The invention provides an automatic parking trajectory tracking control method and system, and the method comprises the steps: receiving a parking trajectory which comprises a plurality of trajectory points after a target vehicle starts to be parked, and extracting the trajectory point information of each trajectory point from the parking trajectory; calling out a key parameter matrix; acquiring actual position information of positioning of the target vehicle; constructing a state matrix according to track point information corresponding to a target point and the actual course information, and calculating a front wheel turning angle of the target vehicle according to the state matrix and the key parameter matrix; and if the target vehicle does not arrive at the track end point, controlling the target vehicle to park according to the front wheel turning angle of the target vehicle. According to the automatic parking trajectory tracking control method provided by the invention, the requirement of LQR iteration on the calculation performance of the vehicle end domain controller is avoided, so that the vehicle end domain controller can operate in a low-calculation-power real-time system, the calculation delay is greatly shortened, and the parking control precision is improved.

    本发明提出一种自动泊车轨迹跟踪控制方法及系统,该方法包括:当目标车辆开始泊车后,接收泊车轨迹,所述泊车轨迹由包括多个轨迹点,以从所述泊车轨迹中提取每个轨迹点的轨迹点信息;调取出关键参数矩阵;获取所述目标车辆定位的实际位置信息;根据与目标点对应的轨迹点信息和所述实际航向信息构建状态矩阵,以根据所述状态矩阵和所述关键参数矩阵计算得到目标车辆的前轮转角;若目标车辆未到达轨迹终点,则根据目标车辆的前轮转角控制目标车辆泊车。本发明提出的自动泊车轨迹跟踪控制方法,避免LQR迭代对车端域控制器计算性能的要求,使之能在低算力的实时系统运行,从而极大地缩小了计算延时,从而提高了泊车控制精度。


    Access

    Download


    Export, share and cite



    Title :

    Automatic parking trajectory tracking control method and system


    Additional title:

    自动泊车轨迹跟踪控制方法及系统


    Contributors:
    SHI LEQUAN (author) / HUANG SHAOTANG (author) / WANG AICHUN (author) / JIANG HUIHUA (author) / ZHENG LIPING (author) / ZHANG CHAO (author)

    Publication date :

    2023-06-13


    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



    Trajectory tracking optimization method for automatic parking process

    YANG CENHAO | European Patent Office | 2022

    Free access

    Automatic parking trajectory tracking control strategy on LQR and PID

    Zhong Jinghong / Yang Bin / Li Jianping et al. | DOAJ | 2022

    Free access

    Parking Space Detection and Trajectory Tracking Control for Vehicle Auto-Parking

    Shiuh-Jer Huang / Yu-Sheng Hsu | BASE | 2017

    Free access

    Parking system trajectory tracking and positioning method and system

    WEN YI / LI HONGLIN / YANG SHIHUI et al. | European Patent Office | 2024

    Free access

    Automatic vertical parking trajectory planning method

    WANG WEI / ZHANG ZITONG / SU PENGFEI et al. | European Patent Office | 2022

    Free access