The invention provides a parking method for a vertical parking space, which comprises the following steps of: executing different parking strategies according to different parking starting positions, and adaptively calculating parameters of a trajectory switching point pose and an arc trajectory according to the parking starting positions under the condition of meeting boundary constraint and collision avoidance constraint. And the circular arc track is corrected through the clothoid, curvature continuity during track switching is achieved, vehicle abrasion is reduced, and the riding comfort is improved.
本发明提供垂直车位的泊车方法,所述泊车方法根据泊车起始位置的不同执行不同的泊车策略,在满足边界约束与避撞约束的条件下,根据泊车起始位置自适应地计算轨迹切换点位姿、圆弧轨迹的参数,并且通过回旋曲线对圆弧轨迹进行修正,实现了轨迹切换时的曲率连续,减少了车辆磨损,提高了乘坐舒适性。
Parking method for vertical parking space
一种垂直车位的泊车方法
2023-12-29
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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