Auxiliary parking system and auxiliary parking control method

Abstract

The invention discloses a parking path planning method and parking motion control method of an auxiliary parking system. A multi-stage smooth parking path which is designed through the parking path planning method based on the B-spline theory meets multiple non-linear constraints such as a vehicle obstacle avoidance constraint, a minimum turning radius constraint and a maximum steering speed constraint; through the path curvature continuity, a pivot steering phenomenon is avoided, and tire wear and steering motor loads are reduced; through the multi-stage smoothness of the path, vehicle tracking is easy to achieve. According to the parking motion control strategy, the requirements of the parking system for the parking speed of a driver are lowered, and the driver only needs to control a vehicle to be driven at low speed. For the phenomenon that in the parking process, the vehicle deviates from the target path and cannot park in the correct position due to the fact that the vehicle speed is too high, a vehicle position posture adjusting strategy based on fixed-point tracking control is presented, and therefore the parking success rate is increased; in addition, fixed-point tracking control is adopted, therefore, the vehicle can be parked to be parallel to a parking space, and vehicle parking standardization is achieved.

Description

technical field [0001] The invention relates to a parking device and method, in particular to an auxiliary parking system and an auxiliary parking control method. Background technique [0002] As the number of vehicles increases, the limited space in the city becomes gradually crowded, and the reduction of parking space increases the difficulty of parking, so people's demand for assisted parking systems is increasing. [0003] The existing parking control methods mainly include: (1) methods based on empirical knowledge; (2) methods based on path planning. [0004] The method based on empirical knowledge uses fuzzy control, neural network, genetic algorithm, etc. to simulate the driver's parking operation behavior. This method is difficult to obtain sample data, difficult to obtain control logic structure, and difficult to train control rules. [0005] The path planning based method consists of path planning and path tracking control. The path planning method mainly uses th...

AI Technical Summary

Problems solved by technology

Excessive speed or incomplete parking will cause the parking system to lose the best steering timing, and the vehicle will deviate from the target path, which will eventually lead to parking failure. During the parking process, the driver's speed control is highly required

[0006] In the actual parking operation, when the parking cannot be placed once, the driver will drive the vehicle forward for a short distance and continue to park backwards. For the situation that the parking cannot be entered once, the existing parking system has no remedial measures

[0007] In view of the fact that the final parking of the vehicle is not parallel to the parking space, the existing parking system has no parking adjustment measures

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