The invention discloses an automatic parking method which comprises the steps that the current position of a vehicle and a parking planning track corresponding to the vehicle are acquired, and the parking planning track is represented by a discrete point set; determining a matching point and a corresponding preview point from the discrete point set according to the current position; obtaining an error between the current position and the matching point, and performing prediction by using the preview point to obtain a front wheel steering angle control quantity; filtering the error to obtain a filtered error, and inputting the filtered error into a preset controller to obtain an initial front wheel rotation angle; processing the initial front wheel steering angle by using the front wheel steering angle control quantity to obtain a target front wheel steering angle; and based on the target front wheel turning angle, a corresponding steering wheel angle is obtained, and automatic parking of the vehicle is achieved. The invention further discloses electronic equipment and a storage medium. The accuracy and the response timeliness of the automatic parking control module are improved.
本申请公开了一种自动泊车方法,包括:获取车辆的当前位置以及所述车辆对应的泊车规划轨迹,其中所述泊车规划轨迹由离散点集表征;依据所述当前位置,从所述离散点集中,确定匹配点及相应的预瞄点;获取所述当前位置与所述匹配点之间的误差,并利用所述预瞄点进行预测,得到前轮转角控制量;对所述误差进行滤波,得到已滤波误差,并将所述已滤波误差输入预设控制器,以得到初始前轮转角;利用所述前轮转角控制量,对所述初始前轮转角进行处理,得到目标前轮转角;基于所述目标前轮转角,获得相应的方向盘角度,实现所述车辆自动泊车。本申请还公开了电子设备和存储介质。本申请提高自动泊车控制模块的精确性与响应的及时性。
Automatic parking method, electronic equipment and storage medium
自动泊车方法、电子设备和存储介质
2024-04-09
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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