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

A parking control, fully automatic technology, applied in the direction of automatic steering control components, vehicle components, steering mechanisms, etc., can solve problems such as steering unevenness and divergence, and achieve the effect of improving steering accuracy

Active Publication Date: 2021-11-02
HUAYU AUTOMOTIVE SYST
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  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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

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Embodiment Construction

[0052] Such as figure 1 and figure 2 As shown, the fully automatic parking control method based on the straight line arc path of the present invention comprises the following steps:

[0053] Step S1: if figure 1 As shown in , according to the segmented parking route in the planned route information, the expected steering wheel angle and the steering distance in advance of the next segment of the parking route are determined;

[0054] Wherein, the entire parking path is segmented, and in the case of the same gear position, the trajectory with the same radius is one segment. In the state of initialization (that is, the vehicle has not started to drive), the next section of the parking path is the first section of the parking path. It should be noted that the expected steering wheel angle and the steering distance in advance of the next parking path do not need to be calculated repeatedly. It is only necessary to calculate the expected steering wheel angle and steering distan...

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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. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06B60W10/20B60W40/00B62D6/00B62D113/00B62D101/00
CPCB60W30/06B60W10/20B60W40/00B62D6/002B60W2710/207
Inventor 程凯王俊毅刘威丁会利郑迎赵丁莲
Owner HUAYU AUTOMOTIVE SYST
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