CN109760672A - The crosswise joint method that automatic Pilot charging vehicle is precisely parked - Google Patents
The crosswise joint method that automatic Pilot charging vehicle is precisely parked Download PDFInfo
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Abstract
The present invention relates to a kind of crosswise joint method and device that automatic Pilot charging vehicle is precisely parked, method includes: automatic Pilot charging vehicle to acquisite approachs planning information；Obtain the preview distance in vehicle travel process in real time according to the travel speed of automatic Pilot charging vehicle；The Distance Remaining of driving path is calculated according to path start position and path termination position；When Distance Remaining is less than preview distance, the distance difference of preview distance and Distance Remaining is calculated；Path course angle is calculated according to multiple waypoint positions and path termination position；Extension processing is carried out to driving path according to distance difference and path course angle, obtains extending path；Vehicle turn radius is calculated according to path start position and the final position for extending path；Wheel steering angle is calculated according to wheel base before and after vehicle turn radius and vehicle；Horizontal control signal is generated according to wheel steering angle, automatic Pilot charging vehicle is controlled according to horizontal control signal and is stopped in path termination position.
Description
Technical field
The present invention relates to the lateral controls that automatic Pilot technical field more particularly to a kind of automatic Pilot charging vehicle are precisely parked
Method processed.
Background technique
Autonomous driving vehicle is also known as pilotless automobile, computer driving, is that one kind by computer system realizes nobody
The intelligent automobile of driving.Autonomous driving vehicle relies on artificial intelligence, vision calculating, radar, monitoring device and global positioning system
Cooperative cooperating allows computer can operate motor vehicles to automatic safe under the operation of nobody class active.
Autonomous driving vehicle is due to needing the state of background server monitoring vehicle, supplementing at any time not against manual control
Electricity avoids influencing to execute traveling task.Due to the fixed place limited amount that charges, need automatic Pilot charging vehicle as movement
Charging station supplements fixed charging station.Automatic Pilot charging vehicle needs to rest in specified parking area, in order to guarantee to pacify
Entirely, it needs to be precisely controlled vehicle.Therefore, it is necessary to a kind of crosswise joint methods that automatic Pilot charging vehicle is precisely parked.
Summary of the invention
The purpose of the present invention is in view of the deficiencies in the prior art, provide a kind of automatic Pilot charging vehicle precisely to park
Crosswise joint method and device.
To achieve the above object, in a first aspect, the present invention provides a kind of transverse directions that automatic Pilot charging vehicle is precisely parked
Control method, comprising:
Automatic Pilot charging vehicle to acquisite approachs planning information, the route planning information include the path of vehicle running path
Multiple waypoint positions between start position, path termination position and path starting point and path termination；
Obtain the preview distance in vehicle travel process in real time according to the travel speed of the automatic Pilot charging vehicle；
The Distance Remaining of driving path is calculated according to the path start position and path termination position；
When the Distance Remaining is less than the preview distance, the distance of the preview distance and the Distance Remaining is calculated
Difference；
Path course angle is calculated according to multiple waypoint positions and the path termination position；
Extension processing is carried out to the driving path according to the distance difference and the path course angle, obtains extending road
Diameter；
Vehicle turn radius is calculated according to the path start position and the final position for extending path；
The wheel steering angle is calculated according to wheel base before and after the vehicle turn radius and the vehicle；
Horizontal control signal is generated according to the wheel steering angle, the automatic Pilot is controlled according to the horizontal control signal
Charging vehicle stops in the path termination position.
Further, the automatic Pilot charging vehicle to acquisite approachs planning information specifically includes:
The automatic Pilot charging vehicle sends map datum acquisition request to server, in the map datum acquisition request
Include running region identification information；
The server calls running region map to send according to the running region identification information in map data base
To the automatic Pilot charging vehicle；
The automatic Pilot charging vehicle parses the running region map, extracts road information；
Path planning is carried out according to the road information, path start position, path termination position and path is obtained and rises
Multiple waypoint positions between point and path termination.
