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Vertical parking trajectory generation method, device, vehicle and storage medium

A trajectory generation, vehicle technology, applied in the direction of the control device, etc., can solve the problems of complex calculation and rigid calculation of the start and end points of the clothoid, and achieve the effect of simple calculation and satisfying driving habits

Active Publication Date: 2022-04-15
SHANGHAI OUFEI INTELLIGNET VEHICLE INTERNET TECH CO LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, it also brings problems such as complicated calculation and rigid calculation of the starting and ending points of the clothoid.

Method used

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  • Vertical parking trajectory generation method, device, vehicle and storage medium
  • Vertical parking trajectory generation method, device, vehicle and storage medium
  • Vertical parking trajectory generation method, device, vehicle and storage medium

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Embodiment Construction

[0027] 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.

[0028] 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 terminology used herein in the description of the application is only for the purpose of describing specific embodiments, and is not int...

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Abstract

The present application provides a method for generating a vertical parking trajectory, which divides the parking path planning process into four stages, calculates the reference curve corresponding to the path of the vehicle at the current stage according to the vehicle model and the current scene for different stages, and then calculates the reference curve according to the reference curve A target trajectory with continuous curvature is generated, and a vertical parking trajectory is generated according to the target trajectory, and the vehicle is controlled to be parked in the target storage space according to the vertical parking trajectory. The present application also provides a vertical parking trajectory generating device, a vehicle and a storage medium. This application can make automatic parking more in line with driving habits and improve driving experience.

Description

technical field [0001] The present application relates to the technical field of vehicle control, in particular to a method and device for generating a vertical parking trajectory, a vehicle and a 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 found that there are at least the following problems in the prior art: a parking trajectory with continuous curvature can bring a good parking experience, and the introduction of a clothoid into the design of the parking trajectory can well meet the requirements of continuous curva...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/06B60W40/02B60W50/00
CPCB60W30/06B60W40/02B60W2050/0043B60W2552/50
Inventor 李飞
Owner SHANGHAI OUFEI INTELLIGNET VEHICLE INTERNET TECH CO LTD
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