METHOD FOR CALCULATING A PARKING PATH
First Claim
1. A method for calculating a parking path comprising the following steps:
- step 1, calculating a radius of a turning path of a front outer wheel of a host vehicle based on the minimum turning radius of the host vehicle, and the turning path being a path that the front outer wheel travels when a steering wheel of the host vehicle is turned to the extreme;
step 2, calculating radiuses of turning paths of a rear outer wheel, a rear inner wheel, and a front inner wheel of the host vehicle, based on the radius of the turning path of the front outer wheel, and a wheelbase between front and rear axles of the host vehicle, and a width of the vehicle;
step 3, calculating a radius of a turning path of a front outer corner of the host vehicle based on the radius of the rear outer wheel of the vehicle, the wheelbase, and a distance from an axis of the front wheels to a front edge of the host vehicle;
step 4, defining a distance that the host vehicle needs to travel to a parking space as a horizontal distance, calculating a turning angle of the host vehicle at a turning point of the parking path based on the horizontal distance and the radiuses of the turning paths of the rear inner and outer wheels;
step 5, calculating a perpendicular distance that the vehicle needs to travel perpendicularly to the parking space based on the horizontal distance and the radiuses of the turning paths of the rear inner and outer wheels;
step 6, calculating a start point of the parking path based on a distance from the axis of the rear wheels to the rear edge of the host vehicle, a sum of the width of the host vehicle and a safety allowance, the radius of the turning path of the front outer corner of the host vehicle, and the radius of the turning path of the rear outer wheel of the host vehicle; and
step 7, calculating the parking path based on the start point of the parking path and the turning angle of the host vehicle.
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Accused Products
Abstract
A method for calculating a parking path, which is capable of simplifying the parking operation and making it easier for the driver to park a vehicle. Since the operation that the driver is required to do simply includes: turning the steering wheel to the extreme left, right and to the center, and driving the vehicle forward and backward, the parking operation is very simple, so that the possibility of error operation can be reduced to the least. In other words, the vehicle can be accurately parked in the parking space as long as the start position is accurate. The automatic parking system just provides reference to the driver, the driver still can made adjustment according to actual conditions.
22 Citations
19 Claims
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1. A method for calculating a parking path comprising the following steps:
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step 1, calculating a radius of a turning path of a front outer wheel of a host vehicle based on the minimum turning radius of the host vehicle, and the turning path being a path that the front outer wheel travels when a steering wheel of the host vehicle is turned to the extreme; step 2, calculating radiuses of turning paths of a rear outer wheel, a rear inner wheel, and a front inner wheel of the host vehicle, based on the radius of the turning path of the front outer wheel, and a wheelbase between front and rear axles of the host vehicle, and a width of the vehicle; step 3, calculating a radius of a turning path of a front outer corner of the host vehicle based on the radius of the rear outer wheel of the vehicle, the wheelbase, and a distance from an axis of the front wheels to a front edge of the host vehicle; step 4, defining a distance that the host vehicle needs to travel to a parking space as a horizontal distance, calculating a turning angle of the host vehicle at a turning point of the parking path based on the horizontal distance and the radiuses of the turning paths of the rear inner and outer wheels; step 5, calculating a perpendicular distance that the vehicle needs to travel perpendicularly to the parking space based on the horizontal distance and the radiuses of the turning paths of the rear inner and outer wheels; step 6, calculating a start point of the parking path based on a distance from the axis of the rear wheels to the rear edge of the host vehicle, a sum of the width of the host vehicle and a safety allowance, the radius of the turning path of the front outer corner of the host vehicle, and the radius of the turning path of the rear outer wheel of the host vehicle; and step 7, calculating the parking path based on the start point of the parking path and the turning angle of the host vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method used in combination with a CPU to calculate a parking path, calculation program and data are stored in a parking-path planning software, the method comprising the following steps:
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step a, defining specification of a host vehicle, including defining the distance between front and rear axles of the host vehicle as a wheelbase; step b, defining driving condition of the host vehicle, supposing that all the wheels circle around a same rotating center in a concentric manner, a direction towards the rotating center being defined as an inner direction, and a direction opposite to the inner direction being defined as an outer direction, a radius of a turning path of the front outer wheel of the host vehicle being defined as Rout, a radius of a turning path of the front inner wheel of the host vehicle being defined as Rin, a radius of a turning path of a rear outer wheel of the host vehicle being defined as rout, and a radius of a turning path of a rear inner wheel of the host vehicle being defined as rin; step c, defining environmental conditions that allow the host vehicle to be parked at a rear end of an adjacent vehicle, defining a side-to-side distance between the host vehicle and the adjacent vehicle as E, defining a parking width, which is the sum of a width of the host vehicle and a safety allowance, as F, a direction from the host vehicle to the adjacent vehicle being defined as a horizontal direction D1, and a direction perpendicular to the horizontal direction D1 being defined as a perpendicular direction D2; step d, defining that the parking path includes a first path and a second path, the first path is a path that the rear inner wheel of the host vehicle travels when the steering wheel is turned to the extreme in one direction, and the second path is a path that the rear outer wheel of the host vehicle travels when the steering wheel is turned to the extreme in another direction, the first and second paths are connected at a turning point, a start point the parking path d is located at the beginning of first path and an axis of the rear inner wheel of the host vehicle, an end point of the parking path is located at the end of the second path, there are a horizontal distance X and a perpendicular distance Y between the start point and the end point and in the horizontal and perpendicular directions, respectively, the horizontal distance X is a distance that the host vehicle needs to travel horizontally to a parking space, and the perpendicular distance Y is a distance that the host vehicle needs to travel perpendicularly to the parking space, a turning angle θ
of the host vehicle at the turning point is calculated based on the radius rout of the turning path of the rear outer wheel and the radius rin of the turning path of the rear inner wheel of the host vehicle. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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Specification