The invention relates to the technical field of vehicle control, in particular to an automatic parking method and an automatic parking device. The automatic parking method comprises the steps that firstly, a target parking space is determined, then, input data and constraint conditions of a vehicle are obtained, a vehicle kinematic model is constructed according to the input data, the constraint conditions and the target parking space, the vehicle kinematic model is solved through a quadratic programming algorithm and a particle swarm optimization algorithm, and the parking space is obtained. The automatic parking path track can be quickly obtained; and finally, controlling the vehicle to drive into the target parking space according to the path track. It can be seen that the automatic parking path can be quickly planned by adopting the quadratic programming algorithm and the particle swarm optimization algorithm, and the automatic parking efficiency is improved.
本发明涉及车辆控制技术领域,尤其涉及一种自动泊车方法和自动泊车装置。其中,自动泊车方法包括,首先确定目标车位,然后获取车辆的输入数据和约束条件,根据所述输入数据和约束条件以及所述目标车位构建车辆运动学模型,采用二次规划算法和粒子群优化算法对所述车辆运动学模型进行求解,可以快速的得到所述自动泊车路径轨迹;最后根据所述路径轨迹控制车辆驶入所述目标车位。可以看出,本发明中通过采用二次规划算法和粒子群优化算法可以快速的规划出自动泊车路径,提高了自动泊车的效率。
Automatic parking method and automatic parking device
自动泊车方法和自动泊车装置
26.04.2024
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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