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US 12,759,535 B2Granted
Apparatus and method for generating and following an autonomous parking route using vehicle center and direction vector
AssigneesHyundai Motor Company, Kia Corporation
InventorJang Shin Kim
Life of this patent
Estimating the term…
Abstract
In an apparatus and method for generating and following an autonomous parking route by use of a vehicle center and a direction vector, the method includes generating autonomous parking route data including direction vectors at each route point and determining the turning center of a vehicle when moving between route points based on the direction vectors at each route point and using the turning center to control steering and speed of each wheel to follow the autonomous parking route.
Claims17
A method of generating and following an autonomous parking route by use of a vehicle center and a direction vector, the method comprising:
- generating, by a processor, a parking route including coordinates of route points indicating locations to which a center of a vehicle moves until the vehicle reaches a parking end point, and a direction angle at each route point;
- and
- iteratively performing, by the processor, until the vehicle reaches the parking end point, steps of:
- determining a turning center point of the vehicle based on a first direction vector at a first route point and a second direction vector at a second route point, the first direction vector and the second direction vector being determined based on the parking route, and the first direction vector and the second direction vector being unit vectors,
- wherein determining the turning center point of the vehicle includes:
- setting a local coordinate system with the first route point of the vehicle as a reference point;
- determining, in the local coordinate system, the first direction vector based on coordinates and a direction angle of the first route point, and determining, in the local coordinate system, the second direction vector based on coordinates and a direction angle of the second route point;
- and
- determining the turning center point of the vehicle by performing translation, rotation, and cross product operations on the first direction vector and the second direction vector;
- and
- wherein the determining the turning center point further includes:
- performing translation and rotation transformations on the first direction vector to obtain transformed vectors;
- and
- performing a cross product operation based on start points and end points of the transformed vectors to determine coordinates of an intersection point corresponding to the turning center point;
- determining a steering angle for each wheel of the vehicle and a power frequency of each wheel using the turning center point;
- and
- outputting the steering angle for each wheel to a corresponding steering device of the vehicle and applying power of the power frequency for each wheel to a corresponding in-wheel motor of the vehicle while the vehicle is moving from the first route point to the second route point.
14 more elements
A control apparatus comprising:
- at least one processor;
- and
- a memory operatively coupled to the at least one processor,
- wherein the memory stores instructions that cause the at least one processor to perform operations in response to an execution of the instructions by the at least one processor, and
- wherein the operations include:
- generating a parking route including coordinates of route points indicating locations to which a center of a vehicle moves until the vehicle reaches a parking end point, and a direction angle at each route point;
- and
- iteratively performing, until the vehicle reaches the parking end point, steps of:
- determining a turning center point of the vehicle based on a first direction vector at a first route point and a second direction vector at a second route point, the first direction vector and the second direction vector being determined based on the parking route, and the first direction vector and the second direction vector being unit vectors,
- wherein determining the turning center point of the vehicle includes:
- setting a local coordinate system with the first route point of the vehicle as a reference point;
- determining, in the local coordinate system, the first direction vector based on coordinates and a direction angle of the first route point, and determining, in the local coordinate system, the second direction vector based on coordinates and a direction angle of the second route point;
- and
- determining the turning center point of the vehicle by performing translation, rotation, and cross product operations on the first direction vector and the second direction vector;
- and
- wherein the determining the turning center point further includes:
- performing translation and rotation transformations on the first direction vector to obtain transformed vectors;
- and
- performing a cross product operation based on start points and end points of the transformed vectors to determine coordinates of an intersection point corresponding to the turning center point;
- determining a steering angle for each wheel of the vehicle and a power frequency of each wheel using the turning center point, and
- outputting the steering angle for each wheel to a corresponding steering device of the vehicle and applying power of the power frequency for each wheel to a corresponding in-wheel motor of the vehicle while the vehicle is moving from the first route point to the second route point.
18 more elements
Dependencies are inferred from the claim text.