Autonomous Parking Route Computation for Distance Constraint
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Solution Overview
Problem
Existing vehicle control systems for autonomous parking require users to continuously monitor and stay within a prescribed distance from the vehicle during remote operation, which is burdensome and may lead to increased parking time if the user deviates or moves with the vehicle.
Innovation Solution
A vehicle control system that includes a terminal and a control device capable of computing a traveling route for the vehicle to ensure the user remains within a prescribed distance, allowing the user to monitor from a recommended position without moving, with the system adjusting the route if the user's position changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the user continuously monitors the vehicle by sending response signals within a prescribed time during autonomous parking processing, then the safety of autonomous parking is ensured, but the user burden increases and the parking time may be extended
Solution Approach 1:
The system pre-calculates multiple candidate trajectories before the autonomous parking operation begins. By having ready-made paths that satisfy the distance constraint, the system eliminates the need for real-time trajectory optimization during parking, thus reducing parking time while ensuring safety through pre-validated paths.
Solution Approach 2:
The system dynamically adjusts the trajectory selection based on the user's actual position detected during autonomous parking. When the user moves to a different location, the system switches to a different pre-calculated trajectory that maintains the prescribed distance relationship, ensuring continuous safety without requiring user intervention or extending parking time.
2Reliability
If the user stays within a prescribed distance from the vehicle during autonomous parking processing, then safety requirements are met, but the user cannot remain stationary and monitor the vehicle easily
Solution Approach 1:
The system identifies and designates a specific monitoring position in advance where the user can stand to naturally satisfy the prescribed distance requirement. This pre-planned position allows the user to remain stationary and monitor the vehicle easily while automatically complying with safety distance constraints.
Solution Approach 2:
The system introduces a virtual monitoring position as an intermediary concept between the user and the vehicle. This virtual position acts as a reference point that the system uses to calculate appropriate trajectories, allowing the user to stand at a convenient location while the system ensures the actual distance constraint is met through trajectory selection.
3Reliability
If the vehicle stops every time the user deviates from the prescribed distance during autonomous parking processing, then the distance constraint is maintained, but the autonomous parking processing takes excessive time
Solution Approach 1:
The system calculates multiple candidate trajectories in advance, each satisfying the distance constraint for different user positions. When the user deviates from the prescribed distance, the system switches to a different pre-validates trajectory instead of stopping, maintaining distance constraint compliance while avoiding interruptions that would reduce parking efficiency.
Solution Approach 2:
The system dynamically selects among multiple pre-calculated trajectories based on the user's real-time position. This dynamic trajectory selection allows the system to adapt to user movement without stopping the autonomous parking operation, thus maintaining distance constraint compliance while preserving parking efficiency.
Data Source
AI summary
A vehicle control system includes: a terminal including an input/output unit and configured to be carried by a user; and a control device configured to perform wireless communication with the terminal and to execute autonomous parking processing to move a vehicle to a parking position and to park the vehicle at the parking position, wherein the control device includes a vehicle position identifying unit configured to detect a position of the vehicle, and an action plan unit configured to set a reference position where the user is deemed to hold the terminal outside the vehicle without moving and to compute a traveling route of the vehicle from an alighting position where the user alights from the vehicle to the parking position such that a condition that a distance from the reference position to the vehicle does not exceed a prescribed value is satisfied.