Full-automatic parking control method based on linear arc path and controller

Abstract

The invention provides a full-automatic parking control method based on a linear arc path, which comprises the following steps of: determining an expected steering wheel angle and an advanced steering distance of a next section of parking path according to the parking path; in each period, the expected steering wheel angle of the parking path of the current section is corrected based on the position deviation and the course deviation, and the target steering wheel angle of the current period is obtained; updating the parking path of the next section as the parking path of the current section until the remaining distance of the vehicle in the parking path of the current section is smaller than the advance steering distance; and obtaining a current target angle of the current period according to the actual steering wheel angle of the current period and the target steering wheel angle, and outputting the current target angle. The invention further provides a corresponding controller. According to the method, steering is conducted in advance, then the path is self-corrected, the problem that the direction cannot be corrected due to insufficient steering is avoided, and therefore the steering precision of full-automatic parking is improved.

Description

technical field [0001] The invention belongs to the field of automobile auxiliary driving, and in particular relates to a fully automatic parking control method and a controller. Background technique [0002] The fully automatic parking system can effectively avoid safety accidents during manual parking, and it is also a key technology for the last mile of autonomous driving in the future. The main technologies of the fully automatic parking system include parking space scanning, parking path planning and vehicle control. The purpose of vehicle control is to enable the vehicle to drive smoothly along the parking path and finally stop at the designated target point. The embedded controller is a part of the fully automatic parking system. Considering the limited computing power of the embedded controller used, it is often only a path composed of straight lines and arcs generated by the parking path planning module as the parking path, and the Vehicles move along this path. ...

AI Technical Summary

Problems solved by technology

[0003] However, in the current fully automatic parking system, the commonly used vehicle control methods all require a smooth path. The sudden change of curvature in the parking path composed of straight lines and arcs generated by the current parking path planning module will cause steering irregularities. even diverge

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