Automatic parking path tracking method based on transverse and longitudinal decoupling

A path tracking and automatic parking technology, applied in the field of automatic driving and automatic parking, can solve the problem of inaccurate control results, and achieve the effect of improving parking accuracy, reducing horizontal and vertical errors, and smoothing rotation.

Pending Publication Date: 2022-07-05
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Abstract
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AI Technical Summary

Problems solved by technology

Only from the point of view, there is a problem that the control results are not accurate enough

Method used

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  • Automatic parking path tracking method based on transverse and longitudinal decoupling
  • Automatic parking path tracking method based on transverse and longitudinal decoupling
  • Automatic parking path tracking method based on transverse and longitudinal decoupling

Examples

Experimental program
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Embodiment

[0043] like figure 1 , figure 2As shown, the automatic parking path tracking method based on horizontal and vertical decoupling provided by this embodiment includes calculating the distance DTH from the real-time position of the vehicle to the target point according to the real-time position coordinates of the vehicle and the position coordinates of the target point, and converting the calculated distance to the target point. Output to the vehicle longitudinal control module; use the target trajectory and real-time vehicle heading angle to calculate the heading angle error EYaw, use the target trajectory and real-time vehicle position coordinates to calculate the lateral position error EPos, use the target trajectory to calculate the target curvature Curvature, and use the calculated heading. The angular error, lateral position error, and target curvature results are output to the vehicle lateral control module.

[0044] Further, before calculating the heading angle error, l...

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Abstract

The invention discloses an automatic parking path tracking method based on transverse and longitudinal decoupling, and the method comprises the steps: calculating the distance DTH from the real-time position of a vehicle to a target point according to the real-time position coordinates of the vehicle and the position coordinates of the target point, and outputting the calculated distance to a vehicle longitudinal control module; the method comprises the following steps: calculating a course angle error EYaw by using a target track and a real-time vehicle course angle, calculating a transverse position error EPos by using the target track and a real-time vehicle position coordinate, calculating a target curvature by using the target track, and outputting the calculated course angle error, transverse position error and target curvature results to a vehicle transverse control module. According to the method, tracking control can be accurately carried out according to the planned path, and the posture of the vehicle is adjusted in real time, so that the vehicle is accurately parked to the target position.

Description

technical field [0001] The invention belongs to the fields of automatic driving and automatic parking, and in particular relates to an automatic parking path tracking method based on horizontal and vertical decoupling. Background technique [0002] With the development of intelligent technology, many fields have begun to try automation technology, and the automobile industry has gradually become more intelligent. The two most important and cutting-edge technologies are automatic driving and automatic parking technology. Among them, automatic parking has already been mass-produced in many models because it can significantly improve the safety and comfort of parking. At present, many OEMs and suppliers are researching automatic parking technology, but their maturity and parking effect and experience are still uneven. As one of the important links of automatic parking, path tracking not only affects the accuracy of parking, but also affects the rotation of the steering wheel d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06
CPCB60W30/06
Inventor 王朝美盛进源党建民贺勇曾伟任凡
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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