The invention provides an automatic parking method for a four-wheel steering automobile. The automatic parking method comprises the steps that a rough path is constructed according to the current position and the target position of the automobile; according to the rough path expansion search, generating a plurality of vehicle state nodes, and calculating a reward function value of each vehicle state node; if the generation frequency and the reward function value of a certain vehicle state node meet the preset requirements, the vehicle state node is added to a vehicle state node set, the vehicle state node set comprises a complete path from the starting position to the target position, and all the vehicle state nodes meet the preset requirements; controlling the vehicle to be automatically parked according to the vehicle state node set and a preset parking limiting condition; in the automatic parking process, the deviation between the actual state of the vehicle and the vehicle state nodes in the reference node set is calculated, when the deviation exceeds a set threshold value, the vehicle is controlled to be parked, and the starting step is returned to re-plan the parking path. According to the method, the steering characteristic of the four-wheel steering automobile is fully utilized, and the parking efficiency is improved.
本发明提供一种四轮转向汽车的自动泊车方法,包括:根据车辆当前位置和车辆目标位置构造粗略路径;根据粗略路径拓展搜索,生成多个车辆状态节点,并计算各车辆状态节点的奖励函数值;若某个车辆状态节点的生成次数和奖励函数值均满足预设要求,则将其加入到车辆状态节点集合,车辆状态节点集合包含从起始位置到目标位置的完整路径,并且其中所有车辆状态节点都满足预设要求;根据车辆状态节点集合和预设的泊车限制条件控制车辆自动泊车;自动泊车过程中计算车辆实际状态和参考节点集合中车辆状态节点的偏差,并在偏差超过设定阈值时控制车辆停车,返回起始步骤以重新规划泊车路径。该方法充分利用了四轮转向汽车的转向特性,提高了泊车效率。
Automatic parking method for four-wheel steering automobile
一种四轮转向汽车的自动泊车方法
20.06.2025
Patent
Elektronische Ressource
Chinesisch
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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