Further, the travel speed according to the automatic Pilot charging vehicle obtains in vehicle travel process in real time
Preview distance specifically includes:
Travel speed is obtained according to the sensor installed on the car body of the automatic Pilot charging vehicle；
The preview distance is calculated according to formula d=kv+a, wherein v is travel speed, and k is proportionality coefficient, and a is to repair
Positive value.
Further, the path start position be specially the automatic Pilot charging vehicle rear axle midpoint correspond to it is described
Position coordinates on driving path；The residue that driving path is calculated according to the path start position and path termination position
Distance specifically includes:
Calculate the position coordinates and the path termination position coordinates that the rear axle midpoint corresponds on the driving path
The distance between, obtain the Distance Remaining.
Further, described specific according to multiple waypoint positions and path termination position calculating path course angle
Include:
Calculate separately longitudinal course angle of multiple waypoint positions Yu path termination position line；
Multiple longitudinal course angles are calculated into average value, obtain the path course angle.
Further, it is described according to the path start position and it is described extend path final position calculate vehicle turning
Radius specifically includes:
According to the distance between the path start position and the final position for extending path and the path course
Angle calculates the circular arc curvature between the path start position and the final position for extending path；
The vehicle turn radius is determined according to the circular arc curvature.
Further, described that the wheel steering angle is calculated according to wheel base before and after the vehicle turn radius and the vehicle
It specifically includes:
According to formulaCalculate the wheel steering angle, wherein θ is wheel steering angle, and L is wheel shaft before and after vehicle
Away from R is vehicle turn radius.
Further, the automatic Pilot charging vehicle is being controlled in the path termination position according to the horizontal control signal
After setting parking, the method also includes:
The automatic Pilot charging vehicle sends parking to the server and completes information；
The server completes the id information and residue electricity of automatic Pilot charging vehicle described in acquisition of information according to the parking
Measure information；
The id information, remaining capacity information and parking position information are generated into automatic Pilot charging vehicle information list.
Further, the method also includes:
The server receives the charge request information that automatic driving vehicle is sent, and includes to ask in the charge request information
Seek vehicle position information；
It is inquired in the automatic Pilot charging vehicle information list nearest apart from the request vehicle position information distance
The parking position information of automatic Pilot charging vehicle, and it is sent to the automatic driving vehicle.
Second aspect, the present invention provides a kind of transverse control devices that automatic Pilot charging vehicle is precisely parked, comprising:
First obtains module, is used for acquisite approachs planning information, the route planning information includes vehicle running path
Multiple waypoint positions between path start position, path termination position and path starting point and path termination；
Second obtains module, for obtaining vehicle travel process in real time according to the travel speed of the automatic Pilot charging vehicle
In preview distance；
First computing module, for calculating the residue of driving path according to the path start position and path termination position
Distance；
Second computing module, for when the Distance Remaining be less than the preview distance when, calculate the preview distance and
The distance difference of the Distance Remaining；
Third computing module, for calculating path course according to multiple waypoint positions and the path termination position
Angle；
Processing module, for being carried out at extension according to the distance difference and the path course angle to the driving path
Reason obtains extending path；
4th computing module, for calculating vehicle according to the path start position and the final position for extending path
Turning radius；
5th computing module, for calculating the wheel according to wheel base before and after the vehicle turn radius and the vehicle
Corner；
Control module, for generating horizontal control signal according to the wheel steering angle, according to the horizontal control signal control
The automatic Pilot charging vehicle is made to stop in the path termination position.
