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.
本发明公开的一种目标轨迹离散化方法、泊车路径跟踪误差优化方法及系统,包括:路径更新,计算圆弧的圆心角deltA,每个点之间的圆心角StepA,总的点数,最后计算每个点的位置坐标;计算直线的总长度和斜率,最后求出每个点的坐标,对圆弧和直线的组合,若上一段还剩LastPhaseRes,下一段需要从预设间距‑LastPhaseRes的地方开始,求出每个离散点的目标航向角。本发明用于平行车位、垂直车位和斜列车位等场景下泊车过程中路径跟踪误差的计算和优化,以提高泊车的精度,改善泊车效果及体验。
Target trajectory discretization method, parking path tracking error optimization method and system
目标轨迹离散化方法、泊车路径跟踪误差优化方法及系统
2022-03-29
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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