Cooperative Parking Control With RWS Failure-Adaptive Routing
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Solution Overview
Problem
Existing cooperative remote smart parking assist (RSPA) systems do not consider the rear wheel steering (RWS) function, leading to inefficiencies in parking and a lack of functionality in case of RWS failure.
Innovation Solution
A cooperative parking control method and apparatus that includes an error detection unit to identify RWS failures, a route setting unit to adjust the parking route based on RWS functionality, and a parking control unit to perform parking control using both RSPA and RWS functions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If cooperative RSPA control is implemented without considering RWS function, then the control system is simpler, but the turning radius cannot be reduced and parking time cannot be shortened
Solution Approach 1:
The system dynamically adjusts the parking route based on the operational status of the RWS function. When RWS is available, the system executes a routing algorithm that utilizes rear wheel steering to achieve reduced turning radius and optimized parking path. When RWS fails, the system automatically switches to an alternative routing strategy that accommodates the failure state, thereby maintaining parking capability while adapting to changing system conditions.
2Device complexity
If RWS function is not considered in cooperative RSPA control, then the control algorithm is simpler, but the system loses functionality when RWS failure occurs
Solution Approach 1:
The control algorithm incorporates beforehand cushioning by pre-planning alternative routing strategies for RWS failure scenarios. The system includes error detection mechanisms that identify RWS failures before they compromise parking operations, and maintains pre-computed alternative routes that can be executed when RWS becomes unavailable, ensuring continuous parking capability without complete system failure.
Solution Approach 2:
The system changes operational parameters based on RWS status. When RWS is functional, the control algorithm utilizes rear wheel steering angle as an active control parameter to optimize parking trajectory. Upon detecting RWS failure, the system modifies the control parameters by eliminating rear wheel steering commands and adjusting the routing algorithm to rely solely on front wheel steering, thereby adapting to the changed system state while maintaining parking functionality.
3Productivity
If RWS function is utilized for parking control, then the turning radius is reduced and parking time is shortened, but the system becomes more complex and vulnerable to RWS failure
Solution Approach 1:
The control algorithm is designed with universality to handle multiple operational modes. It can execute optimized parking routes utilizing RWS when available, while simultaneously maintaining the capability to perform standard parking operations using only front wheel steering. This multi-functional design allows the system to leverage RWS for enhanced performance when present, without becoming dependent on it or vulnerable to complete failure when RWS is absent or failed.
Data Source
AI summary
A method and apparatus for cooperative parking control can include considering a failure of a rear wheel steering (RWS) function for an ego vehicle. A cooperative parking control apparatus can include an error detection unit configured to detect whether an error is present in the RWS function, a route setting unit configured to set a parking route for the ego vehicle by using the rear wheel steering function based on the whether an error is present, and a parking control unit configured to perform parking control of the ego vehicle to follow the parking route by using a remote smart parking assistance function and the rear wheel steering function.