructing the operator to remove a hand from the steering wheel). In other embodiments, the steering control system 100 may not cause the steering mechanism, such as the steering wheel, to rotate when the wheels of the vehicle 10 are rotating, and the operator's hands on a steering wheel will not deactivate the steering control system 100.

[0041] In some embodiments, a steering control system comprises a processor and memory. The memory contains instructions which, when executed by the processor, cause the processor to: determine a vehicle's steering direction; determine a selected gear of the vehicle; generate a first steering control value based on the steering direction and the selected gear; selectively control the vehicle's steering based on the first steering control value; in response to a change in the selected gear, generate a second steering control value based on the steering direction and a second selected gear; and selectively control the vehicle's steering based on the second steering control value.

[0042] In some embodiments, the memory further includes instructions which, when executed by the processor, cause the processor to: adjust the vehicle's steering control in response to a detection that a vehicle operator has actuated a steering mechanism of the vehicle. In some embodiments, the second steering control value is opposite to the first steering control value. In some embodiments, the memory further includes instructions which, when executed by the processor, cause the processor to: provide an instruction for a vehicle operator to disengage from a steering mechanism of the vehicle. In some embodiments, the selected gear is "Reverse," and the first steering control value causes the vehicle's wheels to rotate in a direction opposite to the steering direction.In some embodiments, the selected gear is "Drive" and the first steering control value causes the vehicle's wheels to turn in the steering direction. In some embodiments, the memory further includes instructions which, when executed by the processor, cause the processor to selectively control the vehicle's steering based on the first steering control value by causing the vehicle's wheels to turn in one direction while a steering mechanism of the vehicle is at rest.

[0043] In some embodiments, a vehicle steering control system comprises a user interface, a first sensor, and a controller. The user interface is configured to receive a steering control selection, which specifies either a park state or a drive-away state. The first sensor is configured to detect a selected gear of the vehicle.The controller is configured to: receive the steering control selection from the user interface; receive a first signal from the first sensor indicating the selected gear of the vehicle; and generate a steering control output based on the steering control selection and the selected gear; in response to receiving a second signal indicating a different selected gear, generate another steering control output based on the steering control selection and the other selected gear; and a motor configured to control steering of the vehicle according to the steering control output and the other steering control output.

[0044] In some embodiments, the controller is further configured to: adjust the vehicle's steering in response to a detection that a vehicle operator has actuated a steering mechanism of the vehicle. In some embodiments, the other steering control output is opposite to the steering control output. In some embodiments, the controller is further configured to: provide an instruction for a vehicle operator to disengage from a steering mechanism of the vehicle. In some embodiments, the selected gear is "Reverse," and the first steering control output causes the vehicle's wheels to rotate in a direction opposite to the steering control selection. In some embodiments, the selected gear is "Drive," and the first steering control output causes the vehicle's wheels to rotate in the direction of the steering control selection.In some embodiments, the controller is further configured to: control the steering of the vehicle according to the steering control output and the other steering control output by causing the wheels of the vehicle to rotate in one direction while a steering mechanism of the vehicle is at rest.

[0045] In some embodiments, a method for controlling the steering of a vehicle includes determining the steering direction of the vehicle. The method also includes determining a selected gear of the vehicle. The method further includes generating a first steering control value based on the steering direction and the selected gear. The method further includes selectively controlling the steering of the vehicle based on the first steering control value. In response to a change in the selected gear, the method further includes generating a second steering control value based on the steering direction and a second selected gear. The method further includes selectively controlling the steering of the vehicle based on the second steering control value.

[0046] In some embodiments, the method further includes adjusting the vehicle's steering control in response to a detection that a vehicle operator has actuated a steering mechanism of the vehicle. In some embodiments, the second steering control value is opposite to the first steering control value. In some embodiments, the method further includes providing an instruction to a vehicle operator to disengage from a steering mechanism of the vehicle. In some embodiments, the selected gear is "Reverse," and the first steering control output causes the vehicle's wheels to rotate in a direction opposite to the steering control selection. In some embodiments, the selected gear is "Drive," and the first steering control output causes the vehicle's wheels to rotate in the direction of the steering control selection.

[0047] The above discussion is intended to illustrate the principles and various embodiments of the present invention. Numerous variations and modifications will become apparent to the person skilled in the art when the above disclosure is fully understood. The following claims are to be interpreted to encompass all such variations and modifications.

