Cubic Bezier Curve Parking Path Calculation
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Solution Overview
Problem
Existing parking assistance systems struggle to calculate a target parking path along an ideal line, especially when dealing with curved parking spaces, often resulting in a vehicle swerving excessively and a non-fluid parking process, and require significant computing resources for complex clothoid section calculations.
Innovation Solution
A method using cubic Bezier curves defined by starting and end points and control points, with the ability to adapt the resolution of support points based on available computing resources, ensuring collision avoidance and maintaining a predetermined path radius, allowing for a harmonious and visually appealing parking sequence.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If clothoid sections are used to calculate the target parking path, then the parking path accuracy is improved, but the computing capacity requirement increases significantly
Solution Approach 1:
The patent replaces complex clothoid curve calculations with simpler cubic Bezier curve approximations. This substitution uses computationally cheaper mathematical models that provide sufficient accuracy for parking applications without requiring significant computing resources, effectively using 'simpler' mathematical objects to replace 'complex' ones.
Solution Approach 2:
The patent changes the mathematical parameters from clothoid curve equations (which require solving differential equations) to cubic Bezier curve control points and coefficients. This parameter transformation maintains the curved path capability while dramatically reducing computational complexity, allowing real-time calculation on standard processors.
2Ease of operation
If the vehicle follows a curved parking path, then the visual appeal and fluidity of parking is improved, but the steering control complexity increases
Solution Approach 1:
The patent employs curved Bezier paths instead of straight-line or angular trajectories to guide the vehicle through the parking maneuver. This curvature provides visually appealing and fluid motion while the mathematical formulation of Bezier curves simplifies the steering angle calculations compared to more complex curved path models.
Solution Approach 2:
The patent introduces virtual control points and intermediate calculation steps that mediate between the desired parking position and the actual steering commands. These intermediaries break down the complex steering problem into manageable segments, making control implementation more straightforward while maintaining smooth curved trajectories.
3Manufacturing precision
If more support points are used to define the Bezier curve, then the path resolution is improved, but the computing resources required increase
Solution Approach 1:
The patent implements dynamic adjustment of the number of support points based on available computing resources and required precision. The system can adaptively select between fewer points for real-time control and more points for detailed path planning, allowing flexible resource allocation that balances resolution requirements with computational constraints.
Data Source
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AI summary
The invention relates to a method for reverse-parking a vehicle (20) into a parking bay (22), which extends parallel to the roadway, along a nominal parking path, wherein the nominal parking path has at least one main segment (10) which describes a curve. The invention is characterized in that the main segment (10) is formed by a cubic Bezier curve defined by a start point (SP), an end point (EP) and two control points (KP1, KP2) or, instead of the two control points (KP1, KP2), by two control vectors (KV1, KV2), wherein the control points (KP1, KP2) or vectors (KV1, KV2) are selected such that a collision of the vehicle (20) with the obstacles (24, 26) delimiting the parking bay does not occur, and a path radius predefined by a maximum steer angle is not undershot and/or a maximum permissible vehicle inclination with respect to the parking bay longitudinal axis is not exceeded. The invention also relates to an associated parking assistance system.