Autonomous Parking Trajectory Replacement for Obstacle Avoidance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Parking assistance systems face challenges in retracing trained trajectories when environmental conditions change, particularly due to obstacles, leading to termination of maneuvers.
Innovation Solution
A method for ascertaining a replacement trajectory that connects a starting point before a collision point to an end point after it, avoiding obstacles by using sensor data to detect and classify obstacles and calculate collision points, allowing the system to bypass obstacles and maintain safe navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the vehicle retraces a trained trajectory using a parking assistance system, then the parking maneuver can be performed automatically, but the maneuver may be terminated if obstacles are detected in the trajectory area
Solution Approach 1:
The system dynamically adapts the predefined trajectory by calculating and implementing a replacement trajectory when obstacles are detected. The parking assistance system transitions from rigid trajectory execution to flexible trajectory modification, allowing the vehicle to bypass obstacles while maintaining autonomous operation and successfully complete the parking maneuver.
Solution Approach 2:
The system changes the trajectory parameters by calculating a replacement trajectory with modified path points that avoid obstacles. The collision point calculation and replacement trajectory generation alter the spatial parameters of the parking path, enabling the vehicle to navigate around obstacles while preserving the automated parking function.
2Manufacturing precision
If the vehicle follows the predefined trajectory exactly, then the parking maneuver is precise, but collisions may occur with obstacles in the environment
Solution Approach 1:
The system performs preliminary obstacle detection and collision point calculation before the vehicle reaches the collision point. By identifying potential collision points in advance and calculating a replacement trajectory beforehand, the system prevents collisions from occurring while maintaining precise trajectory-following capabilities for the modified path.
Solution Approach 2:
The replacement trajectory acts as an intermediary solution between the original predefined trajectory and the physical obstacle. It provides a modified path that mediates between the need for precise trajectory execution and the need to avoid collisions, allowing the vehicle to navigate around obstacles while maintaining controlled, accurate movement.
3Object-affected harmful factors
If the system calculates a replacement trajectory to avoid obstacles, then collision safety is improved, but deviation from the original trajectory increases
Solution Approach 1:
The system applies partial deviation from the original trajectory only where necessary to avoid obstacles. Instead of completely abandoning the predefined trajectory, the system maintains adherence to the original path where safe and introduces minimal deviations only in the regions where obstacles are present, achieving collision avoidance with minimal trajectory deviation.
Data Source
AI summary
A method for determining a replacement trajectory for a vehicle operated in an autonomous driving mode is disclosed. The method involves receiving a predefined trajectory with a first section and a second section that are linked to one another at a travel direction turning point, wherein a travel direction of the first section is different from that of the second section, receiving a sensor signal indicative of surroundings of the vehicle, detecting an obstacle in the surroundings on the basis of the received sensor signal, calculating at least one collision point on the predefined trajectory at which a collision occurs between the vehicle and the obstacle, and ascertaining the replacement trajectory based on the at least one calculated collision point. The replacement trajectory connects a starting point, located before the collision point, to an end point on the predefined trajectory, located after the collision point, while avoiding the collision.