The invention discloses an automatic parking path following processing method and system, a vehicle and a storage medium. The method comprises the steps: 1, planning an arc linear path needed by parking based on parking space information, and obtaining a control point Pi of path planning, i being equal to 0, 1, 2,... N; step 2, performing parametric solution based on a cubic spline interpolation function, and adopting a chord length accumulation method; for the coordinates (xi, yi) of the control point Pi on the plane, solving the accumulated chord length at each control point; step 3, parameterizing x and y into equations of x (s) and y (s) respectively, s being larger than or equal to si and smaller than or equal to si+1, si representing the accumulated chord length of the (i+1)th section, and si+1 representing the accumulated chord length of the (i+2) th section; to be specific, carrying out fitting based on the principle of a cubic spline interpolation function with s as a variableand x and y as functions, and deriving an equation of a chord length accumulation cubic spline curve and first-order derivation and second-order derivation equations of the equation; and step 4, adopting a constraint equation of a fixed boundary for boundary conditions, and solving a first-order derivative of a parameter equation. The problem that the curvature of an arc straight line path is discontinuous is solved.

    本发明公开了一种自动泊车路径跟随处理方法、系统、车辆及存储介质,包括:步骤1,基于车位信息规划出泊车所需的圆弧直线路径,得出路径规划的控制点Pi,i=0,1,2,...n;步骤2,基于三次样条插值函数进行参数化求解,采用弦长累加的方法;针对平面上控制点Pi的坐标(xi,yi),求出各控制点处的累加弦长;步骤3,将x,y分别参数化为x(s),y(s)的方程,其中,si≤s≤si+1,si表示第i+1段累计弦长,si+1表示第i+2段累计弦长;具体为:以s为变量,x,y为函数基于三次样条插值函数的原理进行拟合,推导出弦长累加三次样条曲线的方程及其一阶导、二阶导方程;步骤4,边界条件采取固定边界的约束方程,求解参数方程的一阶导数。本发明解决了圆弧直线路径曲率不连续的问题。


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    Titel :

    Automatic parking path following processing method and system, vehicle and storage medium


    Weitere Titelangaben:

    自动泊车路径跟随处理方法、系统、车辆及存储介质


    Beteiligte:
    SHENG JINYUAN (Autor:in) / LIANG FENGHUA (Autor:in) / WAN KAILIN (Autor:in) / ZHANG WEIFANG (Autor:in) / GAO XIANGJIU (Autor:in)

    Erscheinungsdatum :

    2020-12-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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