Automatic Parking Strategy with Stage-Based Feedback Control
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Solution Overview
Problem
Existing automatic parking systems face difficulties in complex parking scenarios, such as narrow spaces and non-convergent solutions, leading to unsatisfactory results.
Innovation Solution
The method divides the parking process into stages, using different control strategies at each stage, with feedback-based adjustments to steering angles and actions, allowing for continuous improvement of the parking strategy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If circular arc planning is used for automatic parking, then the parking path can be planned smoothly, but it requires large parking space and cannot be implemented in narrow spaces
Solution Approach 1:
The parking process is divided into multiple stages: approach stage, parking stage, and adjustment stage. Each stage uses different control strategies appropriate to the spatial constraints at that phase, allowing the system to operate successfully in narrow spaces where a single circular arc strategy would fail
2Productivity
If vector field method is used to calculate parking strategy, then a parking path can be obtained, but the solution cannot ensure convergence
Solution Approach 1:
The system continuously obtains feedback information about the vehicle's position and orientation relative to the target parking spot, and uses this feedback to update and adjust the parking strategy in real-time. This closed-loop control ensures convergence by constantly correcting the parking path based on actual vehicle state
Solution Approach 2:
The control strategy transitions from static pre-planned paths to dynamic real-time adjustment. The system adapts the parking strategy dynamically based on current vehicle state and environmental feedback, ensuring convergence even in complex scenarios
3Ease of manufacture
If a single control strategy is used for all parking scenarios, then the system is simple to implement, but it cannot handle complex parking scenarios satisfactorily
Solution Approach 1:
The parking process is segmented into distinct stages (approach, parking, adjustment), with each stage having its own control strategy. This allows the system to handle diverse parking scenarios by selecting appropriate strategies for each stage while maintaining overall system simplicity
Solution Approach 2:
The system changes control parameters and strategies based on the current parking stage and scenario characteristics. By adjusting parameters such as steering angle, speed, and control algorithm selection according to the stage, the system achieves high adaptability while keeping the base control logic simple
Data Source
AI summary
This application provides a method for determining an automatic parking strategy. The method includes: determining, a target parking action corresponding to a current parking stage performing the target parking action; obtaining feedback information, where the feedback information is used to indicate whether a result of performing the target parking action reaches a predetermined objective, and the predetermined objective is a predetermined position of the vehicle relative to a target parking spot, and/or the predetermined objective is a status of the vehicle in the parking process; and updating the automatic parking strategy based on the feedback information. In the foregoing method, the entire parking process is divided into several parking stages, and a control strategy is obtained by using a different method at each stage. This can increase a success rate of automatic parking in a complex parking scenario.