Autonomous Parallel Parking Wheel Angle Control on Road Grades
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Solution Overview
Problem
Autonomous vehicles face challenges in performing safe parallel parking maneuvers on graded roads, as they need to adjust tire angles to prevent rolling into the roadway, which is difficult without human intervention.
Innovation Solution
The system determines the road grade using map data or sensors like LiDAR and adjusts wheel angles to ensure proper contact with the curb, minimizing movement during parking by rotating wheels clockwise or counterclockwise based on the grade and parking side.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the AV performs parallel parking on graded roads without human intervention, then automation level is improved, but the ability to safely adjust tire angles to prevent rolling is worsened
Solution Approach 1:
The AV system performs self-service by autonomously detecting road grades using sensors (accelerometers, GPS, map data) and automatically adjusting wheel angles without human intervention. The control system independently determines the required wheel angle based on detected grade and parking side, then actuates the steering system to achieve the correct angle, ensuring the vehicle parks safely on graded roads without human assistance.
2Reliability
If the AV adjusts wheel angles based on road grade detection, then safety is improved, but the complexity of the control system is worsened
Solution Approach 1:
The control system achieves universality by integrating multiple functions into a single autonomous parking system: road grade detection using various sensors (accelerometers, GPS, map data), calculation of required wheel angles based on grade and parking side, and actuation of steering mechanisms. This multi-functional integration handles both uphill and downhill parking scenarios through a unified control algorithm, managing complexity through consolidation rather than separate systems for each function.
3Measurement precision
If the AV uses multiple sensors to detect road grade, then measurement precision is improved, but the cost and complexity of the system are worsened
Solution Approach 1:
The system merges multiple sensor inputs (accelerometers, GPS data, map information) into a unified road grade detection process. By combining these different data sources, the system achieves high measurement precision for road grade detection while managing complexity through integrated processing rather than separate dedicated systems for each sensor type.
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 solution enables autonomous vehicles to safely perform parallel parking maneuvers on uphill and downhill grades by ensuring at least one wheel is in contact with the curb, reducing the risk of rolling and enhancing safety.
Implementation Method 1
sensors like LiDAR
Data Source
AI summary
The subject disclosure relates to features that improve safety for autonomous vehicle (AV) maneuvers and in particular, that improve safety for parallel parking. A process of the disclosed technology includes steps for initiating a parking maneuver, navigating the AV into a parking location, and detecting a roadway grade with respect to a direction of the AV. In some aspects, the process can further include steps for automatically adjusting a wheel angle of the AV based on the roadway grade with respect to the direction of the AV. Systems and machine-readable media are also provided.