Autonomous Parking Route Correction for Obstacle-Aware Followability
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Solution Overview
Problem
Existing vehicle control systems face difficulties in providing suitable parking assistance, particularly when the stored teacher route is difficult to follow during autonomous traveling.
Innovation Solution
A vehicle control method that includes storing a travel route and external situation data during teacher traveling, correcting the route based on external situation data, and displaying a correction route for approval before storing it as a teacher route for autonomous traveling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the vehicle stores the actual travel route during teacher traveling as the teacher route, then the autonomous traveling function is established, but the route may be difficult to follow at the time of autonomous traveling due to obstacles and curvature limitations
Solution Approach 1:
The system performs preliminary correction of the travel route by generating a correction route that modifies curvature radius and avoids obstacles before autonomous traveling begins. This preliminary action ensures the route is optimized for autonomous following capability, preventing the problem of difficult route followability during actual autonomous operation.
Solution Approach 2:
The system displays the generated correction route to the driver and incorporates driver approval or modification feedback. This feedback mechanism allows the driver to verify the corrected route's suitability and make necessary adjustments, ensuring the final teacher route is both safe and easy to follow during autonomous traveling.
2Measurement precision
If the vehicle corrects the travel route based on external situation data, then the parking assistance accuracy is improved, but the device complexity increases due to additional processing requirements
Solution Approach 1:
The system corrects the travel route by modifying specific parameters such as curvature radius and position coordinates based on external situation data. Instead of complete route redesign, the system adjusts key parameters to achieve obstacle avoidance and improved followability while maintaining overall route structure, thus balancing accuracy improvement with processing complexity.
Solution Approach 2:
The route correction process is divided into discrete segments or sections where corrections are applied locally rather than globally. The system identifies specific portions of the route requiring correction (e.g., high curvature sections, obstacle areas) and applies corrections only to those segments, reducing overall processing complexity while maintaining parking assistance accuracy.
Data Source
AI summary
A vehicle control method executed in a vehicle that includes a sensor that acquires an external situation and capable of detecting an obstacle, a display visually recognizable by an occupant, and a movement controller that controls at least steering, the vehicle being capable of autonomously traveling to a parking target position along a teacher route obtained by teacher traveling from a predetermined position to the parking target position, by controlling at least steering. The vehicle control method includes: storing a travel route actually traveled and an external situation acquired through a sensor at a time of a teacher traveling; correcting the stored travel route based on the stored external situation; displaying, through the display, a correction route obtained by correcting the travel route; and storing the correction route as the teacher route.