The crosswise joint method and device that automatic Pilot charging vehicle provided by the invention is precisely parked, automatic Pilot charging vehicle
To acquisite approachs planning information, route planning information include the path start position of vehicle running path, path termination position and
Multiple waypoint positions between path starting point and path termination；Vehicle is obtained in real time according to the travel speed of automatic Pilot charging vehicle
Preview distance in driving process；The Distance Remaining of driving path is calculated according to path start position and path termination position；When
When Distance Remaining is less than preview distance, the distance difference of preview distance and Distance Remaining is calculated；According to multiple waypoint positions and road
Diameter final position calculates path course angle；Extension processing is carried out to driving path according to distance difference and path course angle, is obtained
Extend path；Vehicle turn radius is calculated according to path start position and the final position for extending path；According to vehicle turning half
Wheel base calculates wheel steering angle before and after diameter and vehicle；Horizontal control signal is generated according to wheel steering angle, according to horizontal control signal
Automatic Pilot charging vehicle is controlled to stop in path termination position.Method and device provided by the invention, for the surplus of driving path
Remaining distance is less than the scene of preview distance, extends driving path, wheel steering angle is calculated according to the driving path after extension, according to vehicle
It takes turns corner and generates horizontal control signal, control vehicle stops in path termination, precisely parks to realize.
Detailed description of the invention
Fig. 1 is the crosswise joint method flow diagram that the automatic Pilot charging vehicle that the embodiment of the present invention one provides precisely is parked；
Fig. 2 is the transverse control device schematic diagram that automatic Pilot charging vehicle provided by Embodiment 2 of the present invention is precisely parked.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Automatic Pilot charging vehicle and automatic driving vehicle in technical solution of the present invention realize each mould by car-mounted terminal
The control of block and with server carry out information exchange, laser radar, ultrasonic radar, millimetre-wave radar, camera shooting can be passed through
First-class sensor perceives ambient enviroment and realizes automatic Pilot, drives to designated place according to preset driving path.From
The dynamic charging vehicle that drives can charge for automatic driving vehicle.
Server in technical solution of the present invention is automatic Pilot charging vehicle Carrier administrative server, can be single clothes
Business device is also possible to the server cluster of multiple servers compositions, and if it is individual server, then the individual server manages institute
There is automatic Pilot charging vehicle, all automatic Pilot charging vehicles are registered to after server, and server can be with all automatic Pilots
Charging vehicle carries out instruction and data interaction；If it is the server cluster of multiple servers composition, then pass through a director server
Multiple child servers are managed, director server is that each child servers set permission, and each child servers are set according to director server
Rights management corresponding number automatic Pilot charging vehicle, and have administration authority automatic Pilot charging vehicle carry out instruction and data
Interaction.
Fig. 1 is the crosswise joint method flow diagram that the automatic Pilot charging vehicle that the embodiment of the present invention one provides precisely is parked.
As shown in Figure 1, specifically comprising the following steps:
Step 101, automatic Pilot charging vehicle to acquisite approachs planning information；
Wherein, route planning information includes path start position, path termination position and the path of vehicle running path
Multiple waypoint positions between starting point and path termination；Road waypoint be during path planning according to path length and when driving
Between on entire driving path according to default spacing be arranged multiple points, each pair of point answer a desired speed value and expectation boat
To.
Specifically, automatic Pilot charging vehicle sends map datum acquisition request to server, in map datum acquisition request
Include running region identification information；Server calls running region map according to running region identification information in map data base
It is sent to automatic Pilot charging vehicle；Automatic Pilot charging vehicle parses running region map, extracts road information；According to road
Road information carries out path planning, obtains between path start position, path termination position and path starting point and path termination
Multiple waypoint positions.
Step 102, the preview distance in vehicle travel process is obtained in real time according to the travel speed of automatic Pilot charging vehicle；
Specifically, obtaining travel speed according to sensors such as the wheel speed meters installed on the car body of automatic Pilot charging vehicle；Root
Preview distance is calculated according to travel speed.Preview distance is calculated in real time according to the variation of travel speed.
Preview distance is calculated according to formula (1):
D=kv+a (1)
Wherein, d is preview distance, and v is travel speed, and k is proportionality coefficient, and a is correction value.To the minimum value of preview distance
Certain restrictions is done with maximum value.According to the size of speed adjust preview distance length, when speed is larger, preview distance compared with
It is long, improve the stability of course changing control；When speed is lower, preview distance is shorter, improves the flexibility of course changing control.
Step 103, the Distance Remaining of driving path is calculated according to path start position and path termination position；
Specifically, the rear axle midpoint that path start position is specially automatic Pilot charging vehicle corresponds to the position on driving path
Set coordinate；It calculates rear axle midpoint and corresponds to the distance between position coordinates and path termination position coordinates on driving path, obtain
To Distance Remaining.
