The invention relates to the technical field of intelligent driving, in particular to a trajectory tracking optimization method for an automatic parking process. The method specifically comprises the steps that on the basis of an established parking track, the parking track is split into a multi-segment line combination based on a linear track and an arc track, and a multi-controller segmentation control method is established for the multi-segment line combination so as to maintain the uniformity of the running speed of a vehicle in the path tracking process. According to the trajectory tracking optimization method for the automatic parking process, on the basis of the planned automatic parking path, the vehicle dynamics model based on the specified vehicle is established, and the situation that in the vehicle path tracking process, the path tracking deviation is large due to the fact that the vehicle speed running in the running parameters of the vehicle is not uniform, and the vehicle path tracking accuracy is high is avoided. And the problem of vehicle operation instability is solved.
本发明涉及智能驾驶技术领域,尤其涉及一种用于自动泊车过程的轨迹跟踪优化方法。本发明具体包括,在已建立泊车轨迹的基础上,将泊车轨迹拆分为基于直线轨迹与圆弧轨迹的多段线组合,对所述的多段线组合建立多控制器分段控制方法,用以维持车辆在路径跟踪过程中行驶速度的均匀性。本发明所述的用于自动泊车过程的轨迹跟踪优化方法,在已规划的自动泊车路径的基础上,建立基于指定车辆下的车辆动力学模型,避免了在车辆路径跟踪的过程中,由于车辆自身运行参数中车速运行不均匀导致的路径跟踪偏差较大,以及车辆运行失稳的问题。
Trajectory tracking optimization method for automatic parking process
一种用于自动泊车过程的轨迹跟踪优化方法
2022-11-25
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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