The invention discloses a parking path planning method and parking motion control method of an auxiliary parking system. A multi-stage smooth parking path which is designed through the parking path planning method based on the B-spline theory meets multiple non-linear constraints such as a vehicle obstacle avoidance constraint, a minimum turning radius constraint and a maximum steering speed constraint; through the path curvature continuity, a pivot steering phenomenon is avoided, and tire wear and steering motor loads are reduced; through the multi-stage smoothness of the path, vehicle tracking is easy to achieve. According to the parking motion control strategy, the requirements of the parking system for the parking speed of a driver are lowered, and the driver only needs to control a vehicle to be driven at low speed. For the phenomenon that in the parking process, the vehicle deviates from the target path and cannot park in the correct position due to the fact that the vehicle speed is too high, a vehicle position posture adjusting strategy based on fixed-point tracking control is presented, and therefore the parking success rate is increased; in addition, fixed-point tracking control is adopted, therefore, the vehicle can be parked to be parallel to a parking space, and vehicle parking standardization is achieved.


    Access

    Download


    Export, share and cite



    Title :

    Auxiliary parking system and auxiliary parking control method


    Contributors:
    GUO KONGHUI (author) / LI HONG (author) / CHEN YUXING (author)

    Publication date :

    2015-12-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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



    Auxiliary parking system, vehicle and auxiliary parking method

    HU WENJIE / HU ZHUANGFENG | European Patent Office | 2021

    Free access

    Parking auxiliary method, parking auxiliary system and vehicle

    ZHANG QIANG | European Patent Office | 2024

    Free access

    Auxiliary parking method and auxiliary parking system for vehicle

    GU HAO | European Patent Office | 2024

    Free access

    PARKING AUXILIARY SYSTEM AND PARKING METHOD

    ZOU YU / XU YONG / LI WENRUI et al. | European Patent Office | 2017

    Free access

    Parking method and parking auxiliary system

    JIANG ZHIZHOU / ZHAO LEI / LI SHUNJIN et al. | European Patent Office | 2023

    Free access