The invention provides a vehicle speed planning method and system for an automatic parking system. The method comprises the following steps of inputting an expected deceleration a; setting a pre-reading time t, namely just parking within t seconds before a parking end point; and finally, outputting the expected vehicle speed Vref at a next moment. The vehicle speed is planned according to the residual distance of parking; the planned vehicle speed is stably reduced under the limitation of the maximum deceleration; meanwhile, the stability degree of the planned vehicle speed can be changed by adjusting the pre-reading time t; and adaptation to parking tracks of different lengths can be realized. The speed planning flexibility is improved.
本发明提供一种自动泊车系统车速规划方法及系统,通过输入期望的减速度a;设定预读时间t即泊车终点前t秒内刚好停车;最终输出下一时刻的期望车速Vref,根据泊车的剩余距离规划车速,规划的车速在最大减速度的限制下平稳减小,同时可通过调节预读时间t来改变规划车速的平稳程度,可以适应不同长度的泊车轨迹。提高了速度规划的灵活性。
Vehicle speed planning method and system for automatic parking system
一种自动泊车系统车速规划方法及系统
2020-12-18
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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