Odometry Error Correction in Semi-Autonomous Parking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing driver assistance systems for motor vehicle parking face challenges in accurately maneuvering vehicles due to manufacturing tolerances and computational intensity, particularly when dealing with multiple environmental features, leading to inaccuracies in odometry-based navigation.
Innovation Solution
A method that uses ultrasonic sensors to determine distances and correction values for odometry errors, allowing for semi-autonomous parking by comparing first and second distance values to correct the driving trajectory, thereby reducing computational power and improving maneuvering reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If SLAM method is used to compensate odometry errors, then measurement precision is improved, but use of energy increases due to high computational intensity
Solution Approach 1:
The patent extracts only the essential correction information needed for parking maneuvers, separating it from the full SLAM processing pipeline. By using a simplified correction approach that focuses specifically on odometry compensation during parking, the system achieves accurate position correction without the computational burden of complete SLAM processing, thus reducing energy consumption while maintaining measurement precision.
Solution Approach 2:
The patent changes the processing parameters by using a simplified correction model that requires fewer computational resources. Instead of processing all environmental features and maintaining full SLAM state, the system uses adjusted parameters focused on essential odometry correction during parking maneuvers, reducing computational intensity and energy usage while preserving the necessary measurement accuracy.
2Measurement precision
If multiple environmental features are detected and processed, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent extracts only the critical correction data needed for parking maneuvers from the full set of environmental features. By focusing on essential position and orientation information required for accurate parking execution, the system reduces the number of features that need to be processed, thereby reducing device complexity while maintaining sufficient measurement precision for the specific parking task.
3Ease of operation
If odometry is used for maneuver detection, then ease of operation is improved, but reliability decreases due to manufacturing tolerances
Solution Approach 1:
The patent implements a feedback mechanism where the system continuously compares expected position (from odometry) with actual position (from sensor data and trajectory information). Correction values are generated based on the deviation between expected and actual positions, and these corrections are applied to improve the accuracy of subsequent maneuver detection. This feedback loop maintains the simplicity of odometry-based operation while compensating for reliability issues caused by manufacturing tolerances.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables more reliable and computationally efficient semi-autonomous parking by accurately accounting for odometry errors and vehicle geometry, allowing for precise parking even in challenging spaces like parallel parking.
Implementation Method 1
sensor data from at least one ultrasonic sensor
Data Source
Figure 1
Figure 2~3
Figure 4~5
AI summary
The invention relates to a method for at least semi-autonomous maneuvering of a motor vehicle (1), in which a parking space (11) in an area (7) surrounding the motor vehicle (1) is detected using sensor data from at least one ultrasonic sensor (4), a distance between the motor vehicle (1) and an object (8) defining the parking space (11) is determined, a driving trajectory (16) for parking the motor vehicle (1) in the parking space (11) is determined, the motor vehicle (1) is maneuvered along the driving trajectory (16), and during the maneuvering of the motor vehicle (1), at a predetermined position, a first distance value (a1) and a second distance value (a2) are determined based on odometry and the determined distance, wherein the first and second distance values (a1, a2) each describe the distance between the motor vehicle (1) and the object (8).wherein a correction value for correcting the driving trajectory (16) is determined by comparing the first distance value (a1) and the second distance value (a2).