Step 104, when Distance Remaining is less than preview distance, the distance difference of preview distance and Distance Remaining is calculated；
The preview distance that step 102 obtains is compared with the Distance Remaining that step 103 obtains, if Distance Remaining is small
In preview distance, then can not according to preview distance determine control parameter vehicle is controlled, therefore, calculate preview distance and
The distance difference of Distance Remaining, it is therefore an objective to it is subsequent when extending to driving path, using distance difference as the extended length in path
Degree.
In a specific embodiment, preview distance is 2 meters, and Distance Remaining is 0.5 meter, then distance difference is 1.5 meters.
Step 105, path course angle is calculated according to multiple waypoint positions and path termination position；
Specifically, calculating separately longitudinal course angle of multiple waypoint positions Yu path termination position line；By multiple longitudinal directions
Course angle calculates average value, obtains path course angle.
In a specific embodiment, under bodywork reference frame, line OA between waypoint A and path termination O and vertical
To course angle be θ1；Line OB and longitudinal course angle between waypoint B and path termination O are θ2；Waypoint C and path termination O
Between line OC and longitudinal course angle be θ3；Line OD and longitudinal course angle between waypoint D and path termination O are θ4；
Then path course angle are as follows:
Step 106, extension processing is carried out to driving path according to distance difference and path course angle, obtains extending path；
Driving path is extended, extended length is distance difference obtained in step 104, extended direction according to it is vertical
It is for path course angle obtained in step 105 to angle.
Such as the example in step 104,105, it is according to longitudinal angle from path termination O by driving pathExtend 1.5
Rice arrives point E, thus the driving path after being extended.
Step 107, vehicle turn radius is calculated according to the final position of path start position and extension path；
Specifically, being calculated according to the distance between path start position and the final position for extending path and path course angle
Circular arc curvature between path start position and the final position for extending path；Vehicle turn radius is determined according to circular arc curvature.
Such as the example in step 106, circular arc curvature is calculated according to formula (3):
Wherein, k is circular arc curvature, lEFFor the distance between the final position of path start position and extension path.
Vehicle turn radius is calculated according to formula (4):
It can also be using the terminal position of path start position and extension path it should be noted that calculating vehicle turn radius
It sets and is calculated by trigonometric function, this is not limited by the present invention.
Step 108, wheel steering angle is calculated according to wheel base before and after vehicle turn radius and vehicle；
Wheel steering angle is calculated according to formula (5):
Wherein, θ is wheel steering angle, and L is wheel base before and after vehicle, and R is vehicle turn radius.
Step 109, horizontal control signal is generated according to wheel steering angle, automatic Pilot charging is controlled according to horizontal control signal
Vehicle stops in path termination position.
Specifically, generating crosswise joint parameter and corresponding control according to the wheel steering angle that the driving path after extension determines
Signal controls vehicle turning, and stops in path termination position.
In a specific embodiment, further include that server counts the state of automatic Pilot charging vehicle, generate
The step of status list, specifically includes:
Automatic Pilot charging vehicle sends parking to server and completes information；Server is automatic according to parking completion acquisition of information
Drive the id information and remaining capacity information of charging vehicle；Id information, remaining capacity information and parking position information are generated certainly
It is dynamic to drive charging vehicle information list.
In another specific embodiment, when automatic driving vehicle is charged, charging is sent to server and is asked
It asks, server receives the charge request information that automatic driving vehicle is sent, and includes request vehicle location letter in charge request information
Breath；Inquiry distance request vehicle position information is apart from nearest automatic Pilot charging vehicle in automatic Pilot charging vehicle information list
Parking position information, and be sent to automatic driving vehicle.Automatic driving vehicle is according to the parking stall of current location and charging vehicle
Planning driving path is set, the position where charging vehicle is driven to according to driving path is charged.
