Autonomous Parking Trajectory Control with Pre-Steering Across Gear Changes
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Solution Overview
Problem
Existing autonomous driving systems fail to comply with human driving experience and habits, and affects parking experience of the user.
Innovation Solution
The vehicle is equipped with a first parking trajectory and a second parking trajectory, where the end point of the first parking trajectory is a start point of the second parking trajectory, the vehicle is in a first gear in the first parking trajectory, and the vehicle is in a second gear in the second parking trajectory, and the first gear is different from the second gear.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the vehicle controls and tracks each parking trajectory segment by segment, then tracking precision is ensured, but the parking process does not comply with human driving experience and habits, affecting parking experience
Solution Approach 1:
The patent applies preliminary action by pre-steering the vehicle before reaching the trajectory endpoint. Instead of waiting to arrive at the endpoint and then steering, the system calculates and executes steering actions in advance based on predicted trajectory requirements. This maintains precision while making the parking process smoother and more natural, complying with human driving experience.
2Manufacturing precision
If the vehicle steers at the end point of the first parking trajectory, then the parking trajectory can be completed, but tire wear increases due to steering when vehicle speed is zero
Solution Approach 1:
The patent performs steering actions in advance before the vehicle reaches the endpoint where speed would be zero. By calculating the required steering angle and executing it while the vehicle is still moving, the system avoids the harmful effect of steering at zero speed, thereby reducing tire wear while still achieving accurate parking trajectory completion.
3Productivity
If the vehicle uses multiple gear changes during parking, then different trajectory segments can be optimized, but the parking time increases due to gear switching operations
Solution Approach 1:
The patent applies preliminary action by pre-calculating and pre-positioning the vehicle for gear changes before they are actually needed. The system predicts future trajectory requirements and prepares gear transitions in advance, allowing seamless gear changes without stopping or delaying the parking process, thus reducing overall parking time while maintaining optimized trajectory execution.
4Productivity
If the vehicle reduces parking time by optimizing trajectory execution, then productivity improves, but smoothness and human-likeness of the parking process deteriorates
Solution Approach 1:
The patent resolves this contradiction by performing preliminary calculations and preparations for steering and gear changes. This allows the vehicle to execute optimized trajectories at high speed while maintaining smooth transitions, because all necessary adjustments are pre-planned and executed seamlessly without abrupt changes, thereby maintaining both productivity and parking smoothness.
Data Source
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AI summary
A control method is provided, and is applied to the field of intelligent driving. The method includes: A vehicle obtains a first parking trajectory and a second parking trajectory, where an end point of the first parking trajectory is a start point of the second parking trajectory, the vehicle is in a first gear in the first parking trajectory, the vehicle is in a second gear in the second parking trajectory, and the first gear is different from the second gear; and before the vehicle travels to the end point based on the first parking trajectory, controls, based on the second parking trajectory, the vehicle to steer. The control method helps improve smoothness and human-likeness in a parking process, thereby helping improve parking experience of a user. An apparatus for implementing the control method and a vehicle are further provided.