A control method for a parallel parking space fully-automatic parking system for an autonomous vehicle

Abstract

The invention belongs to the field of automatic driving vehicle control, and discloses a control method of a fully-automatic parking system for parallel spaces of an automatic driving vehicle, which utilizes a plurality of ultrasonic sensors to detect parking spaces information and distance information and angle information of a peripheral obstacle relative to the automatic driving vehicle. The FAPA controller collects sensor information, vehicle attitude and state information and actuator state information, and performs perceptual fusion, path planning and decision control. Finding parking spaces, planning lateral trajectories and longitudinal speeds, and controlling the longitudinal and transverse directions of vehicles. The invention can realize automatic steering, automatic braking, automatic throttle, automatic shift, automatic parking and related BCM actions (lights, horns, etc.), and finally complete the full automatic parking function of the vehicle. It can also be used in conjunction with an autopilot controller to achieve the unmanned driving and parallel parking of the vehicle in autopilot mode.

Description

technical field [0001] The invention belongs to the field of automatic driving vehicle control, and in particular relates to a control method for a fully automatic parking system for parallel parking spaces of automatic driving vehicles. Background technique [0002] At present, the existing technologies commonly used in the industry are as follows: [0003] At present, the low-cost automatic parking control method mainly relies on the ultrasonic sensor to sense the environmental information, and the parking controller calculates the target parking space and the best parking path according to the surrounding environment of the parking and the position of the vehicle, and issues control commands , control the steering wheel angle to complete the parking, and the speed and gear switching are all completed by the driver during the parking process. Most of the existing vehicle automatic parking control methods are to automatically control the steering wheel of the vehicle. The ...

AI Technical Summary

Problems solved by technology

[0005] (1) At present, the mass production and application of automatic parking technology on the whole vehicle mostly exists in the form of assisted driving, which is not well connected with automatic driving. Its control unit is relatively independent from the automatic driving control unit, and the parking action is certain To a certain extent, human-machine collaboration is required to complete, including the enabling of parking functions, parking space search, vehicle speed control, etc., so that the driver's hands and feet are not completely liberated during the parking process

[0006] (2) After the current parking controller calculates the target parking space and the optimal parking, the controller can only issue the corner control command, there is no control method for vehicle speed control and gear switching, and it may occur during the parking process. Failure to park according to the calculated trajectory due to speed change and incorrect gear position

[0007] (3) The current parking control method does not solve the problem that the driver cannot actively stop when encountering an obstacle due to misoperation or inattention, thus causing unnecessary traffic accidents such as scraping

[0008] (4) The current parking control method requires the parking space to be as large as possible. When the parking space is small, the parking success rate is low, and it cannot be well adapted to various situations in the actual parking process.

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