Parking Assist Pre-Stop Control Using Registered Wheel-Stop Positions
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Solution Overview
Problem
Existing parking assistance systems may result in prolonged travel at low speeds and reduced convenience when the steering angle becomes zero early in the parking process, leading to inefficient vehicle positioning.
Innovation Solution
A parking assistance system that includes a vehicle control unit to manage driving and braking forces, with features like a wheel stop position estimation and pre-stop control, allowing the vehicle to travel at a preset contact preparation speed within a contact assumption area, which is adjusted based on registered parking spaces to minimize unnecessary low-speed travel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the speed is greatly reduced from a time when the steering angle becomes zero, then the vehicle can prevent forcefully reaching the wheel stop, but the distance and time for traveling at extremely low vehicle speed become long, lowering convenience
Solution Approach 1:
The contact assumption area is dynamically adjusted based on whether the target parking space is a registered parking space. For registered spaces, the area is reduced to minimize low-speed travel distance and time, while for unregistered spaces, the larger area ensures safer pre-stop control. This dynamic adaptation resolves the contradiction by optimizing the balance between safety and convenience based on the specific parking scenario.
Solution Approach 2:
The system changes the parameter of contact assumption area size based on the registration status of the parking space. When the parking space is registered, the contact assumption area is set to a smaller value, reducing the distance and time of low-speed travel. This parameter change allows the system to maintain reliability for unregistered spaces while improving convenience for registered spaces.
2Ease of operation
If the contact assumption area is reduced for registered parking spaces, then the distance and time of low-speed travel are minimized, but the risk of forceful wheel stop contact may increase if the area is too small
Solution Approach 1:
The system dynamically adjusts the contact assumption area based on the registration status of the parking space. For registered spaces where the system has learned the accurate wheel stop position, a smaller area is safe to use. For unregistered spaces, a larger area provides a safety margin. This dynamic adjustment resolves the contradiction by adapting the safety margin to the level of confidence in wheel stop position estimation.
Solution Approach 2:
The system performs preliminary learning of the wheel stop position when the parking space is first used, storing this information for future reference. This preliminary action allows the system to later reduce the contact assumption area for registered spaces, improving convenience while maintaining safety through the accumulated knowledge of the specific parking space geometry.
Data Source
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AI summary
A parking assistance system includes a vehicle control unit, a parking information storage unit, and a wheel stop position estimation unit. The vehicle control unit sets a contact assumption area (A) based on an estimated wheel stop position (Pc) estimated by the wheel stop position estimation unit, and performs pre-stop control for causing a vehicle to travel at a contact preparation speed in the contact assumption area (A). In a case where a parking space (E) in which the vehicle is to be parked is a registered parking space (Er), the vehicle control unit reduces the contact assumption area (A) to be smaller than in a case where the parking space (E) is not the registered parking space (Er).