The invention relates to a longitudinal speed planning method based on automatic parking and an automobile, the method is applied to the automobile, and the method comprises the steps that in response to an automatic parking instruction, a target parking track corresponding to the automobile is obtained; determining a parking track distance based on the target parking track; obstacle detection is started; determining a predicted collision distance between the automobile and the target obstacle under the condition of detecting that the target obstacle exists in the radar range of the automobile; determining the shortest distance in the parking track distance and the predicted collision distance as a target distance; and the longitudinal speed corresponding to the target distance is selected for automatic parking. The parking target distance is accurately determined for different parking scenes, automatic parking speed planning is carried out according to the target distance, and the safety during automatic parking can be improved.
本发明涉及一种基于自动泊车的纵向速度规划方法及汽车,应用于汽车,该方法包括:响应于自动泊车指令,获取汽车对应的目标泊车轨迹;并基于目标泊车轨迹确定泊车轨迹距离;开启障碍物检测;并在检测到汽车的雷达范围内存在目标障碍物的情况下,确定汽车与目标障碍物之间的预测碰撞距离;将泊车轨迹距离和预测碰撞距离中的最短距离确定为目标距离;并选择目标距离对应的纵向速度进行自动泊车。本发明针对不同的泊车场景准确的确定泊车的目标距离,并且根据目标距离进行自动泊车的速度规划,能够提高自动泊车时的安全性。
Longitudinal speed planning method based on automatic parking and automobile
一种基于自动泊车的纵向速度规划方法及汽车
2023-10-27
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 |
Automobile automatic driving method, automobile automatic parking method and electronic equipment
European Patent Office | 2020
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