The invention provides a vertical parking space parking method, which is characterized in that a vertical parking space tail parking track is planned based on a two-section arc, and under the condition of satisfying boundary constraint and collision avoidance constraint, according to the relative position relation between the initial position of a vehicle and a boundary obstacle, the pose of the tangent position of the two sections of arc tracks and the parameters of the two sections of arc tracks are calculated in a self-adaptive manner; the parking space opposite to the parking space and the space of the parking space are utilized to the maximum extent, the initial feasible area of parking can be effectively widened, the number of times of rolling of vehicles in the garage is effectively reduced through the two-section type arc track, and the riding comfort is better.
本发明提供垂直车位泊车方法,基于两段式圆弧规划垂直车位车尾泊入轨迹,在满足边界约束与避撞约束的条件下,根据车辆初始位置与边界障碍物的相对位置关系,自适应地计算两段圆弧轨迹相切处的位姿、两段圆弧轨迹的参数,最大化地利用泊车对向空间以及车位空间,不仅能有效拓宽泊车初始可行区域,而且两段式圆弧轨迹还有效地减少了车辆揉库的次数,乘坐舒适性更好。
Vertical parking space parking method
一种垂直车位泊车方法
2023-09-05
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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