Parking Route Generation Using Geometric and Graph Search Segments
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Solution Overview
Problem
Existing parking assistance systems face increased processing loads due to redundant calculations during parallel parking, particularly in situations involving short traveling distances, leading to inefficiencies in route generation.
Innovation Solution
A route generation device and method that combines geometric route generation using expressions representing geometric shapes with graph search algorithms to reduce processing load by dividing the parking route into segments, with a geometric route from the parking goal to a connection point and a graph search route from the start to the connection point, allowing for efficient route combination and vehicle control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a graph search algorithm is used to generate the entire parking route, then the route can be found reliably, but the processing load increases due to redundant calculations
Solution Approach 1:
The parking route generation is divided into two segments: a geometric route segment from the parking goal position to a connection point, and a graph search route segment from the current position to the connection point. This segmentation allows the computationally intensive graph search to be applied only to the necessary portion of the route, reducing redundant calculations while maintaining reliability.
Solution Approach 2:
The geometric route from the parking goal position to the connection point is determined in advance before executing the graph search algorithm. This preliminary action defines the target region for the graph search, limiting the search space and reducing the processing load while ensuring the final route reaches the desired parking position.
2Productivity
If a geometric route is used for the entire parking route, then the processing load is reduced, but the route may not account for dynamic obstacles and environmental constraints
Solution Approach 1:
The route is segmented such that the geometric route handles the straightforward portion from the parking goal to the connection point, while the graph search route handles the portion from the current position to the connection point, where environmental constraints and obstacles need to be considered. This segmentation allows each method to be applied where it is most effective.
Solution Approach 2:
The geometric route and graph search route are merged at the connection point to form the complete parking route. This combination leverages the computational efficiency of geometric routing for predictable segments while incorporating the obstacle-aware capabilities of graph search for segments requiring environmental consideration.
Data Source
AI summary
Provided is a route generation device that enables reduction in a processing load for generating a parking route. A route generation device of the present disclosure includes: a surrounding environment information acquisition unit which acquires surrounding environment information around an own vehicle; an own-vehicle position estimation unit which estimates an own-vehicle position; a geometric route generation unit which generates a geometric route, using an expression representing a geometric shape of a route; a graph search route generation unit which generates a graph search route, using a graph search algorithm for searching for a route using a plurality of nodes and a plurality of edges connecting the nodes; and a route combination unit which generates a parking route from a parking start position to a parking goal position by combining the geometric route and the graph search route.