The invention provides a steering wheel steering angle optimization method and system during automatic parking, wherein the method comprises the following steps of after an instruction for starting automatic parking is received, according to a planned parking track and a real-time position of a vehicle, calculating the distance between the real-time position and a target parking point along the parking track to be used as a rest distance, and using the running distance of the vehicle along the parking track as a moving distance; calculating an initial steering wheel angle at the rest distancebased on a transverse control algorithm; obtaining a rest distance gain coefficient based on the rest distance and a first preset rule; obtaining a moving distance gain coefficient based on the movingdistance and a second preset rule; and calculating a final steering wheel angle at any one rest distance based on a formula. The steering wheel angle optimization method and system during automatic parking have the advantages that the steering wheel steering angle optimization is performed at the starting and parking stages of parking on the basis of the rest distance and the moving distance, sothat the steering wheel steering angle is stably increased during starting, the steering wheel is just returned during parking, and the driving and taking experience is effectively improved.

    本发明提供了一种自动泊车时的方向盘转角优化方法及系统,其中的方法包含步骤:收到启动自动泊车的指令后,根据规划好的泊车轨迹以及车辆的实时位置,计算出所述实时位置到目标停车点之间沿着泊车轨迹的距离作为剩余距离,以及车辆沿着泊车轨迹行驶的距离作为移动距离;基于横向控制算法计算出所述剩余距离处的初始方向盘角度;基于剩余距离和第一预设规则,得到剩余距离增益系数;基于移动距离和第二预设规则,得到移动距离增益系数;基于公式计算出任一所述剩余距离处的最终方向盘角度。本发明基于剩余距离和移动距离对泊车的起步和停车阶段进行方向盘转角优化,使得方向盘转角在起步时平稳增大、停车时刚好回正,有效提升驾乘体验。


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    Titel :

    Steering wheel steering angle optimization method and system during automatic parking


    Weitere Titelangaben:

    一种自动泊车时的方向盘转角优化方法及系统


    Beteiligte:
    ZHANG JIN (Autor:in) / YE XIONGFEI (Autor:in) / LEI XING (Autor:in)

    Erscheinungsdatum :

    18.12.2020


    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



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