Parking Trajectory Planning Using Single-Wheel Rotation
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Solution Overview
Problem
Existing vehicles require multiple gear shifts to park in narrow parking spots due to large rotation angles during conventional trajectory planning, leading to low parking efficiency.
Innovation Solution
A method for planning a parking trajectory using a single-wheel rotation function, determining initial and target parking points and a rotation start point, and segmenting the trajectory into first and second segments to minimize rotation angles and avoid collisions, utilizing four-wheel independent drive technology to control wheel rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional trajectory planning with large rotation angles is used, then the vehicle can park in the parking spot, but multiple gear shifts are required leading to low parking efficiency
Solution Approach 1:
The parking trajectory is segmented into multiple sub-trajectories, each corresponding to a specific rotation angle range. The system divides the large rotation angle into several smaller rotation steps, allowing the vehicle to complete parking with fewer gear shifts by switching gears at optimized rotation points rather than requiring multiple shifts throughout the entire parking maneuver.
Solution Approach 2:
The system dynamically adjusts rotation angle parameters and gear selection based on real-time vehicle state and trajectory progress. By optimizing the rotation angle for each segment and coordinating gear shifts with rotation phases, the system reduces the total number of gear shifts required while maintaining parking accuracy and safety.
2Productivity
If the vehicle rotates about a single wheel with small rotation angles, then gear shifts are reduced, but precise control of rotation start point and trajectory splicing is required
Solution Approach 1:
The system performs preliminary calculation of the rotation start point and pre-plans the splicing points between trajectory segments before execution. By determining the optimal rotation start position and pre-calculating how segments will connect in advance, the system simplifies real-time control complexity while maintaining the benefits of small rotation angles and reduced gear shifts.
Solution Approach 2:
The system continuously monitors vehicle position, rotation angle, and trajectory progress to provide feedback for adjusting the parking maneuver. This feedback mechanism allows the system to adapt to actual vehicle behavior, ensuring precise trajectory following and smooth splicing between segments while maintaining computational efficiency.
Data Source
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Figure 3
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AI summary
The present disclosure relates to a method for planning a parking trajectory, a storage medium, a controller, and a vehicle, and relates to the field of autonomous driving technologies. Parking trajectory planning can be performed based on a single-wheel rotation function of a vehicle, thereby improving parking efficiency. The method for planning a parking trajectory includes: determining an initial parking point, a target parking point, and a rotation start point of a vehicle for a target parking spot, the vehicle having a function of rotating about a single wheel, and the rotation start point being a start point of rotation of the vehicle about a target wheel in a parking-out trajectory from the target parking point to the initial parking point; and determining a target parking trajectory of the vehicle from the initial parking point to the target parking point according to the initial parking point, the target parking point, and the rotation start point.