The invention relates to an automatic driving vehicle parking method and system and a vehicle, whether the vehicle type of a to-be-parked vehicle corresponds to a target parking space is judged, if yes, a trajectory planning coordinate system is established with the assumed vehicle center in the target parking space as a coordinate origin, and the assumed vehicle is subjected to vehicle coordinate system conversion according to the trajectory planning coordinate system; selecting a parking point after the assumed vehicle leaves the garage according to a set rule, and generating an optimal track; judging whether the current position of the to-be-parked vehicle is on any track or not, if yes, executing a parking step, and if not, executing an adjusting step to adjust the vehicle to a point on any track, and then executing parking; according to the method, the vehicle pose deflection angle of the corresponding point can be correspondingly calculated through each coordinate, so that accurate vehicle pose adjustment is achieved, and the vehicle with the pose adjusted can be parked in a parking space without stopping at a time.
本发明涉及一种自动驾驶车辆停车入位方法、系统及车辆,判断待停车车辆的车型是否与目标停车位对应,如对应则以目标停车位内的假设车辆中心为坐标原点建立轨迹规划坐标系,将假设车辆参照轨迹规划坐标系进行车辆坐标系转化;按设定规则选取假设车辆出库后停车点并生成最优轨迹;判断待停车车辆目前位置是否在任意一条轨迹上,如果在则执行停车入位步骤,如果不在则执行调整步骤将车辆调整至任意一条轨迹上的一点,然后执行停车入位;本发明每个坐标都可以对应计算出相应点的车辆位姿偏转角,从而达到准确无误的车辆位姿调整,从而使得调整位姿之后的车辆能够一次性不停顿的停入车位。
Automatic driving vehicle parking method and system and vehicle
一种自动驾驶车辆停车入位方法、系统及车辆
2023-03-14
Patent
Electronic Resource
Chinese
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