The invention discloses a four-wheel steering automobile side parking minimum space path planning and control method. The method specifically comprises the following steps that firstly, the size of a side parking minimum space is divided into the first situation, the second situation and the third situation; 2, adopting a front and rear wheel out-of-phase steering scheme according to the situation 1; aiming at the second situation, a front and rear wheel in-phase steering scheme is adopted; according to the third situation, a front and rear wheel fused steering scheme is adopted; 3, establishing a cost function based on kinematics transient characteristics of the four-wheel steering automobile, and optimizing a space optimal parameter, a path shortest parameter and a time optimal parameter through the cost function to obtain an optimal turning angle and an optimal driving distance; and 4, the four-wheel steering automobile is controlled to adopt a corresponding steering scheme to complete parking. According to the invention, more accurate and efficient parking operation can be realized in a side parking extremely small space, the parking space can adapt to various parking space forms, and the side parking efficiency of an automobile in a narrow space is improved.

    本发明公开了一种四轮转向汽车侧方泊车极小空间路径规划与控制方法,具体包括以下步骤:步骤一:将侧方泊车极小空间的尺寸分为情况一、情况二以及情况三;步骤二:针对情况一,采取前后轮异相的转向方案;针对情况二,采取前后轮同相的转向方案;针对情况三,采取前后轮相融合的转向方案;步骤三:基于四轮转向汽车的运动学瞬态特性建立代价函数,通过代价函数优化空间最优参数、路径最短参数和时间最优参数,得到最优转弯角度和最优行驶距离;步骤四:控制车四轮转向汽车采取相应的转向方案完成泊车。本发明能够在侧方泊车极小空间中实现更加精确和高效的停车操作,且能够适应多种停车位空间形态,提高汽车在狭小空间侧方泊车的效率。


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    Title :

    Four-wheel steering automobile side parking minimal space path planning and control method


    Additional title:

    一种四轮转向汽车侧方泊车极小空间路径规划与控制方法


    Contributors:
    LI QIANG (author) / CHEN ZHENGPENG (author) / ZHANG XINWEN (author) / ZHOU YANG (author) / WU JINYUN (author)

    Publication date :

    2025-04-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    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



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