The invention discloses a secondary parking method and system for solving deviation of a parking space and deviation of positioning, a vehicle and a storage medium. The method comprises the followingsteps: step 1, determining the minimum turning radius R of the vehicle by using an Ackerman steering mechanism principle, taking Rmin=R+threshold as the minimum turning radius of path planning, and determining the sizes of vehicles according to the steering and control performance of the different vehicles by threshold; reversely planning a vertical parking path, and determining the deepest garageexit point A on the premise that no collision is ensured; and step 2, drawing a parking path of a to-be-parked vehicle. According to the secondary vertical parking path planning method, in a vehicleparking process, when sensor information changes, deviation of the parking space or deviation of positioning of a vehicle body is sensed.
本发明公开了一种解决车位偏移和定位偏移的二次泊车方法、系统、车辆及存储介质,包括以下步骤:步骤1、利用阿克曼转向机构原理确定车辆的最小转弯半径R,并以Rmin=R+threshold作为路径规划的最小转弯半径,threshold根据不同的车辆的转向、控制性能来确定其大小;逆向规划垂直泊车路径,在确保不碰撞的前提下确定出最深出库点A;步骤2、绘制待泊车辆的泊车路径。本发明在车辆泊车过程中,当传感器信息发生变化时,感知车位发生偏移或则车身定位发生偏移后的二次垂直泊车路径规划方法。
Secondary parking method and system for solving deviation of parking space and deviation of positioning and vehicle
解决车位偏移和定位偏移的二次泊车方法、系统及车辆
29.12.2020
Patent
Elektronische Ressource
Chinesisch
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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