Autonomous Parking Path Planning for Recorded Trajectory Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing vehicle parking systems lack the ability to autonomously navigate vehicles to a previously recorded parking trajectory, especially when the vehicle is not initially aligned with the trajectory, requiring manual intervention.
Innovation Solution
A vehicular parking system that utilizes sensors to record a driver's parking maneuver, determines a target location on the recorded trajectory, and plans a path for autonomous navigation to the parking location using a Dubins path algorithm, ensuring a dynamically feasible trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the vehicle is not initially aligned with the recorded trajectory, then manual intervention is required to realign the vehicle, but this increases the complexity of operation and reduces automation
Solution Approach 1:
The system performs self-alignment by automatically calculating the deviation between the vehicle's current position and the recorded trajectory, then autonomously computing a corrective Dubins path to realign the vehicle with the trajectory without requiring manual driver intervention
Solution Approach 2:
The system continuously monitors the vehicle's position relative to the recorded trajectory and uses this feedback information to dynamically adjust the path planning, ensuring the vehicle remains aligned with the trajectory throughout the parking maneuver
2Device complexity
If a simple straight-line path is used to navigate to the parking location, then the path planning is computationally simple, but the path is not dynamically feasible for vehicles with steering constraints
Solution Approach 1:
The system employs curved Dubins paths instead of straight lines to account for the vehicle's steering constraints. The Dubins path consists of curved segments that are dynamically feasible for vehicles with limited turning radii, ensuring the vehicle can physically follow the planned trajectory
Solution Approach 2:
The system adjusts path parameters such as curvature and steering angle to match the vehicle's dynamic capabilities. By modifying these parameters within the Dubins path framework, the system generates trajectories that are both computationally tractable and dynamically feasible for the specific vehicle
Data Source
AI summary
A vehicular parking system includes a sensor disposed at a vehicle and capturing sensor data. The vehicular parking system, during a parking maneuver performed by a driver of the vehicle, records a trajectory traveled by the vehicle from an initial location to a parking location. Subsequent to recording the trajectory, and responsive to initiation of an autonomous parking maneuver, the system determines a target location on the recorded trajectory. The vehicular parking system determines a path from the current location of the vehicle to the determined target location on the recorded trajectory and controls the vehicle to travel to the determined target location on the recorded trajectory. The vehicular parking system controls the vehicle along the recorded trajectory to the parking location.