Horizontal autonomous parking control method and device, vehicle and storage medium

A technology of autonomous parking and control method, which is applied in the field of horizontal autonomous parking control, vehicles and storage media, and can solve problems such as rigid calculation of the start and end points of the clothoid, discontinuous curvature, and poor parking experience

Active Publication Date: 2021-01-29
SHANGHAI OUFEI INTELLIGNET VEHICLE INTERNET TECH CO LTD
View PDF4 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in the process of realizing the present invention, the inventors have found that at least the following problems exist in the prior art: traditional horizontal parking adopts CLC trajectory (arc-straight line-arc), which can realize parking, but its curvature is discontinuous, and parking is difficult. The car experie

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Horizontal autonomous parking control method and device, vehicle and storage medium
  • Horizontal autonomous parking control method and device, vehicle and storage medium
  • Horizontal autonomous parking control method and device, vehicle and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0030] In order to understand the purpose, features and advantages of the present application more clearly, the present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. Many specific details are set forth in the following description to facilitate a full understanding of the application, and the described embodiments are only a part of the embodiments of the application, rather than all the embodiments.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are only for the purpose of describing specific embodiments, and are not inten...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a horizontal autonomous parking control method. The horizontal autonomous parking control method comprises the steps of acquiring position coordinates of a target garage position, position coordinates of an obstacle vehicle and initial pose information of a to-be-parked vehicle; determining a parking reference track of the to-be-parked vehicle; based on the initial pose information and the first arc trajectory of the vehicle, generating a first target trajectory by adopting a forward-looking window tracking algorithm; based on the first target point and the tangent trajectory, generating a second target trajectory by adopting a foresight window tracking algorithm; based on the second target point and the second arc trajectory, generating a third target trajectory byadopting a foresight window tracking algorithm; and according to the first target track, the second target track and the third target track, controlling the vehicle to be parked into the target storage location. The invention further provides a horizontal autonomous parking control device, a vehicle and a storage medium. According to the method, automatic parking can better accord with driving habits, and the driving experience is improved.

Description

technical field [0001] The present application relates to the technical field of vehicle control, in particular to a horizontal autonomous parking control method, device, vehicle and storage medium. Background technique [0002] In recent years, with the continuous development and application of autonomous driving technology, the comfort and rationality of autonomous driving have become more and more important. For the automatic parking process, it is mainly for the vehicle to plan the path according to the parking space scene, and the vehicle follows the planned path to complete the automatic parking. [0003] However, in the process of realizing the present invention, the inventors have found that at least the following problems exist in the prior art: traditional horizontal parking adopts CLC trajectory (arc-straight line-arc), which can realize parking, but its curvature is discontinuous, and parking is difficult. The car experience is poor; the cycloid will also be int...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B60W30/06B60W40/02
CPCB60W30/06B60W40/02B60W2552/50
Inventor 李飞
Owner SHANGHAI OUFEI INTELLIGNET VEHICLE INTERNET TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap