Vehicle Parking Trajectory Correction for Curb Impact
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Solution Overview
Problem
Existing semi-autonomous parking systems for vehicles with height transitions, such as curbs, often result in damage to tires and rims due to inadequate prediction and correction of wheel positions, leading to inefficient and harsh maneuvers.
Innovation Solution
A method that determines a bridging position and distance for the first wheel to overcome a transition, predicts the position of subsequent wheels, and corrects the overcoming distance to ensure the wheels remain outside critical areas, using sensor data and odometry for precise positioning and trajectory planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the motor vehicle maneuvers over a curb to reach a higher parking space area, then the vehicle can access elevated parking spaces, but the tires and rims may be damaged due to impact with the curb
Solution Approach 1:
The system performs preliminary detection of the curb's position and height profile before the vehicle reaches it. The parking trajectory is pre-calculated to include a bridging maneuver where wheels overlap the curb, and the overcoming distance for each wheel is predetermined based on the curb geometry. This preliminary planning prevents direct impact damage by preparing the vehicle and trajectory in advance.
Solution Approach 2:
The curb crossing maneuver is segmented into discrete steps for each wheel. The system determines an overcoming distance for a first wheel to bridge the curb, then predicts positions of subsequent wheels and calculates their respective overcoming distances. This segmentation allows precise control of each wheel's interaction with the curb, preventing simultaneous impact and reducing damage risk.
2Object-affected harmful factors
If the parking trajectory is adjusted to lead over the curb at a predetermined angle to avoid damage, then tire and rim damage can be avoided, but the parking maneuver becomes more complex and requires precise trajectory control
Solution Approach 1:
The system uses sensor data to detect the curb's height profile and continuously updates the parking trajectory based on actual vehicle position and wheel orientation. Odometry data provides feedback on wheel rotation and vehicle movement, allowing real-time adjustments to the overcoming distance and trajectory angle. This feedback loop simplifies the control task by automatically adapting to actual conditions rather than requiring complex pre-programmed trajectories for all scenarios.
Solution Approach 2:
The parking trajectory is dynamically adjusted based on detected curb characteristics and real-time vehicle state. The system modifies the overcoming distance and trajectory angle during the maneuver rather than following a fixed predetermined path. This dynamic adaptation reduces complexity by allowing the system to respond to actual conditions rather than requiring exhaustive pre-planning for all possible curb configurations.
3Object-affected harmful factors
If the system predicts and corrects wheel positions to ensure wheels remain outside critical areas, then damage can be avoided, but the calculation and control process becomes more time-consuming
Solution Approach 1:
The system calculates overcoming distances and predicts wheel positions in advance before the vehicle reaches the curb. The parking trajectory including the bridging maneuver is pre-determined based on detected curb geometry. This preliminary calculation allows the actual maneuver to execute quickly without real-time computation delays, reducing time loss while still ensuring safe wheel positioning.
4Ease of operation
If the overcoming distance for each wheel is precisely determined and corrected based on predicted positions, then the parking maneuver becomes gentler on the vehicle, but the control system requires higher measurement precision
Solution Approach 1:
The system uses odometry data from wheel rotation sensors to continuously monitor actual wheel positions and compares them with predicted positions. This feedback allows the system to detect deviations and correct the overcoming distance calculations in real-time. The combination of odometry feedback and sensor data compensates for individual measurement uncertainties, achieving high overall precision without requiring extremely precise individual sensors.
Data Source
Figure 1
Figure 2a~2b
Figure 3a~3b
AI summary
The invention relates to a method for at least semi-autonomously parking a motor vehicle (1) into a parking space (3), comprising a first parking space region (B1), a second parking space region (B2) that is increased with respect to the first parking space region (B1), and a transition (8) between the first and the second parking space region (B1, B2) to be overcome successively by at least two wheels (R1, R2, R3, R4) of the motor vehicle (1), wherein the following steps are carried out: a) determining an overcome position (S) in the first parking space region (B1) for a first wheel (R1, R2) for starting a first overcome operation of the transition by the first wheel (R1, R2); b) specifying an overcome path (X), which, starting from the overcome position (S), is traveled by the first wheel (R1, R2) to a specified end position (E) in the second parking space region (B2) during the first overcome operation; c) predicting a position (P) of at least one second wheel (R2, R4) in the parking space (3) after carrying out the first overcome operation based on the specified overcome path (X); d) determining whether or not the predicted position (P) of the second wheel (R2, R4) is within a specified partial region in the parking space (3); and e) correcting the overcome path (X) for the first wheel (R1, R2) in the event that the predicted position (P) is within the specified partial region. The invention further relates to a driver assistance system (2), and to a motor vehicle (1).