Parking Assistance Trajectory Planning With Intermediate Waypoints
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Solution Overview
Problem
Existing parking assistance systems struggle to generate a target travel trajectory when the route from the parking start position to the target parking position is constrained by obstacles or restricted spaces, preventing the vehicle from moving along the intended trajectory.
Innovation Solution
The system stores an actual travel trajectory from manual parking, calculates a first target travel trajectory based on the relative position between the start point and the target parking position, identifies a deviation range where the actual trajectory deviates significantly from the target trajectory, sets a target intermediate position within this range, and then calculates a second target travel trajectory that passes through this intermediate position to reach the target parking position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a target travel trajectory is generated based on relative position between parking start position and target parking position, then the trajectory calculation is simple and fast, but the vehicle cannot actually move along the trajectory when route constraints exist
Solution Approach 1:
The system performs preliminary action by storing the actual travel trajectory from manual parking operations in advance. When automated parking is executed, this pre-stored actual trajectory is retrieved and used to identify deviation ranges, enabling the system to account for route constraints before generating the final target trajectory, thus ensuring both calculation efficiency and trajectory executability
Solution Approach 2:
The system introduces an intermediary element - the deviation range identification - that bridges the simple relative position-based trajectory calculation and the actual route constraints. By identifying where the calculated trajectory deviates from the actual trajectory, the system can modify the target trajectory to pass through appropriate intermediate positions, ensuring the vehicle can actually follow the trajectory while maintaining calculation efficiency
2Manufacturing precision
If the target travel trajectory is modified to pass through intermediate positions, then the trajectory becomes more accurate and followable, but the calculation complexity increases
Solution Approach 1:
The system applies segmentation by dividing the trajectory generation process into distinct stages: generating a preliminary trajectory based on relative positions, identifying deviation ranges where constraints exist, selecting intermediate positions within those ranges, and finally generating the modified trajectory. This segmentation allows each stage to be handled independently with appropriate algorithms, reducing overall calculation complexity while improving trajectory accuracy
Solution Approach 2:
The system implements partial action by only modifying the trajectory in specific deviation ranges where constraints are identified, rather than recalculating the entire trajectory from scratch. By applying modifications only where necessary and using the pre-stored actual trajectory as a reference, the system achieves high trajectory accuracy without excessive calculation complexity
Data Source
AI summary
A parking assistance method includes: calculating a first target travel trajectory starting from a start point of an actual travel trajectory when a vehicle is parked by manual driving and reaching a target parking position; calculating a deviation range including a portion of the actual travel trajectory in which the actual travel trajectory deviates a first predetermined distance or more from the first target travel trajectory; setting a target intermediate position existing in the deviation range; when assisting the vehicle in parking at the target parking position, calculating a second target travel trajectory, that is a trajectory starting from a parking start position, the parking start position being a position of the vehicle at a time point when parking is started, passing through the target intermediate position, and reaching the target parking position; and performing parking assistance control to assist the vehicle in moving along the second target travel trajectory.