According to the technical scheme, the automatic parking track planning system is characterized in that the automatic parking track planning system comprises a parking module, a sensing module and a path planning module, the parking module comprises a parking control unit, the parking control unit is arranged in a vehicle machine control system, and a path strategy used for forming a parking track is configured in the vehicle machine control system; a sensing subsystem is configured in the sensing module and used for sensing whether an obstacle exists at the tail of the vehicle or not, a track strategy is configured in the path planning module and used for controlling parking of the vehicle and forming an obstacle avoidance track according to the obstacle when the obstacle is sensed, and the obstacle avoidance track and the parking track are fused to form a planning track. Therefore, the vehicle is controlled by the parking module to complete parking along the planned trajectory according to the planned trajectory. The invention provides an automatic parking track planning system which can adjust a parking track in real time and accurately and conveniently control a vehicle to complete parking.
本发明公开了一种自动泊车轨迹规划系统,其技术方案要点是包括泊车模块、感知模块和路径规划模块,泊车模块包括泊车控制单元,泊车控制单元设置于车机控制系统中,车机控制系统中配置有用于形成泊车轨迹的路径策略,感知模块内配置有感知子系统,感知子系统用于感知车尾是否存在障碍物,路径规划模块内配置有轨迹策略,所述轨迹策略用于在感知到障碍物时,根据障碍物控制车辆的停车和形成避障轨迹,并将避障轨迹与泊车轨迹融合形成规划轨迹,从而以规划轨迹通过泊车模块控制车辆沿规划轨迹完成泊车。本发明提供一种自动泊车轨迹规划系统,具有对泊车轨迹进行实时调整,达到准确和方便的控制车辆完成泊车。
Automatic parking track planning system
一种自动泊车轨迹规划系统
2023-06-02
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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