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Secondary parking method, system and vehicle for solving parking space deviation and positioning deviation

A parking method and technology of a parking system, applied in the field of car parking, can solve problems such as the inability to accurately perceive the boundaries and depths of parking spaces, and achieve good parking effects, high engineering use value, and improved effects

Active Publication Date: 2021-09-03
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The requirements for perception performance are strict, but in practice, it is impossible to accurately perceive information such as the boundary and depth of the parking space before the vehicle is parked; and the vertical parking path planning method has strict requirements on the initial pose of the vehicle, requiring the initial pose of the vehicle to be basically Parallel to parking space line

Method used

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  • Secondary parking method, system and vehicle for solving parking space deviation and positioning deviation
  • Secondary parking method, system and vehicle for solving parking space deviation and positioning deviation
  • Secondary parking method, system and vehicle for solving parking space deviation and positioning deviation

Examples

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example 1

[0041] In Example 1, the coordinates of the upper left vertex of the parking space are (-2.655, 0), the coordinates of the upper right vertex are (0, 0), the coordinates of the lower left vertex are (-2.655, -5.2), and the coordinates of the lower right vertex are (0, -5.2). The initial pose of the vehicle is (-1, 2.9, 20°); the coordinates of the upper left vertex of the parking space in Example 2 are (-2.655, 0), the coordinates of the upper right vertex are (0, 0), and the coordinates of the lower left vertex are (-2.655 , -5.2), the coordinates of the lower right vertex are (0, -5.2), and the initial pose of the vehicle is (-0.5, 1.9, 20°).

[0042] Step 1. Use the Ackerman steering mechanism principle to determine the minimum turning radius R of the vehicle. In order to ensure the tracking effect of vehicle control and take safety factors into consideration, Rmin=R+threshold is used as the minimum turning radius for path planning. Threshold is based on different The steer...

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Abstract

The invention discloses a secondary parking method, system, vehicle and storage medium for solving parking space deviation and positioning deviation, comprising the following steps: Step 1, using the principle of Ackerman steering mechanism to determine the minimum turning radius R of the vehicle, And take Rmin=R+threshold as the minimum turning radius of the path planning, and the threshold determines its size according to the steering and control performance of different vehicles; reversely plan the vertical parking path, and determine the deepest exit point under the premise of ensuring no collision A; Step 2, draw the parking path of the vehicle to be parked. In the vehicle parking process, when the sensor information changes, the perceived parking space shifts or the vehicle body positioning shifts, and the invention is a secondary vertical parking path planning method.

Description

technical field [0001] The invention belongs to the technical field of car parking, and in particular relates to a secondary parking method, system, vehicle and storage medium for solving parking space deviation and positioning deviation. Background technique [0002] The automatic parking system is mainly composed of three parts: parking perception system, decision planning system and control system. The parking perception system mainly completes the detection of parking spaces and the perception of the body posture, which is composed of wheel speed sensors, gyroscopes, cameras, ultrasonic and other sensors; the decision-making planning system mainly completes parking path planning, etc.; the control system receives instructions from the decision-making planning system, Drive the actions of actuators, such as controlling the steering wheel, accelerator and brake, etc. In the automatic parking system, the parking path planning is the most important part of the parking decis...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/06
CPCB60W30/06
Inventor 任杰朱华荣梁锋华孔周维万凯林
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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