The crosswise joint method that automatic Pilot charging vehicle provided by the invention is precisely parked, automatic Pilot charging vehicle obtain road
Diameter planning information, route planning information include that path start position, path termination position and the path of vehicle running path are risen
Multiple waypoint positions between point and path termination；Vehicle driving mistake is obtained in real time according to the travel speed of automatic Pilot charging vehicle
Preview distance in journey；The Distance Remaining of driving path is calculated according to path start position and path termination position；When residue away from
When from being less than preview distance, the distance difference of preview distance and Distance Remaining is calculated；According to multiple waypoint positions and path termination
Position calculates path course angle；Extension processing is carried out to driving path according to distance difference and path course angle, obtains extending road
Diameter；Vehicle turn radius is calculated according to path start position and the final position for extending path；According to vehicle turn radius and vehicle
Wheel base calculates wheel steering angle before and after；Horizontal control signal is generated according to wheel steering angle, certainly according to horizontal control signal control
The dynamic charging vehicle that drives stops in path termination position.Method provided by the invention is less than in advance for the Distance Remaining of driving path
The scene of distance is taken aim at, driving path is extended, wheel steering angle is calculated according to the driving path after extension, is generated according to wheel steering angle horizontal
To control signal, control vehicle stops in path termination, precisely parks to realize.
Fig. 2 is the transverse control device schematic diagram that automatic Pilot charging vehicle provided by Embodiment 2 of the present invention is precisely parked.
As shown in Figure 2, comprising: first, which obtains module 21, second, obtains module 22, the first computing module 23, the second computing module 24, the
Three computing modules 25, processing module 26, the 4th computing module 27, the 5th computing module 28, control module 29；
First obtains module 21, is used for acquisite approachs planning information, route planning information includes the road of vehicle running path
Multiple waypoint positions between diameter start position, path termination position and path starting point and path termination；
Second obtains module 22, for being obtained in vehicle travel process in real time according to the travel speed of automatic Pilot charging vehicle
Preview distance；
First computing module 23, for according to path start position and path termination position calculate driving path it is remaining away from
From；
Second computing module 24, for calculating preview distance and Distance Remaining when Distance Remaining is less than preview distance
Distance difference；
Third computing module 25, for calculating path course angle according to multiple waypoint positions and path termination position；
Processing module 26 is prolonged for carrying out extension processing to driving path according to distance difference and path course angle
Long path；
4th computing module 27, for calculating vehicle turning half according to the final position of path start position and extension path
Diameter；
5th computing module 28, for calculating wheel steering angle according to wheel base before and after vehicle turn radius and vehicle；
Control module 29 controls automatic for generating horizontal control signal according to wheel steering angle according to horizontal control signal
Charging vehicle is driven to stop in path termination position.
Wherein, the first acquisition module 21 is specifically used for: sending map datum acquisition request to server, map datum obtains
It include running region identification information in request；Server calls traveling area according to running region identification information in map data base
Domain map is sent to automatic Pilot charging vehicle；Automatic Pilot charging vehicle parses running region map, extracts road information；
Path planning is carried out according to road information, obtains path start position, path termination position and path starting point and path termination
Between multiple waypoint positions.
Second acquisition module 22 is specifically used for: obtaining traveling according to the sensor installed on the car body of automatic Pilot charging vehicle
Speed；Preview distance is calculated according to formula d=kv+a, wherein v is travel speed, and k is proportionality coefficient, and a is correction value.
First computing module 23 is specifically used for: path start position is specially that the rear axle midpoint of automatic Pilot charging vehicle is corresponding
Position coordinates on to driving path；Calculate the position coordinates and path termination position seat that rear axle midpoint corresponds on driving path
The distance between mark, obtains Distance Remaining.
Third computing module 25 is specifically used for: calculating separately multiple waypoint positions and the longitudinal of path termination position line navigates
To angle；Multiple longitudinal course angles are calculated into average value, obtain path course angle.
4th computing module 27 is specifically used for: according to the distance between the final position of path start position and extension path
And path course angle calculates the circular arc curvature between path start position and the final position for extending path；It is true according to circular arc curvature
Determine vehicle turn radius.
