Automatic parking path control method and system and vehicle

Abstract

The invention discloses an automatic parking path control method. The automatic parking path control method comprises the following steps that after an automatic parking starting command is detected,a parking vehicle is controlled to park according to a theoretical trajectory curve; steering wheel turning angle information and wheel speed information of the parking vehicle are collected at intervals of the preset time; the steering wheel turning angle of the parking vehicle is adjusted according to the steering wheel turning angle information and theoretical turning angle information corresponding to the current moment on the theoretical trajectory curve; the actual moving distance of the parking vehicle in the current preset time is calculated according to the wheel speed information; the theoretical trajectory curve is adjusted according to the actual distance and the theoretical distance corresponding to the current preset time on the theoretical trajectory curve; and the parking vehicle is controlled to park according to the track curve after adjusting is conducted. According to the automatic parking path control method, the safety and reliability of automatic parking can be improved, accurate parking in place of the vehicle is ensured. The invention further provides an automatic parking path control system and the vehicle.

Description

technical field [0001] The invention belongs to the technical field of vehicles, and in particular relates to an automatic parking path control method, an automatic parking path control system and a vehicle. Background technique [0002] With the rapid progress of the social economy and the automobile industry, the number of automobiles has increased sharply, and the problem of parking difficulties has become increasingly prominent in major cities. The automatic parking system provides convenience for users to park. The automatic parking system usually means that after the driver presses the button to start the system, the system automatically controls the car to perform steering, forward, and reverse operations without the driver's intervention, and finally realizes automatic parking easily. system of the car. As an assisted driving system, the automatic parking system has been introduced into many mid-to-high-end models, and will be more widely used in various models in t...

AI Technical Summary

Problems solved by technology

[0003] However, in the process of automatic parking, due to the deviation of the vehicle itself, the interference of external factors and the uncertainty of the external environment, the actual parking trajectory deviates from the planned trajectory, resulting in the target vehicle not being able to accurately follow the planned trajectory. Parking path for automatic parking

Images