Vehicle parking assist system
A method for assisting in parking a vehicle, comprises the steps of: initiating a parking sequence having a reference velocity; altering a velocity of the vehicle to about the reference velocity by generating a brake torque during a first mode of operation of a controller; outputting the brake torque to a disturbance estimator; storing the brake torque within the disturbance estimator; and utilizing the brake torque from the disturbance estimator in a second mode of operation of the controller to stop the vehicle at a target location.
1. A method for assisting in parking a vehicle, comprising the steps of:
initiating a parking sequence having a reference velocity;
altering a velocity of the vehicle to about the reference velocity by generating a brake torque during a first mode of operation of a controller;
outputting the brake torque to a disturbance estimator;
storing the brake torque within the disturbance estimator; and
utilizing the brake torque from the disturbance estimator in a second mode of operation of the controller to stop the vehicle at a target location.
2. The method of claim 1 , further comprising the step of:
transitioning the controller from the first mode to the second mode once the vehicle crosses a threshold distance from the target location.
3. The method of claim 2 , wherein the controller operates in a proportional-integral control during the first mode of operation and in a proportional-derivative control during the second mode of operation.
4. The method of claim 3 , wherein the controller operates on a velocity error signal in the first mode of operation and a distance error signal in the second mode of operation.
5. The method of claim 4 , wherein the vehicle is stopped at the target location with essentially no overshoot.
6. The method of claim 5 , wherein the controller operates on a distance error signal in the second mode of operation.
7. A method for assisting in parking a vehicle, comprising the steps of:
initiating a parking sequence having a reference velocity;
altering a velocity of the vehicle to about the reference velocity by generating a brake torque during a first mode of operation of a controller;
outputting the brake torque to a disturbance estimator; and
utilizing the brake torque in a second mode of operation of the controller to stop the vehicle at a target location.
8. The method of claim 7 , wherein the second mode of the controller is operated in a proportional-derivative control based on a distance error signal.
9. The method of claim 7 , further comprising the step of:
storing the brake torque within the disturbance estimator.
10. The method of claim 7 , further comprising the step of:
transitioning the controller from the first mode to the second mode once the vehicle crosses a threshold distance from the target location.
11. The method of claim 10 , wherein the control module is configured to operate in the first mode, the second mode and a third mode.
12. The method of claim 7 , wherein the first mode is operated in a proportional-integral control based on a velocity error signal.
13. The method of claim 12 , wherein the second mode of the control module is configured to be operated in a proportional-derivative control based on a distance error signal.
14. The method of claim 7 , wherein the controller operates on a velocity error signal in the first mode of operation and a distance error signal in the second mode of operation.
15. A method for assisting in parking a vehicle, comprising the steps of:
initiating a parking sequence having a reference velocity;
altering a velocity of the vehicle to about the reference velocity by generating a brake torque during a first mode of operation of a controller; and
utilizing the brake torque in a second mode of operation of the controller to stop the vehicle at a target location.
16. The method of claim 15 , further comprising the step of:
outputting the brake torque to a disturbance estimator.
17. The method of claim 16 , further comprising the step of:
storing the brake torque within the disturbance estimator.
18. The method of claim 14 , further comprising the step of:
transitioning the controller from the first mode to the second mode once the vehicle crosses a threshold distance from the target location.
19. The method of claim 18 , wherein the controller operates in a proportional-integral control during the first mode of operation and in a proportional-derivative control during the second mode of operation.
20. The method of claim 19 , wherein the controller operates on a velocity error signal in the first mode of operation and a distance error signal in the second mode of operation.