A vehicle has a kerb detector, which detects an actual location of a kerb 100 based on comparing a first yaw rate to a reference yaw rate, and a setting control rate which, before detecting kerb 100, manoeuvres the vehicle into a parking space 104 based on an estimated location of kerb 100 and, on detection of kerb 100, manoeuvres the vehicle into the space based on the actual location of kerb 100. Detection may be based on wheel speeds measured from first axle 130a, 130b, to measure a first yaw rate, and from second axle 130c, 130d to measure a reference yaw rate, so that kerb 100 may be detected based on contact. A vehicle park assist system may be provided for this vehicle which may have a suitable program.
Curb detection for vehicle parking
2017-11-08
Patent
Elektronische Ressource
Englisch
Elsevier | 2021
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