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Target trajectory discretization method, parking path tracking error optimization method and system

A target trajectory and path tracking technology, applied in the field of target trajectory discretization method, parking path tracking error optimization method and system, can solve problems such as lack of versatility, error processing optimization, etc., to achieve improved effect and experience, smooth rotation , Improve the effect of parking accuracy

Pending Publication Date: 2022-03-29
CHONGQING CHANGAN AUTOMOBILE CO LTD
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Problems solved by technology

[0003] Many patent technologies describe automatic parking from the perspective of the system, and there are few special studies on path tracking errors. For example, patent document CN112537293A discloses a method for calculating lateral error, longitudinal error and heading angle error, but its method does not have The calculated error is further processed and optimized, and it is not universal

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  • Target trajectory discretization method, parking path tracking error optimization method and system
  • Target trajectory discretization method, parking path tracking error optimization method and system
  • Target trajectory discretization method, parking path tracking error optimization method and system

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with accompanying drawing.

[0039] Such as Figure 1 to Figure 3 As shown, in this embodiment, the present invention provides a method for discretizing target trajectories, which specifically includes the following steps:

[0040] The trajectories output by path planning are discretized into points at equal intervals according to the preset distance (for example: 10cm, the preset distance can be adjusted appropriately according to the actual situation). The discretization rule is to discretize the path every update step, and each step supports a maximum trajectory distance of 16m, that is, there can be up to 160 points.

[0041] If the discrete trajectory is a circular arc, first use the arctangent function to calculate the central angle deltA that needs to be traversed based on the coordinates of the starting point, the ending point, and the center of the circle, and then calculate the center angle ...

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Abstract

The invention discloses a target trajectory discretization method and a parking path tracking error optimization method and system. The method comprises the following steps: updating a path, calculating a central angle deltA of an arc, a central angle StepA between points and a total point number, and finally calculating a position coordinate of each point; and calculating the total length and the slope of the straight line, and finally calculating the coordinate of each point, and for the combination of the arc and the straight line, if the last section remains the Last PhaseRes, calculating the target course angle of each discrete point from the place of the preset distance Last PhaseRes in the next section. The method is used for calculating and optimizing the path tracking error in the parking process in the scenes of parallel parking spaces, vertical parking spaces, inclined parking spaces and the like, so that the parking precision is improved, and the parking effect and experience are improved.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving test, in particular to a target trajectory discretization method, a parking path tracking error optimization method and a system. Background technique [0002] With the development of intelligent technology, many fields have begun to try automation technology, and the automobile industry is gradually becoming intelligent. The two most important and cutting-edge technologies are automatic driving and automatic parking technology. Since it has not been permitted by relevant regulations, automatic driving technology cannot yet operate on public roads, but automatic parking can significantly improve the safety and comfort of parking, so it has long been mass-produced in many high-end models. At present, many OEMs and suppliers are researching automatic parking technology, but their respective maturity, parking effect and experience are still uneven. As one of the important links o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06
CPCB60W30/06
Inventor 王朝美党建民万凯林贺勇文滔
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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