5th computing module 28 is specifically used for: according to formulaCalculate wheel steering angle, wherein θ is wheel
Corner, L are wheel base before and after vehicle, and R is vehicle turn radius.
The specific works mistake for the transverse control device that the automatic Pilot charging vehicle that the embodiment of the present application two provides precisely is parked
The crosswise joint method that the automatic Pilot charging vehicle that journey and embodiment one provide precisely is parked is corresponding, and details are not described herein again.
The transverse control device that automatic Pilot charging vehicle provided by the invention is precisely parked, automatic Pilot charging vehicle obtain road
Diameter planning information, route planning information include that path start position, path termination position and the path of vehicle running path are risen
Multiple waypoint positions between point and path termination；Vehicle driving mistake is obtained in real time according to the travel speed of automatic Pilot charging vehicle
Preview distance in journey；The Distance Remaining of driving path is calculated according to path start position and path termination position；When residue away from
When from being less than preview distance, the distance difference of preview distance and Distance Remaining is calculated；According to multiple waypoint positions and path termination
Position calculates path course angle；Extension processing is carried out to driving path according to distance difference and path course angle, obtains extending road
Diameter；Vehicle turn radius is calculated according to path start position and the final position for extending path；According to vehicle turn radius and vehicle
Wheel base calculates wheel steering angle before and after；Horizontal control signal is generated according to wheel steering angle, certainly according to horizontal control signal control
The dynamic charging vehicle that drives stops in path termination position.Device provided by the invention is less than in advance for the Distance Remaining of driving path
The scene of distance is taken aim at, driving path is extended, wheel steering angle is calculated according to the driving path after extension, is generated according to wheel steering angle horizontal
To control signal, control vehicle stops in path termination, precisely parks to realize.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of crosswise joint method that automatic Pilot charging vehicle is precisely parked, which is characterized in that the described method includes:
Automatic Pilot charging vehicle to acquisite approachs planning information, the route planning information include the path starting point of vehicle running path
Multiple waypoint positions between position, path termination position and path starting point and path termination；
Obtain the preview distance in vehicle travel process in real time according to the travel speed of the automatic Pilot charging vehicle；
The Distance Remaining of driving path is calculated according to the path start position and path termination position；
When the Distance Remaining is less than the preview distance, the range difference of the preview distance and the Distance Remaining is calculated
Value；
Path course angle is calculated according to multiple waypoint positions and the path termination position；
Extension processing is carried out to the driving path according to the distance difference and the path course angle, obtains extending path；
Vehicle turn radius is calculated according to the path start position and the final position for extending path；
The wheel steering angle is calculated according to wheel base before and after the vehicle turn radius and the vehicle；
Horizontal control signal is generated according to the wheel steering angle, the automatic Pilot is controlled according to the horizontal control signal and is charged
Vehicle stops in the path termination position.
2. the method according to claim 1, wherein the automatic Pilot charging vehicle to acquisite approachs planning information has
Body includes:
The automatic Pilot charging vehicle sends map datum acquisition request to server, includes in the map datum acquisition request
Running region identification information；
The server calls running region map to be sent to institute according to the running region identification information in map data base
State automatic Pilot charging vehicle；
The automatic Pilot charging vehicle parses the running region map, extracts road information；
According to the road information carry out path planning, obtain path start position, path termination position and path starting point and
Multiple waypoint positions between path termination.
3. -2 described in any item methods according to claim 1, which is characterized in that described according to the automatic Pilot charging vehicle
The preview distance that travel speed is obtained in real time in vehicle travel process specifically includes:
Travel speed is obtained according to the sensor installed on the car body of the automatic Pilot charging vehicle；
The preview distance is calculated according to formula d=kv+a, wherein v is travel speed, and k is proportionality coefficient, and a is correction value.
4. method according to claim 1-3, which is characterized in that the path start position be specially it is described from
The dynamic rear axle midpoint for driving charging vehicle corresponds to the position coordinates on the driving path；It is described according to the path start position
The Distance Remaining for calculating driving path with path termination position specifically includes:
The rear axle midpoint is calculated to correspond between the position coordinates on the driving path and the path termination position coordinates
Distance, obtain the Distance Remaining.
