Auto Parking Path Control Using Boundary-Based Route Switching

The patent segments the target parking area into multiple boundaries (first boundary, second boundary, third boundary, fourth boundary) and generates multiple candidate paths (first path, second path, third path, fourth path) corresponding to each boundary. This segmentation allows the system to evaluate multiple routing options rather than relying on a single path, thereby improving passage efficiency while maintaining manageable system complexity through structured division of the parking zone.

The patent implements a feedback mechanism where the system detects obstacles along each candidate path and automatically selects an alternative path when an obstacle is detected. The controller monitors the execution status of each path and switches to a backup path (e.g., from first path to second path, or third path to fourth path) when necessary. This feedback-driven approach enhances safety by ensuring obstacle avoidance while maintaining controlled system complexity through systematic path management.

The patent prepares multiple candidate paths (first path through fourth path) in advance before the vehicle begins movement. Each path corresponds to a different boundary of the target parking area. By pre-planning these alternative routes, the system eliminates the need for complex real-time path generation when obstacles are detected. The controller simply needs to switch between pre-defined paths based on obstacle detection results, thereby reducing collision risk while keeping the control system relatively simple.