AVP Route Planning Mode Switching for Narrow and Curved Parking Paths
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Solution Overview
Problem
Current automatic valet parking systems struggle with complex road conditions such as large-curvature turns and narrow passages, leading to vehicle blocking and reduced parking success rates.
Innovation Solution
Implementing a control method that switches between two route planning modes based on actual road conditions, using a first planning mode for simple routes and a second mode for complex scenarios, allowing the vehicle to adapt and avoid obstacles, and includes a hybrid A* algorithm for route planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single route planning mode is used, then the system is simple to operate, but it cannot handle complex road conditions such as narrow passages and large-curvature turns
Solution Approach 1:
The system dynamically switches between first and second planning modes based on real-time road condition assessment. When narrow passages or large-curvature turns are detected, the system transitions from the first planning mode to the second planning mode, enabling adaptive response to varying environmental complexity without manual intervention.
Solution Approach 2:
The system changes the planning parameters by switching between different planning modes. The first planning mode uses standard routing parameters, while the second planning mode activates specialized parameters for handling narrow passages and large-curvature turns, allowing the system to optimize performance for specific road condition types.
2Reliability
If the vehicle encounters obstacles in the planned route, then route planning accuracy decreases, but the vehicle may get blocked and stop
Solution Approach 1:
The system continuously monitors road conditions and obstacle positions during travel, providing feedback to the route planning module. When obstacles are detected in the current planned route, the system uses this feedback to trigger a mode switch to the second planning mode, which generates alternative routes that avoid the detected obstacles, thereby maintaining reliable parking completion.
3Length of moving object
If the passable width is reduced due to obstacles, then the vehicle cannot pass through, but switching to a different planning mode can resolve this
Solution Approach 1:
The system performs preliminary assessment of road conditions by calculating passable width and curvature parameters before executing the route. When the assessment indicates that the passable width is insufficient or curvature is too large for the vehicle, the system proactively switches to the second planning mode to generate an alternative route with adequate clearance and manageable curvature, preventing navigation failures before they occur.
Data Source
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Figure 3
Figure 4(a)~4(b)
AI summary
A control method and apparatus, and an intelligent driving device are provided. The method includes: controlling an intelligent driving device to travel along a first planned route, where the first planned route is obtained through planning in a first planning mode; and when a first obstacle in the first planned route causes a passable width corresponding to a first area to be less than or equal to a first preset threshold, and/or when the first obstacle causes a curvature of a feasible route in the first area to be greater than or equal to a second preset threshold, controlling the intelligent driving device to switch from traveling along the first planned route to traveling along a second planned route, where the second planned route is obtained through planning in a second planning mode, the first planning mode is different from the second planning mode, and the first planned route passes through the first area. The method may be applied to an intelligent vehicle like an electric vehicle or a new energy vehicle, to reduce a probability that the intelligent driving device cannot perform route planning due to an obstacle or a complex road condition in an AVP parking process, and help improve a parking success rate.