The invention provides a parking planning method based on four-wheel steering and a vehicle, and relates to the technical field of intelligent driving, and the method comprises the steps: providing a parking mode for a user to select when a target parking position meets a first preset condition; wherein the parking mode comprises a four-wheel steering mode; when the selected parking mode is the four-wheel steering mode, the vehicle body posture of the vehicle is adjusted; judging whether the current posture of the vehicle meets a second preset condition or not; when the current posture of the vehicle meets a second preset condition, the vehicle drives out of the target parking space, and the target parking position, the current position of the vehicle and the parking path are recorded. Based on the four-wheel steering characteristic, especially the rear-wheel steering characteristic, the problem that parallel parking space parking is difficult to plan successfully or multiple times of gear switching are needed is effectively solved, the success rate of parallel parking planning is improved, the gear switching frequency needed by a path is effectively reduced, and the user experience of an automatic parking system is improved.

    本发明提供一种基于四轮转向的泊车规划方法、车辆,涉及智能驾驶技术领域,包括:在目标停车位置符合第一预设条件时,提供泊车模式供用户选择;其中,泊车模式包括四轮转向模式;当被选择的泊车模式为四轮转向模式时,调整车辆的车身姿态车辆;判断车辆的当前姿态是否满足第二预设条件;于车辆的当前姿态满足第二预设条件时,驶出目标车位,并记录目标停车位置、车辆的当前位置和泊车路径。本发明基于四轮转向的特性,尤其是后轮转向特性,有效解决了平行车位泊车难以规划成功或者需要多次档位切换的难题,提高了平行泊车规划的成功率,有效减少路径所需的档位切换次数,提高自动泊车系统的用户体验。


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    Title :

    Parking planning method based on four-wheel steering and vehicle


    Additional title:

    一种基于四轮转向的泊车规划方法、车辆


    Contributors:
    LI QIAN (author)

    Publication date :

    2022-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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