High-precision reversing trajectory generation method and system, parking method and parking system
A track line, high-precision technology, applied in the field of automatic driving, can solve problems such as power consumption, centrifugal offset, time-consuming, etc., and achieve the effect of ensuring the safety of reversing
Active Publication Date: 2021-04-23
ECARX (HUBEI) TECHCO LTD
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Problems solved by technology
Such a motion model and turning radius map do not take into account the centrifugal offset of the vehicle when turning (the tire friction component perpendicular to the vehicle outward), as well as the influence of small factors such as vehicle tire pressure and center of gravity distribution. At the same time, the centrifugal offset of the vehicle The components change dynamically, so it is inevitable to continue time-consuming and labor-intensive model learning and trajectory calibration on the basis of the first version of the reversing trajectory
Method used
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[0054] Reference will now be made in detail to specific embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the invention to the described embodiments. On the contrary, it is intended to cover alterations, modifications and equivalents as included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described here can all be realized by any functional block or functional arrangement, and any functional block or functional arrangement can be realized as a physical entity or a logical entity, or a combination of both.
[0055] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embo...
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The invention relates to a high-precision reversing trajectory generation method and system, a parking method and parking system. The high-precision reversing trajectory generation method comprises the following steps: controlling a target vehicle to travel forwards for a preset distance, controlling calibration equipment arranged on two sides of the target vehicle to draw a forward track line in the forward moving process of the target vehicle, and acquiring the forward track line to form a static track live-action picture; controlling a steering wheel of the target vehicle to rotate to a preset angle position and backing up to form an actual backing-up track of the target vehicle, and acquiring the actual backing-up track to form a dynamic backing-up track live-action picture; and according to the static track live-action picture and the dynamic reversing track live-action picture, obtaining a plurality of dynamic reversing track line pictures of any one of the left and right steering angles. According to the method, the reversing track can be quickly generated with high precision without complex simulation calculation and time-consuming manual calibration or expensive calibration equipment.
Description
technical field [0001] The invention relates to the technical field of automatic driving, in particular to a high-precision reversing trajectory generation method, generation system, automatic parking method and system. Background technique [0002] The reversing track line is used as the reference line for the rear view of the vehicle audio entertainment host (hereinafter referred to as the host), and its accuracy is directly related to the safety of reversing and the safety of surrounding vehicles. At present, the mainstream car companies’ reversing trajectory generation method: first obtain the body parameters (wheelbase, steering wheel angle, front wheel angle and steering wheel angle ratio, etc.), and then directly generate the reversing trajectory by establishing a motion model or by calculating the vehicle After the turning radius, post the reversing trajectory line on the ground and then map it to the main engine to generate the trajectory line. Such a motion model ...
Claims
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Login to View More IPC IPC(8): B60W30/06
CPCB60W30/06
Inventor 刘洋
Owner ECARX (HUBEI) TECHCO LTD