Automatic parking control algorithm based on driving experience

Abstract

The invention discloses an automatic parking control algorithm based on driving experience. A method draws on parking experience of skilled drivers and divides the parking process into six steps. Step1, a car is driven to a longitudinal starting position of parking, that is, a S0 segment; Step 2, the parking speed is controlled and a steering wheel is quickly turned to the end, that is, a S1 segment; Step 3, after the steering wheel being turned to the end, the vehicle speed is increased to the maximum parking speed, that is, a S2 segment; Step 4, when an direction angle of the car reaches acertain angle theta, the vehicle speed is reduced to the minimum stable speed, and the steering wheel is quickly turned to the end in the opposite direction, that is, a S3 segment; Step 5, the vehiclespeed is increased to the maximum parking speed after the steering wheel is turned to the end in the opposite direction, that is, a S4 segment; and Step 6, the steering wheel is quickly returned, that is, a S5 segment. The automatic parking control algorithm based on the driving experience is pure in geometric operation and small in calculation amount, the requirements on hardware equipment are low, the process is simple and easy to operate, high practicability is achieved, and commercialization is facilitated.

Description

technical field [0001] The invention relates to the technical field of automobile intelligent control, in particular to an automatic parking control algorithm based on driving experience. Background technique [0002] In recent years, with the rapid development of the economy and the continuous improvement of people's living standards, cars have become an important part of people's lives and the main means of transportation. However, with the increase of car ownership, the parking space is getting smaller and smaller, and the driver's operating requirements are getting higher and higher. For inexperienced drivers, it is difficult to easily park the car into a crowded parking space. middle. [0003] At present, in the field of automatic parking technology, there are two main methods of automatic parking control: (1) path planning and path tracking: firstly, the parking drivable area is obtained by means of sensors, and an ideal road is planned in advance in combination with ...

AI Technical Summary

Problems solved by technology

However, these algorithms are computationally complex, have a large amount of calculation, and require high real-time performance of the system, which will increase the cost of algorithm implementation and is not conducive to practical applications.

For example, path planning and path tracking algorithms, in the path tracking process, in order to improve the tracking accuracy, real-time feedback from the system is required, and the calculation amount and real-time requirements are high; the algorithm based on empirical knowledge needs to be realized by advanced control algorithm, which is complex and unfavorable to practice. application

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