The invention discloses a path following algorithm for automatic parking of an automobile and a train. The algorithm comprises the following steps: S1, acquiring a tractor positioning signal and a trailer reference path; s2, calculating the actual pose of the trailer according to the tractor positioning signal; s3, according to the actual position and posture of the trailer, the deviation between the actual position and posture of the trailer and the trailer reference path is calculated; s4, calculating a request included angle, a request speed and a request braking instruction between the tractor and the trailer according to the deviation between the actual pose of the trailer and the trailer reference path; s5, acquiring an actual included angle signal and an actual speed of the tractor and the trailer; and S6, the requested steering wheel angle, the requested accelerator opening degree and the requested braking deceleration are calculated according to the requested included angle between the tractor and the trailer, the requested vehicle speed and the requested braking instruction. The automatic parking path following algorithm for the automobile and the train is clear in calculation logic, few in calibration parameters and high in calculation speed.
本发明公开了一种汽车列车自动泊车路径跟随算法,S1:获取牵引车定位信号、挂车参考路径;S2:根据牵引车定位信号,计算挂车实际位姿;S3:根据挂车实际位姿,计算挂车实际位姿与挂车参考路径间的偏差;S4:根据挂车实际位姿与挂车参考路径间的偏差,计算牵引车与挂车间的请求夹角、请求车速和请求制动指令;S5:采集牵引车与挂车的实际夹角信号和实际车速;S6:结合牵引车与挂车间的请求夹角、请求车速和请求制动指令,计算请求方向盘转角、请求油门开度和请求制动减速度。本发明的汽车列车自动泊车路径跟随算法计算逻辑清晰、标定参数少、运算速度快。
Automatic parking path following algorithm for automobiles and trains
一种汽车列车自动泊车路径跟随算法
2023-05-26
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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