Parking Assist Apparatus Obstacle Avoidance Path Planning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing parking assist apparatuses are unable to perform parking assist when the predicted path of a vehicle's end is in contact with an obstacle, as they only display the predicted path without providing a solution for avoiding obstacles.
Innovation Solution
The system sets a final target parking position and determines if a path exists to reach it without contacting the obstacle, and if not, calculates an entering angle and a non-final target parking position to enable the vehicle to enter the parking space without contact, then calculates and displays paths to reach the final target position from the non-final position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the parking assist apparatus displays only the predicted path of the vehicle end, then the system remains simple, but it becomes incapable of performing parking assist when the predicted path contacts an obstacle
Solution Approach 1:
The parking path is segmented into multiple sections: a first path from the current position to a non-final target parking position, and a second path from the non-final target to the final target parking position. This segmentation allows the system to handle obstacle contact scenarios by providing alternative routing options rather than treating the entire path as a single unit.
Solution Approach 2:
The system preliminarily determines whether the predicted path of the vehicle end contacts an obstacle before finalizing the parking assist guidance. By performing this check in advance, the system can prepare alternative paths (first and second paths) through the non-final target parking position, ensuring reliable parking assist capability is maintained.
2Reliability
If the system calculates alternative paths through non-final target positions, then parking assist reliability improves, but the calculation complexity increases
Solution Approach 1:
The system applies different path determination strategies to different spatial zones: the first path handles the approach to the non-final target parking position, while the second path handles the maneuver from the non-final target to the final target position. This local differentiation optimizes the calculation process for each specific segment's requirements.
Solution Approach 2:
The non-final target parking position serves as an intermediary point that mediates between the current vehicle position and the final target parking position. By introducing this intermediate waypoint, the system can bypass obstacle contact issues that would otherwise prevent direct path calculation, thereby improving path availability without requiring completely complex alternative routing algorithms.
Data Source
AI summary
In order to provide parking assist even in a situation where an end portion of a vehicle is predicted to come into contact with an obstacle, an available parking space is set, and a target parking position is set within the available parking space. When it is determined that the end portion of the vehicle will come into contact with an end portion of the available parking space if the vehicle travels to be parked in the target parking position, an entering angle of the vehicle with respect to the available parking space is changed so that the vehicle may travel toward a target parking space with the end portion of the vehicle spaced away from a front end point P of the available parking space, and a parking path for the vehicle to travel to a non-final target parking position is calculated.