The invention provides a parking safety vehicle speed calculation method. The method comprises the steps that vehicle body feature points are calibrated; determining a current driving scene of the vehicle according to the current gear information of the vehicle, and finding a corresponding distance interval table and a speed related limit table based on the current driving scene of the vehicle; based on the distance between the obstacle and the vehicle body feature point, finding a corresponding distance interval number in a distance interval table; according to the distance interval number, acquiring speed-related limitation data of the period in a speed-related limitation table; and calculating the parking safety vehicle speed of the current period based on the parking safety vehicle speed of the previous period and the speed related limit data of the current period. Different strategies (vehicle speed planning parameters) are adopted for obstacles in different areas of different vehicles, the safe vehicle speed is calculated in real time, the risk caused by insufficient obstacle detection precision can be optimized, the target vehicle can slow down in advance when passing through the obstacles, the target vehicle can run at the safe and controllable vehicle speed, and the sudden brake and sudden stop situation cannot occur.
本发明提供一种泊车安全车速计算方法,包括:标定车身特征点;根据车辆当前档位信息确定车辆当前行驶场景,基于车辆当前行驶场景,找到对应的距离区间表和速度相关限制表;基于障碍物与车身特征点的距离,在距离区间表中找到对应的距离区间编号;根据距离区间编号,在速度相关限制表获取本周期的速度相关限制数据;基于上一个周期的泊车安全车速和本周期的所述速度相关限制数据,计算本周期的泊车安全车速。本发明针对不同车辆不同区域的障碍物采取不同的策略(车速规划参数),实时计算安全车速,可以优化障碍物检出精度不足引入的风险,使得目标车辆在经过障碍物时能提前减速保持安全可控的车速行驶并且不会出现急刹急停的情况。
Parking safety vehicle speed calculation method
一种泊车安全车速计算方法
2023-03-14
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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