The invention discloses an automatic parking speed planning method and system. The method comprises the following steps: acquiring a parking planning path, an own parking space posture, the current speed of an own vehicle and dangerous obstacle information; determining a point closest to the own vehicle on the path according to the own parking space posture and the parking planning path, and obtaining the posture of the point closest to the own vehicle on the path; and determining the starting constraint speed, the longitudinal distance constraint speed, the angle deviation constraint speed, the transverse deviation constraint speed, the path curvature constraint speed and the dangerous obstacle constraint speed at the next moment, and taking the minimum value as the target speed at the next moment. By the adoption of the method, the parking safety and stability can be improved on the premise that the parking precision is guaranteed.

    本发明公开了一种自动泊车速度规划方法及系统,所述方法包括:获取泊车规划路径、自车位姿、自车的当前速度和危险障碍物信息;根据自车位姿和泊车规划路径,确定路径上距自车的最近点,并得到路径上距自车的最近点的位姿;确定下一时刻的起步约束速度、纵向距离约束速度、角度偏差约束速度、横向偏差约束速度、路径曲率约束速度、危险障碍物约束速度,并将其中的最小值作为下一时刻的目标速度。采用本发明能在保证泊车精度的前提下,提高泊车安全性和平稳性。


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    Title :

    Automatic parking speed planning method and system


    Additional title:

    一种自动泊车速度规划方法及系统


    Contributors:
    HUANG CONGLIN (author) / TIAN XIAOKANG (author) / FENG RONG (author) / LIU YIN (author)

    Publication date :

    2023-12-29


    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



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