Vehicle Torque Control for Curb Transition Parking
Solution Overview
Problem
Existing methods for semi-autonomous parking of vehicles in spaces with different height levels often fail to overcome transitions effectively, requiring multiple attempts and potentially leading to collisions or inefficient parking processes.
Innovation Solution
A method where a first wheel applies a predetermined torque to attempt overcoming a transition, and if that fails, a second wheel applies a greater torque determined by vehicle and parking space parameters, such as friction coefficient and orientation, to successfully navigate the transition, thereby minimizing the number of attempts and ensuring smooth parking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a first torque is applied to the first wheel to overcome the transition, then the parking maneuver can be initiated, but the torque may be insufficient and the attempt fails
Solution Approach 1:
The system performs preliminary detection of the transition (curb) using sensor data before the parking maneuver begins. Based on this preliminary information, the control device pre-calculates and stores appropriate torque values in a lookup table, so that when a wheel needs to overcome the transition, the correct torque is already available without requiring multiple trial attempts
Solution Approach 2:
The system continuously monitors wheel speed and position during the parking maneuver. When a wheel fails to overcome the transition, the system detects this through feedback from sensors and responds by selecting a higher torque value from the lookup table for subsequent attempts, thereby increasing the success rate
2Reliability
If multiple attempts are made to overcome the transition with insufficient torque, then the system may eventually succeed, but collisions may occur and the process becomes inefficient
Solution Approach 1:
The control device pre-calculates appropriate torque values based on detected transition characteristics (height, angle, material) before the maneuver begins. This preliminary preparation ensures that sufficient torque is applied from the first attempt, avoiding multiple trials that could lead to collisions with the curb or surrounding objects
Solution Approach 2:
The system adjusts the torque parameter dynamically based on detected transition parameters. By changing the torque magnitude according to the specific characteristics of the curb (detected through sensor measurements), the system optimizes the force applied to overcome the transition while minimizing the risk of excessive force causing collisions
3Productivity
If torque is increased to ensure successful transition overcoming, then the parking maneuver succeeds faster, but energy consumption increases
Solution Approach 1:
The system applies different torque values to different wheels based on their specific situation. The lookup table provides wheel-specific torque recommendations considering factors such as which wheel first encounters the transition, the wheel's position, and the transition characteristics. This localized approach ensures each wheel receives the minimum necessary torque rather than uniformly high torque to all wheels
Solution Approach 2:
The torque parameter is dynamically adjusted based on detected transition characteristics and maneuver progress. The control device selects from a range of torque values in the lookup table, applying only the necessary amount required to overcome the specific transition at hand, thereby optimizing energy consumption while maintaining fast completion
4Adaptability or versatility
If a fixed torque value is used for all wheels, then the control system is simple, but it cannot adapt to different wheel positions and transition conditions
Solution Approach 1:
The control device pre-calculates and stores multiple torque scenarios in a lookup table during system initialization or before the maneuver begins. Each entry in the lookup table corresponds to a specific wheel and transition condition combination. This preliminary preparation allows the system to adapt to different conditions without requiring complex real-time calculations during the actual parking maneuver
Solution Approach 2:
The lookup table serves as an intermediary structure between the simple sensor inputs and the complex torque control requirements. It pre-processes the relationship between various wheel positions, transition characteristics, and optimal torque values, thereby reducing the computational burden during real-time operation while still providing adapted torque control for each wheel
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for reliable and efficient semi-autonomous parking by adapting torque levels based on real-time conditions, reducing the risk of collisions and improving the overall parking experience by ensuring successful transition overcoming with fewer attempts.
Implementation Method 1
a coefficient of friction of the first region is determined as the at least one parameter
Data Source
Figure 1
Figure 2
AI summary
The invention relates to a method for at least semi-autonomously parking a motor vehicle (1) in a parking space (3), the motor vehicle (1) having a first area (B1) and a second area (B2) raised above the first area (B1), wherein a first wheel (10) of the motor vehicle (1) is subjected to a first torque (M1) to perform a first overcoming operation of a transition (8) between the first area (B1) and the second area (B2), and wherein at least a second wheel (11) of the motor vehicle (1) is subjected to a second torque (M2) greater than the first torque (M1) to perform a second overcoming operation of the transition (8) if it is detected that a first attempt at overcoming the transition by the first wheel (10) subjected to the first torque (M1) has failed. The invention also relates to a driver assistance system (2) for a motor vehicle (1) and a motor vehicle (1).