The invention provides a curvature continuous parking path planning device of an intelligent parking system. The curvature continuous parking path planning device comprises sensor assemblies and a signal processing assembly, wherein the sensor assemblies are arranged around a vehicle body, and are used for collecting pose information of the vehicle per se and environment information around the vehicle; and the signal processing assembly is used for determining a vacant parking space according to the environment information around the vehicle provided by different sensor assemblies, and determining a parking path plan with continuous curvature between the vacant parking space and the current pose of the vehicle. The curvature continuous path is beneficial to reducing the change of centrifugal force during vehicle tracking, the comfort and stability of the vehicle are improved, the curvature is not suddenly changed, and parking steering is not needed.
本发明提供一种智能泊车系统的曲率连续泊车路径规划装置,包括:传感器组件和信号处理组件;所述传感器组件,设置在车辆周身,用于采集所述车辆本身位姿信息及所述车辆周边的环境信息;所述信号处理组件,根据不同所述传感器组件提供的所述车辆周边的环境信息,从中确定空泊车位,并确定所述空泊车位与所述车辆的当前位姿间的曲率连续的泊车路径规划。曲率连续的路径有利于车辆跟踪时,减小离心力的变化,增加了车辆的舒适性和稳定性,曲率无突变,无需停车转向。
Curvature continuous parking path planning device and method of intelligent parking system
一种智能泊车系统的曲率连续泊车路径规划装置和方法
2020-12-15
Patent
Electronic Resource
Chinese
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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