[0048] The word "example" is used here to serve as an example, case, or illustration. Any aspect or design described herein as an "example" is not necessarily to be construed as preferential or advantageous over other aspects or designs. Rather, the use of the word "example" is intended to illustrate concepts concretely. As used in this application, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or." That is to say, unless otherwise stated or evident from the context, "X includes A or B" means one of the natural inclusive permutations. That is, if X includes A; X includes B; or X includes both A and B, then "X includes A or B" is satisfied in each of the foregoing cases.Furthermore, the articles “a / an” as used in this application and the accompanying claims should generally be interpreted as meaning “one or more”, unless otherwise specified or it is clear from the context that a singular form is indicated. In addition, the use of the term “an implementation” or “one implementation” is not intended to imply the same embodiment or implementation unless described as such.

[0049] Implementations of the systems, algorithms, procedures, instructions, etc., described herein may be realized as hardware, software, or any combination thereof. The hardware may include, for example, computers, intellectual property (IP) cores, application-specific integrated circuits (ASICs), programmable logic arrays, optical processors, programmable logic controllers, microcode, microcontrollers, servers, microprocessors, digital signal processors, or any other suitable circuitry. In the claims, the term "processor" should be understood to include any of the aforementioned hardware, either individually or in combination. The terms "signal" and "data" are used synonymously.

[0050] As used herein, the term module can encompass a bundled functional hardware unit designed for use with other components, a set of instructions that can be executed by a controller (for example, a processor running software or firmware), a processing circuit configured to perform a specific function, and a standalone hardware or software component connected to a larger system. For example, a module might include an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a circuit, a digital logic circuit, an analog circuit, a combination of discrete circuits, gates, and other types of hardware, or a combination thereof.In other embodiments, a module may include a memory that stores instructions that can be executed by a controller to implement a feature of the module.

[0051] Furthermore, in one aspect, for example, systems described herein can be implemented using a general-purpose computer or a general-purpose processor with a computer program that executes one of the respective procedures, algorithms, and / or instructions described herein. Additionally or alternatively, for example, a specialized computer / processor can be used, which may contain other hardware for executing one of the procedures, algorithms, or instructions described herein.

[0052] Furthermore, all or part of the implementations of the present disclosure may take the form of a computer program product that can be accessed, for example, from a computer-usable or computer-readable medium. A computer-usable or computer-readable medium may be any device that can, for example, contain, store, communicate, or transport the program in a tangible way for use by or in conjunction with a processor. The medium may, for example, be an electronic, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media are also available.

