Parking control device and system and parking control method

Abstract

The invention discloses a parking control device, a parking control system and a parking control method for solving the problem of high error between a vehicle running locus and a designed locus during parking control in the prior art. The parking control device comprises an acquisition module and a calculation module, wherein the acquisition module is used for acquiring the starting position and the final position of a vehicle; the calculation module is used for calculating a parking locus at a preset speed according to constrained conditions, the starting position and the final position, wherein the constrained conditions comprise a highest allowed speed of the vehicle, a maximum turning speed of a front wheel of the vehicle and a maximum turning angle of the front wheel of the vehicle during parking; and the curvature of the parking locus is continuously changed, the parking locus comprises an arc and a curve connected with two ends of the arc, and the radius of the arc is the turning radius when the front wheel of the vehicle reaches the maximum turning angle. By using the technical scheme, the actual running locus of the vehicle accords with the designed locus during parking.

Description

technical field [0001] The invention relates to a parking control device and system and a parking control method. Background technique [0002] At present, more and more vehicles are equipped with parking control function, which can control the vehicle to enter the parking space. Figure 1A is a schematic diagram of a parking control trajectory according to the prior art. according to Figure 1A With the S-shaped trajectory 10 shown, the vehicle can realize lateral parking to the right. If parking on the left side, then drive along the mirrored curve with the left or right of the track 10, that is, the parking track at this time is an anti-S shape. Such as Figure 1A As shown, the positional relationship between the vehicle and the parking space PA is known, and the position U of the target parking position when the vehicle is parked and stopped can be determined, which is usually the midpoint of the rear axle. [0003] According to the existing method, the parking traject...

AI Technical Summary

Problems solved by technology

[0007] The main purpose of the present invention is to propose a parking control device and system and a parking control method to solve the problem that there is a large error between the vehicle running track and the design track during parking control in the prior art

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