Automatic parking control method for general parking scenes

A technology of automatic parking and control method, which is applied to indicate the directions of each open space in the parking lot, and can solve the problems of not involving parking scenes and failing to solve parking problems in various parking scenes

Active Publication Date: 2018-02-16
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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  • Abstract
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Problems solved by technology

[0004] The relevant content of "automatic parking" in the prior art mainly focuses on the hardware composition of the automatic parking system, how each part of the module works, and the communication mode between the modules. Most of its technical content does not involve the consideration of the parking scene , have not been able to solve the parking problems of various parking scenarios and different types of berths

Method used

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  • Automatic parking control method for general parking scenes
  • Automatic parking control method for general parking scenes
  • Automatic parking control method for general parking scenes

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Embodiment Construction

[0062] (1) Define different vehicle types: Different models have different characteristic parameters, such as body size, center of gravity position, front and rear wheelbase, front and rear wheel inertia, etc. We select two types of vehicles, A for sedans and B for SUVs.

[0063] Table 1 Example of parameters for different vehicle types

[0064]

[0065] (2) Simulation generation of control commands and parking trajectories: Trajectories are generated for two different vehicle types A and B respectively. Divide the whole parking process into N stages, and the set of control commands in N stages is δ f N ={δ f (1),...,δ f (N)}; the specific vehicle control command in each stage comes from the set S of K control angles δ ={δ 1 ,…,δ k}, therefore, each type of vehicle can get K Ncombined results; the time length of each stage is T N , the total time length is T=T 1 +…+T N ;Simulation step size is t,T N =K*t. figure 1 are the simulated trajectories of the two types ...

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Abstract

The invention provides an automatic parking control method for general parking scenes. The method comprises the following steps: firstly, generating control instructions and parking track data sets ofvehicles of different types by virtue of simulation; secondly, learning simulation data by utilizing a deep neural network algorithm, and extracting universal relationship between the control instructions and the parking tracks, so that when any parking scene and a vehicle with determined kinetic model parameters are given, a proper parking strategy can be found by virtue of training of few steps, the control instruction for the parking scene is given, and then a planned track is generated; and finally, performing control feedback according to the deviation of an actual parking track and theplanned track so as to enable the parking track to be most similar to the ideal track planned by a system.

Description

technical field [0001] The invention relates to the field of automatic parking, in particular to a general scene-oriented automatic parking path planning method. Background technique [0002] Parallel parking is a harrowing experience for many drivers, and with limited parking space in big cities, maneuvering a car into tight spaces has become a required skill. Parking is rarely done without a lot of trouble, and parking can lead to traffic jams, nerve fatigue and bumped bumpers. With the development of automatic parking technology, the above problems have been greatly improved. In addition to helping drivers park automatically, automatic parking technology can also help solve some parking and traffic problems in densely populated urban areas. Sometimes the ability to park in tight spaces is limited by the skill of the driver. Self-parking technology can park cars in smaller spaces than most drivers can park themselves. This makes it easier for car owners to find parking...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06G08G1/14
Inventor 谭墍元谢娜徐春玲郭伟伟李颖宏施翔匀
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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