The invention provides a vehicle and a safe parking control unit and method thereof. The safe parking control unit comprises a determination module configured to determine a target parking position of a vehicle on a multi-lane road; the creating module is configured to create a braking parameter combination solution space of each lane of the plurality of lanes, and the braking parameter combination solution space comprises a plurality of candidate braking distances on each lane, and a lane changing speed and a lane changing acceleration which correspond to each candidate braking distance and are used for changing the lane from the lane to the next lane; the calculation module is configured to calculate a braking parameter distribution tree, the braking parameter distribution tree comprises a plurality of branches connecting the current position and the target parking position, each branch comprises a plurality of nodes, and each node corresponds to a lane changing position on one of the lanes; the evaluation module is configured to evaluate the lane changing safety of each branch in the multiple branches; and the distribution module is configured to distribute the braking distance and the lane changing vehicle speed to each node of the branch which is evaluated as the highest lane changing safety.

    本发明提供了一种车辆及其安全停车控制单元和控制方法。所述安全停车的控制单元包括:确定模块,配置成确定车辆在多车道道路上的目标停车位置;创建模块,配置成创建多个车道的各车道的制动参数组合解空间,其包括各车道上的多个候选制动距离,以及每个候选制动距离对应的、从该车道变道至下一车道的变道车速和变道加速度;计算模块,配置成计算制动参数分配树,其包括连接当前位置与目标停车位置的多条支路,每条支路包含多个节点,各节点对应于所述多个车道中的一个车道上的变道位置;评估模块,配置成评估多条支路中的各条支路的变道安全性;以及分配模块,配置成对被评估为变道安全性最高的支路的各节点分配制动距离和变道车速。


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    Title :

    Vehicle and safe parking control unit and control method


    Additional title:

    车辆以及安全停车控制单元和控制方法


    Contributors:
    ZHENG KUNXIAN (author) / ZHU JUN (author) / WANG JUN (author) / CHEN CONG (author)

    Publication date :

    2024-03-08


    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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