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Pure tracking automatic parking control method, performance evaluation tool and readable storage medium

A technology of automatic parking and control methods, applied in image analysis, instruments, calculations, etc., can solve problems such as vehicle understeer, vehicle control instability, vibration, etc., to improve accuracy and effectiveness, improve control stability, Good adjustment and optimization effect

Pending Publication Date: 2022-07-29
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the applicant found that if the preview distance is set too short, the vehicle control will be unstable or even oscillated, resulting in insufficient control stability of the pure tracking algorithm; and if the preview distance is set too long, it will cause the vehicle to turn at a large corner understeer, resulting in low steering rationality of the pure tracking algorithm
Moreover, the current method for selecting the best preview distance for pure tracking algorithms is not clear, and the most commonly used method is to express the preview distance as a function of longitudinal vehicle speed

Method used

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  • Pure tracking automatic parking control method, performance evaluation tool and readable storage medium
  • Pure tracking automatic parking control method, performance evaluation tool and readable storage medium
  • Pure tracking automatic parking control method, performance evaluation tool and readable storage medium

Examples

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Embodiment 1

[0046] This embodiment discloses a pure tracking automatic parking control method.

[0047] as attached figure 1 As shown, the pure tracking automatic parking control method includes the following steps:

[0048] S1: Build a pure tracking algorithm model based on preview distance, as attached figure 2 shown;

[0049] The pure tracking algorithm model is expressed as:

[0050]

[0051] In the formula: δ represents the front wheel turning angle; α represents the angle between the vehicle body and the target waypoint; L represents the wheelbase of the vehicle; L d Represents the preview distance in relation to longitudinal vehicle speed and trajectory curvature. exist figure 2 , R is the turning radius; x r , y r respectively represent the abscissa and ordinate of the preview point; e represents the lateral deviation from the preview point.

[0052] S2: Obtain the longitudinal speed and trajectory curvature of the target vehicle;

[0053] In this embodiment, the exi...

Embodiment 2

[0105] This embodiment discloses a readable storage medium.

[0106] A readable storage medium on which a computer management program is stored, and when the computer management program is executed by a processor, implements the steps of the pure tracking automatic parking control method of the present invention. The readable storage medium may be a device with a readable storage function such as a USB flash drive or a computer.

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Abstract

The invention relates to the technical field of automobile auxiliary driving, in particular to a pure tracking automatic parking control method, a performance evaluation tool and a readable storage medium. The method comprises the following steps: constructing a pure tracking algorithm model based on a preview distance; acquiring the longitudinal vehicle speed and the track curvature of the target vehicle; calculating and updating a preview distance of the pure tracking algorithm model according to the longitudinal speed and the trajectory curvature of the target vehicle to obtain an optimized pure tracking algorithm model; and realizing automatic parking control of the target vehicle based on the optimized pure tracking algorithm model. The invention further discloses a performance evaluation tool and a readable storage medium. According to the invention, the preview distance of the pure tracking algorithm can be optimized, so that the accuracy and effectiveness of automatic parking control can be improved.

Description

technical field [0001] The invention relates to the technical field of assisted driving of automobiles, in particular to a pure tracking automatic parking control method, a performance evaluation tool and a readable storage medium. Background technique [0002] With the rapid development of the automobile industry, the functions of car assisted driving are becoming more and more perfect. The automatic parking function is one of the car assisted driving functions, which involves a wide range of technologies, including not only artificial intelligence technology, communication technology, etc., but also the control technology of the vehicle itself. As a key part of the automatic parking system, parking control plays a decisive role in the parking effect of the whole system. Therefore, it is of great significance to the research on parking control methods. [0003] Typical automatic parking control methods include methods based on geometric tracking, such as: Pure pursuit (pur...

Claims

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Application Information

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IPC IPC(8): B60W30/06G06T7/246
CPCB60W30/06G06T7/251B60W2520/10B60W2520/00G06T2207/30264
Inventor 柯梅花贺勇文滔
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD