The invention discloses an inclined parking space parking method and device for an automatic driving vehicle, and the method comprises the steps: judging whether a collision avoidance signal in the parking process of the vehicle is obtained or not, and obtaining the basic data of the vehicle if the collision avoidance signal is obtained; calculating a difference value between a parking space course angle of a parking space to be parked and a predicted parking space course angle according to the basic data of the vehicle; whether the difference value between the parking space course angle of the parking space to be parked and a predicted parking space course angle is larger than a preset angle threshold value or not is judged, and if yes, a parking path for the vehicle to be parked in the parking space to be parked is planned again according to the basic data of the vehicle and the difference value between the parking space course angle of the parking space to be parked and the predicted parking space course angle; and the vehicle is parked in a parking space to be parked according to the parking path. According to the method for repositioning the inclined parking space, the parking of the inclined parking space is completed by performing global planning on the parking space, and the parking success rate and the space utilization rate of the inclined parking space are improved.

    本发明公开了一种用于自动驾驶车辆的倾斜车位泊入方法、装置,所述方法包括:判断是否获取到车辆泊车过程中的避撞信号,若是,则获取所述车辆的基本数据;根据所述车辆的基本数据计算待停车车位的车位航向角与预测车位航向角的差值;判断所述待停车车位的车位航向角与预测车位航向角的差值是否大于预设角度阈值,若是,则根据所述车辆的基本数据以及所述待停车车位的车位航向角与预测车位航向角的差值重新规划所述车辆泊入所述待停车车位的泊车路径;根据所述泊车路径将所述车辆泊入待停车车位。本发明通过重定位倾斜车位的方法,并根据针对该车位进行全局规划以完成倾斜车位的泊入,提高倾斜车位的泊入成功率和空间利用率。


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    Title :

    Inclined parking space parking method and device for autonomous vehicle


    Additional title:

    一种用于自动驾驶车辆的倾斜车位泊入方法、装置


    Contributors:
    WANG HAONAN (author) / LI CHAO (author) / HUANG XIANQING (author) / DU JIANYU (author)

    Publication date :

    2023-03-28


    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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