Parking Path Planning with Opposite Side Space Measurement
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Solution Overview
Problem
Existing parking systems fail to account for sufficient space on the opposite side of a parking space, leading to incomplete parking trajectories and aborted parking processes due to insufficient space, especially in narrow areas.
Innovation Solution
The method involves calculating a parking trajectory that considers the available space on the opposite side, distinguishing between sections outside and within the vehicle's pivoting area, and adjusting the path to ensure complete navigation by iteratively modifying the first arc's size and shifting the path backward if necessary, while ensuring a minimum distance from obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the parking trajectory is calculated based only on parking space geometry and vehicle position, then the calculation is simple and fast, but the trajectory cannot be completed in narrow spaces due to insufficient lateral clearance
Solution Approach 1:
The system performs preliminary measurement of the available space on the opposite side of the parking space before calculating the parking trajectory. This advance measurement allows the trajectory calculation to account for lateral swerving requirements, ensuring the path can be completed without collisions. The space is measured using sensor arrangements during the approach to the parking space, and this information is integrated into the trajectory planning phase.
Solution Approach 2:
The invention extends the trajectory calculation from traditional two-dimensional path planning to three-dimensional space utilization by considering the vehicle's pivoting area and lateral swerving requirements. The available space on the opposite side is measured and used to determine if sufficient clearance exists for the vehicle's rotational movement during parking, adding a vertical dimension of safety clearance to the horizontal path planning.
2Reliability
If the available space on the opposite side is measured and considered in trajectory planning, then the parking process can be completed successfully, but the measurement and calculation process becomes more complex
Solution Approach 1:
The sensor arrangement is designed to serve multiple functions: it measures both the parking space dimensions and the available space on the opposite side, detects obstacles, and provides data for both trajectory calculation and safety verification. This multi-functional approach avoids the need for separate measurement systems, reducing overall system complexity while maintaining comprehensive monitoring capabilities.
Solution Approach 2:
The system uses the vehicle's own sensor arrangements to perform all measurements and calculations required for safe parking. The control device integrates data from the sensor arrangements to automatically adjust the trajectory based on measured space conditions, eliminating the need for external measurement equipment or manual intervention. The system serves itself by using its existing components for the extended measurement function.
3Reliability
If the first arc size is increased to accommodate lateral swerving, then sufficient space is available for pivoting, but the parking trajectory requires more longitudinal space and may not fit in the parking space
Solution Approach 1:
The trajectory is designed as a dynamic path that adapts to the available space conditions. The first arc radius is dynamically selected based on the measured lateral clearance, and the control device can adjust the trajectory in real-time during the parking maneuver. If space constraints are detected, the system can modify the parking angle and speed profile to accommodate the limited longitudinal space while maintaining safe lateral clearance.
Solution Approach 2:
The system changes key trajectory parameters such as the first arc radius, parking angle, and vehicle speed based on the measured available space. When lateral clearance is limited, the trajectory parameters are adjusted to reduce longitudinal extent requirements. The control device calculates optimal parameter combinations that satisfy both lateral clearance and longitudinal space constraints, selecting from multiple possible trajectory configurations.
Data Source
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AI summary
Disclosed are a method and a device for planning a path when parking a vehicle (02) in a lateral parking space (05). In said method, a path (01) is calculated based on the geometry of the parking space (05) and a position of the vehicle relative to said parking space (05), a process in which a gap available on an opposite side of the parking space (05) is taken into account for planning the path. Also disclosed are a driving assistance device for carrying out said method as well as a computer program product which incites a microprocessor comprising associated storage means to carry out the method.