The invention provides an engineering vehicle and a parking control method of the engineering vehicle. The engineering vehicle comprises a first positioning module, a second positioning module and a navigation controller, wherein the navigation controller is electrically connected with the first positioning module and the second positioning module, and the navigation controller is used for positioning the vehicle through the first positioning module after receiving a starting instruction so as to obtain global pose information, receiving a parking instruction, searching a parking starting position according to the global pose information, switching the first positioning module to the second positioning module after the parking starting position is determined, positioning the vehicle by thesecond positioning module to obtain local pose information, and planning a parking route according to the local pose information. According to the engineering vehicle, global positioning and local positioning are utilized, parking of the engineering vehicle in a complex environment is supported while normal advancing of the engineering vehicle is met, and the positioning precision and the navigation precision are high.
本发明提出了一种工程车辆和工程车辆的泊车控制方法,其中,工程车辆包括:第一定位模块与第二定位模块;导航控制器,与第一定位模块和第二定位模块电连接,导航控制器用于:在接收到启动指令后,以第一定位模块,对车辆进行定位,得到全局位姿信息;接收泊车指令,根据全局位姿信息查找泊车起始位置;在确定泊车起始位置后,将第一定位模块切换至第二定位模块;以第二定位模块,对车辆进行定位,得到局部位姿信息;根据局部位姿信息,规划泊车路线。本发明提出的工程车辆,利用全局定位与局部定位,在满足了工程车辆的正常行进的同时,也支持了工程车辆在复杂环境下的泊车,且定位精度高,导航精度高。
Engineering vehicle and parking control method of engineering vehicle
工程车辆和工程车辆的泊车控制方法
2020-09-04
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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