Vehicle Parking Path Planning with Dynamic Curve Adjustment
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Solution Overview
Problem
Existing parking assistance systems fail to effectively balance the need for an early starting position and a comfortable parking process, as they do not consider additional input variables, leading to contradictions in path parameter determination and inefficient steering angles during lateral parking.
Innovation Solution
The method calculates an initial smallest reasonable path curve for early positioning and then recalculates to a larger path curve based on the vehicle's actual stopping position, reducing steering angles and side swinging during the parking process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the parking path is calculated with the smallest first path curve to achieve the earliest possible starting position, then the longitudinal positioning is improved, but the steering angle increases and the vehicle swings out more to the side reducing comfort
Solution Approach 1:
The patent applies dynamics by making the path curve radius adjustable rather than fixed. The system dynamically adapts the first path curve radius based on the actual stopping position detected during the parking process. This allows the parking assistance device to transition from a predetermined fixed-radius curve to a dynamically adjusted curve that optimizes both timing and comfort based on real-time vehicle position feedback.
Solution Approach 2:
The patent implements parameter changes by modifying the radius of the first path curve during the parking process. The system changes this critical path parameter based on the detected actual stopping position, allowing optimization of the parking trajectory. By adjusting the radius parameter, the system can reduce steering angles and lateral swinging while maintaining efficient positioning.
2Ease of operation
If the parking path is calculated with a larger first path curve to reduce steering angle and lateral swinging, then parking comfort is improved, but the starting position is reached later reducing efficiency
Solution Approach 1:
The system uses dynamics to adapt the path curve radius in real-time based on actual vehicle stopping position. Rather than committing to a large radius from the start, the system can use a smaller initial radius for efficiency and then adjust to a larger radius if the actual stopping position indicates it would improve comfort, thus balancing both productivity and ease of operation.
Solution Approach 2:
The patent applies preliminary action by first calculating the parking path with the smallest reasonable first path curve to achieve early positioning. This preliminary path calculation prioritizes efficiency, and then the system adjusts the curve radius based on actual stopping position feedback, allowing the most efficient initial approach while maintaining the option to optimize for comfort.
3Device complexity
If the parking path is calculated in advance based only on parking space geometry and vehicle position, then calculation simplicity is maintained, but additional input variables such as actual stopping position cannot be considered
Solution Approach 1:
The patent implements feedback by using the actual stopping position detected during the parking process as input to recalculate and adjust the first path curve radius. This feedback mechanism allows the system to adapt the parking path based on real vehicle position information, improving adaptability while maintaining relatively simple calculation procedures through the use of a single adjustable radius parameter.
Data Source
AI summary
Disclosed are a method and a device for planning a path when parking a vehicle (02). In said method, a path (01) encompassing a first and a second path curve (03; 04) is calculated based on the geometry of a parking space (05) and a position of the vehicle relative to said parking space (05). According to the invention, a smallest useful first curve (08) of the path (01) is calculated first in order to obtain a starting position as soon as possible, and then a possible larger first curve (09) of the path (01) is calculated, preferably in accordance with an actual stopped position (13) of the vehicle (02). Also disclosed are a driving assistance device for carrying out said method as well as a computer program product which incites a microprocessor comprising storage means to carry out the method.