Method and apparatus for cooperative parking control considering failure of rws
AssigneesHyundai Motor Company, Kia Corporation
InventorsJun Wook Oh, Ki Ho Lee, Kyung Soo Ha
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Abstract
A method and apparatus for cooperative parking control can include considering a failure of a rear wheel steering (RWS) function for an ego vehicle. A cooperative parking control apparatus can include an error detection unit configured to detect whether an error is present in the RWS function, a route setting unit configured to set a parking route for the ego vehicle by using the rear wheel steering function based on the whether an error is present, and a parking control unit configured to perform parking control of the ego vehicle to follow the parking route by using a remote smart parking assistance function and the rear wheel steering function.
Claims20
An apparatus comprising:
- at least one processor;
- and
- a storage medium storing computer-readable instructions that, when executed by the at least one processor, enable the at least one processor to:
- detect whether an error is present in a rear wheel steering (RWS) function of an ego vehicle,
- set a parking route for the ego vehicle by using the RWS function based on whether the error is present, and
- perform parking control of the ego vehicle to follow the parking route by using a remote smart parking assistance function and the RWS function.
A cooperative parking control method, comprising:
- performing an error detection including detecting whether an error is present in a rear wheel steering (RWS) function of an ego vehicle;
- performing a route setting including setting a parking route for the ego vehicle by using the RWS function based on whether the error is present;
- and
- performing a parking control of the ego vehicle to follow the parking route by using a remote smart parking assistance function and the RWS function.
A cooperative parking control method, comprising:
- detecting whether an error is present in a rear wheel steering (RWS) function of an ego vehicle;
- if the error is not detected in the RWS function, generating a first parking route using a first driving curvature change curve, and performing a first parking control of the ego vehicle using the first parking route and using the RWS function;
- if the error is detected in the RWS function, determining whether the error is a skew error or a neutral error;
- and
- if the error is detected in the RWS function as the neutral error, generating a second parking route using a second driving curvature change curve, and performing a second parking control of the ego vehicle using the second parking route and without using the RWS function, wherein the second driving curvature change curve differs from the first driving curvature change curve.
Dependencies are inferred from the claim text.