Automatic Parking Path Planning for Low-Torque Power Steering
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Solution Overview
Problem
Learning-type automatic parking systems face challenges in navigating vehicles with electric power steering systems that have weak torque, leading to potential collisions with obstacles due to larger turning radii and deviations from the intended parking path.
Innovation Solution
A parking support apparatus and method that sets a safety region based on the vehicle's manual parking path, using the electric power steering's performance to generate an automatic parking path within this safety region, ensuring the vehicle stays within a safe driving range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If learning-type automatic parking is implemented with electric power steering, then automatic parking capability is achieved, but larger turning radii cause deviation from the intended parking path
Solution Approach 1:
The system performs preliminary manual parking operations to learn and store the intended parking path before executing automatic parking. This preliminary action allows the system to capture the optimal path that avoids obstacles and achieves accurate parking positioning.
Solution Approach 2:
The system continuously compares the actual vehicle position during automatic parking with the stored reference path, detecting deviations caused by power steering limitations. Based on this feedback, the system dynamically adjusts steering commands to correct the path deviation and achieve accurate parking.
2Device complexity
If electric power steering with weak torque is used, then device complexity is reduced, but the vehicle cannot follow the intended parking path accurately
Solution Approach 1:
The system creates a digital copy of the intended parking path through manual parking operations. This reference path is stored and used as a template for automatic parking, allowing the system to reproduce the accurate path even with limited steering torque by making incremental adjustments.
Solution Approach 2:
The system dynamically adjusts steering commands based on real-time position feedback during automatic parking. Instead of rigidly following the reference path, the system adapts steering angles and timing to compensate for power steering limitations, maintaining path accuracy through continuous dynamic adjustment.
3Manufacturing precision
If the vehicle follows the manual parking path exactly, then parking accuracy is improved, but the vehicle may collide with obstacles due to larger turning radii
Solution Approach 1:
The system performs preliminary manual parking operations to learn the environment and identify safe paths that avoid obstacles. This preliminary exploration allows the system to establish a reference path that accounts for the vehicle's actual turning capabilities and environmental constraints.
Solution Approach 2:
The system uses real-time feedback from sensors to detect obstacles and adjust the parking path dynamically. When obstacles are detected or when the vehicle deviates due to turning radius limitations, the system recalculate the path to avoid collisions while maintaining parking accuracy.
Data Source
AI summary
A parking support apparatus includes a storage that stores a manual parking path, and a processor that sets a safety region where the vehicle can pass. The processor causes the vehicle to perform automatic driving based on the generated automatic parking path, and the processor generates a parking path configured for driving within a range of the performance of the electric power steering and for the vehicle to pass inside the safety region.