Ford Global Technolgoies, LLC

Douglas Blue

Li Xu

Kyle Simmons

Eric Hongtei Tseng

Gopichandra Surnilla

Richard E Soltis

Mohannad Hakeem

Daniel A Makled

Michael Mcquillen

Luke Niewiadomski

Thomas Edward Pilutti

Hongtei Eric Tseng

Venkatapathi Raju Nallapa

Ashley Elizabeth Micks

Abhishek Sharma

Martin Saeger

Aakar Mehra

Peter Ling

Paul Theodosis

David Dekime

Kenneth Harkenrider

A computer includes a processor and a memory storing instructions executable by the processor to receive sensor data indicating a current position of an object, determine a predicted position of the object at a future time, and instruct a component of a vehicle to actuate based on the current position being in a first zone of a plurality of zones surrounding the vehicle and the predicted position being in a second zone of the plurality of zones different than the first zone. The zones are nonoverlapping and have preset boundaries relative to the vehicle.

Vehicle object tracking

A computer is programmed to identify a turning center defined by a turning radius of the vehicle and a heading angle of the vehicle, identify a boundary circle having a center defined by the turning center and a radius extending to a location of a detected object, identify coordinates for each of a plurality of vertices of an external contour of the vehicle, the external contour defining a plurality of line segments, each line segment connecting two of the vertices, upon identifying at least one line segment that intersects the boundary circle, identify at least one of an object distance or an intersection time between the object and the vehicle, and actuate at least one of a steering or a brake to avoid the object when the object distance is below a distance threshold or the intersection time is below a time threshold.

Enhanced object detection and response

A hitch assist system is provided herein that includes a sensing system configured to detect a trailer and obstacles proximate the trailer. The hitch assist system also includes a controller in communication with the sensing system and configured to define a final vehicle heading direction relative to the trailer when a hitch ball of a vehicle is aligned with a coupler of the trailer; determine an uppermost/farthest position of the vehicle from the trailer; determine a lowermost/nearest position of the vehicle from the trailer; and determine a vehicle path that aligns the vehicle within the uppermost/farthest and lowermost/nearest positions.

Hitch assist system

Method and apparatus are disclosed for autonomous parking of vehicles in perpendicular parking spots. An example vehicle includes a front corner, a camera, and an autonomous vehicle parker. The autonomous vehicle parker is to detect, via the camera, a perpendicular parking spot and an outer boundary of the perpendicular parking spot, determine a linear parking path located within the perpendicular parking spot and based on the outer boundary, and autonomously turn into the perpendicular parking spot such that the front corner travels along the linear parking path.

Autonomous parking of vehicles inperpendicular parking spots

Methods and systems are provided for conducting measurements of relative humidity using an ultrasonic sensor. In one example, a plurality of ultrasonic signals having different frequencies are transmitted from a single sensor, and attenuation values of reflected signals are determined only for those signals determined to have the same transit time from transmission to receipt, and where frequency of the plurality of ultrasonic signals may be changed responsive to an indication that the signals may be below a signal-to-noise threshold. In this way, by determining a difference between attenuation values between pairs of signals, where the signals comprise different frequencies and where the signals comprise the same transit times, relative humidity may be accurately determined.

Systems and methods for humidity determination and uses thereof

Methods and systems are provided for conducting measurements of relative humidity via the use of an ultrasonic sensor. In one example, the ultrasonic sensor for conducting the relative humidity measurement is selected from a plurality of ultrasonic sensors positioned at various locations on the vehicle, and where the selecting is accomplished in some examples via the use of one or more onboard cameras configured to identify suitable objects that are stationary with respect to the vehicle. In this way, robustness and accuracy of relative humidity measurements may be improved, lifetime of individual ultrasonic sensors may be extended, and vehicle operating conditions that depend on accurate relative humidity measurements may be improved.

Method and apparatus are disclosed for autonomous parking of vehicles in perpendicular parking spots. An example vehicle includes a front corner, a sensor, and a parking controller. The parking controller is to detect, via the sensor, a perpendicular parking spot and determine a linear parking path located within the perpendicular parking spot along which the front corner is to travel. The parking controller also is to determine an approaching turn path to the linear parking path and autonomously turn along the approaching turn path and the linear parking path into the perpendicular parking spot.

Autonomous parking of vehicles in perpendicular parking spots

A method for generating training data. The method may include executing a simulation process. The simulation process may include traversing one or more virtual sensors over a virtual road surface defining a plurality of virtual anomalies that are each sensible by the one or more virtual sensors. During the traversing, each of the one or more virtual sensors may be moved with respect to the virtual road surface as dictated by a vehicle-motion model modeling motion of a vehicle driving on the virtual road surface while carrying the one or more virtual sensors. Virtual sensor data characterizing the virtual road surface may be recorded. The virtual sensor data may correspond to what a real sensor would have output had it sensed the road surface in the real world.

Sensor-data generation in virtual driving environment

A vehicle includes: motor(s), steering, processor(s) configured to: (a) receive a current heading; (b) receive a desired heading; (c) calculate a first steering angle (FSA) based on (a) and (b); (d) move the vehicle, via the motor(s) and steering: (i) in a first direction based on the FSA; (ii) in a second, opposing direction, based on an opposite of the FSA.

Vehicle pivot technique

Systems and methods for curb detection for parking are disclosed. An example vehicle parking assist system includes a processor and memory. An example program stored in the memory is configured to move a vehicle using a set of maneuvers to park the vehicle in a parking space based on an estimated location of a curb. The example program is also configured to compare a first yaw rate to a reference yaw rate to detect when the vehicle contacts the curb. Additionally, the example program is configured to move the vehicle using an adjusted set of maneuvers based on an actual location of the curb.

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Plymouth, MI, United States of America

Douglas Blue