Dynamic Cutting Radius for Collision-Free Low-Speed Parking
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Solution Overview
Problem
Existing systems for automatic lateral guidance during low-speed vehicle maneuvering, such as parking, face challenges when object detection is incomplete, leading to frequent termination of the maneuvering process due to limited sensor views, resulting in increased collision risks.
Innovation Solution
A method that continuously checks the distance between the vehicle and surrounding objects, adjusting the cutting radius to maintain a safe distance and recalculating the target trajectory as needed to prevent collisions, while keeping the vehicle close to the original trajectory, ensuring collision-free parking or maneuvering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle follows the originally calculated target trajectory, then the parking or maneuvering process is efficient and quick, but the risk of collision increases when object detection is incomplete
Solution Approach 1:
The cutting radius is made dynamically adjustable during the maneuvering process. The system continuously monitors the distance to detected surrounding objects and adapts the cutting radius in real-time to maintain safety margins, allowing the vehicle to follow the target trajectory efficiently while avoiding collisions even when object detection is incomplete
Solution Approach 2:
The system implements continuous feedback by monitoring the distance between the vehicle and detected surrounding objects throughout the maneuvering process. Based on this feedback, the control unit dynamically adjusts the cutting radius to ensure the vehicle maintains a safe distance from obstacles while completing the parking or maneuvering task efficiently
2Reliability
If the cutting radius is increased to avoid collisions, then the safety margin increases, but the vehicle deviates more from the original target trajectory
Solution Approach 1:
The cutting radius is dynamically adjusted based on real-time distance measurements to surrounding objects. When objects are detected close to the target trajectory, the cutting radius increases to avoid collisions; when the area is clear, the cutting radius decreases to maintain trajectory accuracy, thus resolving the contradiction between safety and precision
Solution Approach 2:
The cutting radius is adjusted locally and selectively based on the specific spatial relationship between the vehicle and detected surrounding objects. Rather than uniformly increasing the cutting radius throughout the maneuver, the system applies larger radii only in regions where obstacles are detected, maintaining tight trajectory following in clear areas
Data Source
Figure 1
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AI summary
The invention relates to a method for parking or maneuvering a motor vehicle (10) at low speed, wherein at least one object (30) in the surrounding area of the motor vehicle (10) is detected and used for calculating a target trajectory (20) of the motor vehicle (10), and wherein the motor vehicle (10) is automatically steered in accordance with the target trajectory (20) or the driver of the motor vehicle (10) is provided with corresponding steering instructions. If a minimum distance (dmin) of the motor vehicle (10) to the at least one detected object (30) in the surrounding area is no longer met, the cutting-in radius (r) of the motor vehicle (10) is tracked in accordance with the distance (d) between the motor vehicle (10) and the at least one object (30) in the surrounding area until the distance (d) again exceeds the minimum distance (dmin).