The invention provides an automatic parking track plotting parameter calibration method and system, a vehicle and a medium, and the method comprises the steps: controlling the vehicle to run according to a preset steering wheel angle and a preset running speed, and collecting the coordinate information of the running track of the vehicle in real time; wherein the steering wheel angles are a plurality of steering wheel rotation angles in different directions; and determining any two adjacent points in the vehicle driving track according to the coordinate information of the vehicle driving track, and determining the turning radius corresponding to each steering wheel angle according to the intersection condition between the vertical bisector between the two adjacent points and the vehicle driving track. By combining a high-precision positioning system, an algorithm for calculating a turning radius and a single wheel speed pulse walking distance, the performance calibration precision of the track plotting module is improved, so that the automatic parking performance is improved.
本发明提供一种自动泊车航迹推算参数标定方法、系统、车辆及介质,包括,控制车辆按照预设的方向盘角度和预设的行驶速度进行行驶,并实时采集车辆行驶的轨迹坐标信息;其中,所述方向盘角度为不同方向下的多个方向盘旋转角度;根据所述车辆行驶的轨迹坐标信息确定车辆行驶轨迹中任意相邻两点,并根据该相邻两点之间的垂直平分线与所述车辆行驶轨迹之间的相交情况确定每个方向盘角度对应的转弯半径。本发明结合高精度定位系统,计算转弯半径的算法和单个轮速脉冲行走距离,提高了航迹推算模块性能标定的精度,从而提高了自动泊车性能。
Automatic parking track plotting parameter calibration method and system, vehicle and medium
一种自动泊车航迹推算参数标定方法、系统、车辆及介质
2024-07-09
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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