The invention discloses a semi-trailer tractor parking method and system. The semi-trailer tractor parking method comprises the steps that obstacle information is obtained through a vehicle-mounted sensing module; determining parking space data according to the obstacle information; determining a termination feasible area of the semi-trailer tractor in the area determined by the parking space data according to the obstacle boundary and the collision constraint; determining an initial feasible region according to the collision constraint, the kinematics constraint and the termination feasible region; acquiring the current coordinate of the semi-trailer tractor through a vehicle-mounted sensing module, and generating a planned parking track by adopting a third-order Bezier curve method according to the current coordinate of the semi-trailer tractor, the starting feasible region and the ending feasible region; selecting a feasible parking track from the planned parking tracks according to the collision constraint; determining a front wheel steering angle and a front wheel speed by adopting a preview algorithm based on the current pose and the feasible parking track of the semi-trailer tractor; and a steering wheel, an accelerator and a brake are adjusted according to the determined front wheel steering angle and the determined front wheel speed so as to control the semi-trailer traction train to move along the feasible parking track.
本发明公开一种半挂牵引车泊车方法及系统,包括:通过车载感知模块获取障碍物信息;根据障碍物信息确定泊车位数据;根据障碍物边界、碰撞约束确定半挂牵引车在泊车位数据确定的区域内的终止可行区域;根据碰撞约束、运动学约束和终止可行区域确定起始可行区域;通过车载感知模块获取半挂牵引车的当前坐标,根据半挂牵引车的当前坐标、起始可行区域和终止可行区域采用三阶贝塞尔曲线法生成规划泊车轨迹;根据碰撞约束从规划泊车轨迹中选择可行泊车轨迹;基于半挂牵引车的当前位姿和可行泊车轨迹,采用预瞄算法确定前轮转向角和前轮速度;根据确定的前轮转向角和前轮速度调节方向盘、油门和刹车以控制半挂牵引列车沿可行泊车轨迹移动。
Parking method and system for semi-trailer tractor
一种半挂牵引车泊车方法及系统
2024-03-08
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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