Vehicle Odometry Correction via Wheel Contact Detection
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Solution Overview
Problem
Existing driver assistance systems for motor vehicles, particularly during parking, face challenges in accurately determining the relative position between the vehicle and surrounding objects, leading to potential errors in odometry and unreliable maneuvering, especially when contact with kerbs or other objects is detected.
Innovation Solution
A method that uses sensors to determine the current relative position between the motor vehicle and objects, continuously updates this position using odometry, and corrects it upon detecting contact, employing multiple sensors and data from wheel dimensions, steering angle, and motor speed to ensure accurate positioning and prevent kerb contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of moving object
If odometry is used to continuously update the position value during motor vehicle manoeuvring, then the positioning can be maintained throughout the maneuver, but odometry errors accumulate leading to inaccurate position determination
Solution Approach 1:
The system uses sensor data (ultrasonic, radar, laser, camera) to detect actual distance to objects and compares it with the odometry-determined position. When a discrepancy is detected, the system feeds back a corrected position value to eliminate odometry errors, ensuring both continuous positioning and high accuracy throughout the maneuver.
Solution Approach 2:
The system combines multiple positioning methods (odometry for continuous tracking, sensor-based distance measurement for accuracy correction) into a composite positioning system. This hybrid approach leverages the strengths of each method while compensating for their individual weaknesses.
2Ease of operation
If the driver assists during parking maneuvers, then the maneuver can be completed with human judgment, but the precision and reliability of contact detection and position correction are reduced
Solution Approach 1:
The system replaces manual driver judgment with automated sensor-based detection for contact identification. Sensors automatically detect wheel contact with kerbs or objects and trigger position corrections without requiring driver intervention, thereby improving reliability while maintaining ease of operation through semi-autonomous mode.
3Measurement precision
If multiple sensors are used to detect objects and determine position, then the measurement accuracy is improved, but the device complexity increases
Solution Approach 1:
The system employs multiple sensor types (ultrasonic, radar, laser, camera) that can serve multiple functions: object detection, distance measurement, and position verification. This multi-functionality approach improves measurement precision while managing device complexity by having sensors perform overlapping roles.
Data Source
AI summary
The invention relates to a method for at least semi-autonomously manoeuvring a motor vehicle (1), in which a sensor (4) is used to determine a position value describing a current relative position between an object (8) in an area (7) surrounding the motor vehicle (1) and the motor vehicle (1), a driving trajectory (13) is determined, the motor vehicle (1) is manoeuvred along the determined driving trajectory (13), the position value is continuously updated during manoeuvring of the motor vehicle (1) on the basis of odometry, and contact between at least one wheel of the motor vehicle (1) and the object (8) is detected, wherein the position value is corrected if the contact between the at least one wheel and the object (8) is detected and the position value describes a relative position which differs from the contact between the at least one wheel and the object (8).