Automatic parking speed planning method and equipment based on path curvature, and storage equipment

Abstract

The invention provides an automatic parking speed planning method and equipment based on path curvature, and storage equipment. The method comprises the following steps: dividing a whole parking pathinto a plurality of sections according to the obtained curvature and arc length information of the parking path, wherein the plurality of sections comprise a first straight section, a gyration curve section, a fixed arc section and a second straight section; and for each interval, calculating the steering wheel angular speed change associated speed, the yaw angle change associated speed and the transverse acceleration change associated speed through a formula, and comparing the speeds to obtain the minimum associated speed, namely the planning speed of the vehicle in the corresponding interval. The automatic parking speed planning equipment based on the path curvature, and the storage equipment are used for realizing an automatic parking speed planning method based on the path curvature. The vehicle speed is planned by comprehensively considering the steering wheel angular speed upper limit, the yaw angle change upper limit and the transverse acceleration upper limit according to the classification of the planned paths, and the comfort and stability in the parking turning process are improved.

Description

technical field [0001] The present invention relates to the field of automatic parking, in particular to a method, device and storage device for automatic parking speed planning based on path curvature. Background technique [0002] The core of the automatic parking function includes sensor data perception, fusion, decision planning, control and other parts. Among them, the control is the direct embodiment of the effect of automatic parking, and the smooth change of vehicle speed is an important factor of comfort. [0003] Automatic parking speed planning affects the comfort of parking. The existing parking speed basically uses a combination of uniform speed and linear increase and decrease to plan the speed. Both the start and end of parking use linear increment and decrement, and the middle of the parking path When the vehicle turns at such a planned speed, the steering wheel will not turn in time, the yaw angle of the vehicle body will change too much, and the lateral ac...

AI Technical Summary

Problems solved by technology

[0003] Automatic parking speed planning affects the comfort of parking. The existing parking speed basically uses a combination of uniform speed and linear increase and decrease to plan the speed. Both the start and end of parking use linear increment and decrement, and the middle of the parking path When the vehicle turns at such a planned speed, the steering wheel will not turn in time, the yaw angle of the vehicle body will change too much, and the lateral acceleration will be too large, resulting in insufficient comfort and stability during parking and turning. In severe cases, it will even affect the personal safety of people inside and outside the car.

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