Claims

[1] Steering control system (100) for providing steering assistance to an operator of a vehicle (10) when exiting a parallel parking space, comprising: a processor (102); and a memory (106) containing instructions which, when executed by the processor (102), cause the processor (102) to: to determine a first steering direction of the vehicle (10) based on a clue representing a direction of view of the operator of the vehicle (10) (302), wherein the direction of view of the operator represents a direction in which the operator intends to move the vehicle (10) in order to drive out of the parallel parking space; to determine a selected gear of the vehicle (10) (304); in response to the fact that the selected gear is ‘Driving’, to generate an initial steering control value based on the initial steering direction and the selected gear (306); to selectively control (308) the steering of the vehicle (10) based on the first steering control value, wherein the first steering control value causes the wheels of the vehicle (10) to turn into a first fully turned position in the first steering direction; in response to the fact that the selected gear is "Reverse", generate a second steering control value (404); and to selectively control the steering of the vehicle (10) based on the second steering control value (406), wherein the second steering control value causes the wheels of the vehicle (10) to turn into a second fully turned position in a second steering direction opposite to the first steering direction, so that the operator of the vehicle (10), who shifts the selected gear from "Drive" to "Reverse", causes the steering of the vehicle (10) to change from the first fully turned position to the second fully turned position, and the operator of the vehicle (10), who shifts the selected gear from "Reverse" to "Drive", causes the steering of the vehicle (10) to change from the second fully turned position to the first fully turned position. [2] Steering control system (100) according to claim 1, characterized by , that the memory (106) further includes instructions which, when executed by the processor (102), cause the processor (102) to set a steering control of the vehicle (10) in response to a detection that the operator of the vehicle (10) has actuated a steering mechanism of the vehicle (10). [3] Steering control system (100) according to claim 1, characterized by, that the memory (106) further includes instructions which, when executed by the processor (102), cause the processor (102) to provide an instruction to the operator of the vehicle (10) to release a steering mechanism of the vehicle (10). [4] Steering control system (100) according to claim 1, characterized by , that the memory (106) further includes instructions which, when executed by the processor (102), cause the processor (102) to selectively control the steering of the vehicle (10) based on the first steering control value by causing wheels of the vehicle (10) to turn in one direction while a steering mechanism of the vehicle (10) is at rest. [5] Vehicle steering control system for providing steering assistance to the operator of a vehicle (10) when exiting a parallel parking space, comprising: a first sensor (104) configured to detect a selected gear of a vehicle (10); a second sensor (104) configured to detect the direction of view of an operator of the vehicle (10); a controller (102) that is configured to do this: to receive a first signal (304) from the first sensor (104) indicating the selected gear of the vehicle (10); to receive a second signal from the second sensor (104) indicating the operator's viewing direction; to generate a steering control output based on the first signal indicating the selected gear and the second signal indicating the operator's viewing direction (306), wherein the operator's viewing direction represents a first steering direction in which the operator intends to move the vehicle (10) in order to drive out of the parallel parking space; and in response to receiving a third signal indicating a different selected gear, to generate a different steering control output based on the other selected gear (404); and a motor configured to control steering of the vehicle (10) according to the steering control output and the other steering control output (406), wherein The controller (102), in response to a determination that the selected gear is "Drive", causes the motor to turn the vehicle's wheels (10) into a first fully turned position in the first steering direction, The controller (102), in response to a determination that the selected gear is "reverse", causes the motor to turn the wheels of the vehicle (10) into a second fully turned position in a second steering direction opposite to the first steering direction, The controller (102), in response to the selected gear being switched from "Drive" to "Reverse", causes the motor to change the steering of the vehicle (10) from the first fully turned position to the second fully turned position, and In response to the selected gear being changed from "Reverse" to "Drive", the controller (102) causes the motor to change the steering of the vehicle (10) from the second fully turned position to the first fully turned position. [6] Vehicle steering control system according to claim 5, characterized by , that the controller (102) is further configured to set a steering control of the vehicle (10) in response to a detection that the operator of the vehicle (10) has actuated a steering mechanism of the vehicle (10). [7] Vehicle steering control system according to claim 5, characterized by, that the controller (102) is further configured to provide an instruction to the operator of the vehicle (10) to release a steering mechanism of the vehicle (10). [8] Vehicle steering control system according to claim 5, characterized by , that the controller (102) is further configured to control the steering control of the vehicle (10) according to the steering control output and the other steering control output by causing wheels of the vehicle (10) to rotate in one direction while a steering mechanism of the vehicle (10) is at rest. [9] Method (300, 400) for providing steering assistance to an operator of a vehicle (10) when exiting a parallel parking space, comprising: Determining (302) a first steering direction of a vehicle (10) based on a clue representing a direction of view of an operator of the vehicle (10), wherein the direction of view of the operator represents a direction in which the operator intends to move the vehicle (10) in order to drive out of the parallel parking space; Determining (304) a selected gear of the vehicle (10); In response to the selected gear being “Drive”, generate (306) an initial steering control value based on the initial steering direction and the selected gear; selective control (308) of the steering of the vehicle (10) based on the first steering control value, wherein the first steering control value causes the wheels of the vehicle (10) to turn into a first fully turned position in the first steering direction; In response to the selected gear being "Reverse", generate (404) a second steering control value; and selective control (406) of the steering of the vehicle (10) based on the second steering control value, wherein the second steering control value causes the wheels of the vehicle (10) to turn into a second fully turned position in a second steering direction opposite to the first steering direction, so that the operator of the vehicle (10), who shifts the selected gear from "Drive" to "Reverse", causes the steering of the vehicle (10) to change from the first fully turned position to the second fully turned position, and the operator of the vehicle (10), who shifts the selected gear from "Reverse" to "Drive", causes the steering of the vehicle (10) to change from the second fully turned position to the first fully turned position. [10] Method (300, 400) according to claim 9, further comprising: a shutdown of the vehicle's steering control (10) in response to an investigation that the operator of the vehicle (10) has actuated a steering mechanism of the vehicle (10). [11] Method (300, 400) according to claim 9, further comprising: a provision of an instruction to the operator of the vehicle (10) to release a steering mechanism of the vehicle (10).

Images