Horizontal parking control method and control system

Abstract

The invention discloses a horizontal parking control method. The horizontal parking control method comprises: defining a coordinate system; dividing a parking phase; planning a parking trajectory; calculating curve parameters of the parking trajectory; determining a parking target position; calculating a parking starting position; planning a geometric path; calculating the rotation angle of a vehicle; calculating and obtaining the curvature of each point on the parking trajectory; and performing conversion to obtain the steering angle of a steering wheel. The invention also discloses a horizontal parking control system by using the horizontal parking control method. The characteristic parameters of the parking trajectory and the steering wheel target steering angle of each point on the trajectory can be directly calculated online in real time, which greatly reduces the requirement of the automatic parking control algorithm for ECU calibration data storage space, and can effectively reduce the system cost. Moreover, the characteristic parameters of parking trajectory and the steering wheel target steering angle of each point on the trajectory adopt real-time online calculation to more effectively correct the parking trajectory in real time, avoid collision occurrence, and obtain better steering continuity.

Description

technical field [0001] The invention relates to the field of automobiles, in particular to a method for controlling horizontal parking. The invention also relates to a horizontal parking control system adopting the horizontal parking control method. Background technique [0002] With the continuous increase of the number of cars in the city, the phenomenon of tight parking spaces, narrow parking spaces, and complex parking environments has become more and more obvious, which puts forward higher requirements for drivers' parking skills. The automatic parking system completes the function of automatic parking through the real-time control of the lateral and longitudinal movement of the vehicle, which can effectively reduce the driver's operational difficulty and improve parking safety. used in mass-produced vehicles. [0003] The automatic parking control algorithm includes multiple functional modules such as parking space recognition, vehicle pose calculation, parking traje...

AI Technical Summary

Problems solved by technology

[0005] The above method mainly has the following disadvantages: because the function form used for curve fitting is relatively complex, and the function needs to be optimized according to various constraints, it is not conducive to the real-time online calculation of the parking trajectory by the embedded system

The coordinates of each point on the trajectory are often pre-obtained by offline calculation, and then stored in the ECU in the form of calibration data. Therefore, the above method requires a high capacity of the ECU calibration space, which increases the system cost and the difficulty of engineering implementation.

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