An automatic parking control method for general parking scenes
A technology of automatic parking and control method, which is applied to indicate the directions of various open spaces in the parking lot, and can solve the problems of not involving parking scenarios and failing to solve the parking problems of various parking scenarios.
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[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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