Parking curvature control method and system, control equipment and storage medium
A control method and curvature technology, applied in the field of parking control, can solve the problems of low parking curvature control accuracy and the like, and achieve the effect of improving the control accuracy
Pending Publication Date: 2021-10-26
GUANGZHOU AUTOMOBILE GROUP CO LTD
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Problems solved by technology
The existing technology uses the target curvature and some other vehicle parameters to calculate the steering wheel angle, which is essentially an open-loop control. However, under the influence of factors such as uneven road surface and tire pressure changes, the corresponding law between the steering wheel angle and the actual curvature of the vehicle is Not immutable, so the prior art parking curvature control is less accurate
Method used
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[0055] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
[0056] In addition, in order to better illustrate the present invention, numerous specific details are given in the following specific examples. It will be understood by those skilled in the art that the present invention may be practiced without certain of the specific details. In some instances, means well known to those skilled in the art are not described in detail in order to highlight the gist of the present invention.
[0057] like figure 1 As shown, the embodiment of the present invention proposes a parking curvature control method, including the following steps S101-S10...
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The invention relates to a parking curvature control method and system, control equipment and a storage medium, and the method comprises the steps of periodically obtaining vehicle state information, wherein the vehicle state information comprises a steering wheel angle, a driven wheel speed pulse and a wheel rotation angle; estimating the vehicle curvature of the current period according to the steering wheel angle, the driven wheel speed pulse and the wheel rotation angle; performing closed-loop control according to a difference value between the target curvature and the vehicle curvature in the current period to obtain a closed-loop control output quantity; and according to the target curvature, the closed-loop control output quantity, the steering wheel angle and the wheel rotation angle, calculating a target steering wheel angle of the current period. The system corresponds to the method, the control device and the storage medium comprise a program used for executing the method, and the parking curvature control precision can be improved by implementing the method.
Description
technical field [0001] The present invention relates to the technical field of parking control, in particular to a parking curvature control method and system, a control device, and a storage medium. Background technique [0002] In automatic parking, generally speaking, there is a path tracking module that is responsible for making the vehicle track the target path, and its lateral controller will make the actual curvature of the vehicle run as close as possible to the curvature of the current tracking point of the target path. The existing technology uses the target curvature and some other vehicle parameters to calculate the steering wheel angle, which is essentially an open-loop control. However, under the influence of factors such as uneven road surface and tire pressure changes, the corresponding law between the steering wheel angle and the actual curvature of the vehicle is It is not constant, so the prior art parking curvature control accuracy is low. Contents of t...
Claims
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Login to View More IPC IPC(8): B60W30/06B60W40/10
CPCB60W30/06B60W40/10
Inventor 周文立王俊霖钟国旗
Owner GUANGZHOU AUTOMOBILE GROUP CO LTD