Horizontal parking control method and control system

A parking control and parking technology, which is applied to vehicle components, steering mechanisms, transportation and packaging, etc., can solve the problems of unfavorable embedded system parking trajectory real-time online calculation, complex function forms, and high requirements for ECU calibration space capacity

Inactive Publication Date: 2018-08-21
LIANCHUANG AUTOMOBILE ELECTRONICS
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Problems solved by technology

[0005] The above method mainly has the following disadvantages: because the function form used for curve fitting is relatively complex, and the function needs to be optimized according to various constraints, it is not conducive to the real-time online calculation of the parking trajectory by the embedded system...

Method used

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  • Horizontal parking control method and control system
  • Horizontal parking control method and control system
  • Horizontal parking control method and control system

Examples

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Embodiment Construction

[0073] The present invention will be further described below with horizontal parking embodiment, image 3 Schematic diagram for this example. Although this example only shows the implementation method when the initial heading angle of the vehicle body is zero, that is, the implementation method when the vehicle body is parallel to the X-axis of the parking space coordinate system when parking, the present invention is also applicable to the case where the initial heading angle of the vehicle body is not zero.

[0074] According to the requirements of the minimum length and width of a parking space, the parking speed V and the steering wheel rotation speed ω are determined, and the values ​​of the two must be lower than the highest allowable parking speed and steering wheel rotation speed respectively.

[0075] According to the selected V and ω, the trajectory characteristic parameter of the clothoid curve (Clothoid curve) is calculated by the following formula;

[0076]

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Abstract

The invention discloses a horizontal parking control method. The horizontal parking control method comprises: defining a coordinate system; dividing a parking phase; planning a parking trajectory; calculating curve parameters of the parking trajectory; determining a parking target position; calculating a parking starting position; planning a geometric path; calculating the rotation angle of a vehicle; calculating and obtaining the curvature of each point on the parking trajectory; and performing conversion to obtain the steering angle of a steering wheel. The invention also discloses a horizontal parking control system by using the horizontal parking control method. The characteristic parameters of the parking trajectory and the steering wheel target steering angle of each point on the trajectory can be directly calculated online in real time, which greatly reduces the requirement of the automatic parking control algorithm for ECU calibration data storage space, and can effectively reduce the system cost. Moreover, the characteristic parameters of parking trajectory and the steering wheel target steering angle of each point on the trajectory adopt real-time online calculation to more effectively correct the parking trajectory in real time, avoid collision occurrence, and obtain better steering continuity.

Description

technical field [0001] The invention relates to the field of automobiles, in particular to a method for controlling horizontal parking. The invention also relates to a horizontal parking control system adopting the horizontal parking control method. Background technique [0002] With the continuous increase of the number of cars in the city, the phenomenon of tight parking spaces, narrow parking spaces, and complex parking environments has become more and more obvious, which puts forward higher requirements for drivers' parking skills. The automatic parking system completes the function of automatic parking through the real-time control of the lateral and longitudinal movement of the vehicle, which can effectively reduce the driver's operational difficulty and improve parking safety. used in mass-produced vehicles. [0003] The automatic parking control algorithm includes multiple functional modules such as parking space recognition, vehicle pose calculation, parking traje...

Claims

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Application Information

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IPC IPC(8): B62D15/02
CPCB62D15/0285
Inventor 许朕
Owner LIANCHUANG AUTOMOBILE ELECTRONICS
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