5. method according to claim 1-4, which is characterized in that described according to multiple waypoint positions and institute
Path termination position calculating path course angle is stated to specifically include:
Calculate separately longitudinal course angle of multiple waypoint positions Yu path termination position line；
Multiple longitudinal course angles are calculated into average value, obtain the path course angle.
6. method according to claim 1-5, which is characterized in that described according to the path start position and institute
The final position for stating extension path calculates vehicle turn radius and specifically includes:
According to the distance between the path start position and the final position for extending path and the path course angle meter
Calculate the circular arc curvature between the path start position and the final position for extending path；
The vehicle turn radius is determined according to the circular arc curvature.
7. method according to claim 1-6, which is characterized in that described according to the vehicle turn radius and institute
The wheel base calculating wheel steering angle specifically includes before and after stating vehicle:
According to formulaCalculate the wheel steering angle, wherein θ is wheel steering angle, and L is wheel base before and after vehicle, R
For vehicle turn radius.
8. method according to claim 1-7, which is characterized in that controlling institute according to the horizontal control signal
Automatic Pilot charging vehicle is stated after the parking of the path termination position, the method also includes:
The automatic Pilot charging vehicle sends parking to the server and completes information；
The server completes the id information and remaining capacity letter of automatic Pilot charging vehicle described in acquisition of information according to the parking
Breath；
The id information, remaining capacity information and parking position information are generated into automatic Pilot charging vehicle information list.
9. according to the method described in claim 8, it is characterized in that, the method also includes:
The server receives the charge request information that automatic driving vehicle is sent, and includes request vehicle in the charge request information
Location information；
It is inquired in the automatic Pilot charging vehicle information list apart from the request vehicle position information apart from recently automatic
The parking position information of charging vehicle is driven, and is sent to the automatic driving vehicle.
10. a kind of transverse control device that automatic Pilot charging vehicle is precisely parked, which is characterized in that described device includes:
First obtains module, is used for acquisite approachs planning information, the route planning information includes the path of vehicle running path
Multiple waypoint positions between start position, path termination position and path starting point and path termination；
Second obtains module, for being obtained in vehicle travel process in real time according to the travel speed of the automatic Pilot charging vehicle
Preview distance；
First computing module, for according to the path start position and path termination position calculate driving path it is remaining away from
From；
Second computing module, for calculating the preview distance and described when the Distance Remaining is less than the preview distance
The distance difference of Distance Remaining；
Third computing module, for calculating path course angle according to multiple waypoint positions and the path termination position；
Processing module, for carrying out extension processing to the driving path according to the distance difference and the path course angle,
It obtains extending path；
4th computing module, for calculating vehicle turning according to the path start position and the final position for extending path
Radius；
5th computing module turns for calculating the wheel according to wheel base before and after the vehicle turn radius and the vehicle
Angle；
Control module controls institute according to the horizontal control signal for generating horizontal control signal according to the wheel steering angle
Automatic Pilot charging vehicle is stated to stop in the path termination position.
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| CN201811632341.5A CN109760672A (en) | 2018-12-29 | 2018-12-29 | The crosswise joint method that automatic Pilot charging vehicle is precisely parked |
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| CN201811632341.5A CN109760672A (en) | 2018-12-29 | 2018-12-29 | The crosswise joint method that automatic Pilot charging vehicle is precisely parked |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111845717A (en) * | 2020-06-09 | 2020-10-30 | 武汉乐庭软件技术有限公司 | Method and system for dynamically compensating yaw angle during automatic parking |
| CN111966101A (en) * | 2020-08-18 | 2020-11-20 | 国以贤智能科技(上海)股份有限公司 | Turning control method, device and system for unmanned mobile device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110347167A (en) * | 2019-08-27 | 2019-10-18 | 广州小鹏汽车科技有限公司 | A kind of speed planning method and speed planning system |
| CN112572397A (en) * | 2019-09-30 | 2021-03-30 | 长城汽车股份有限公司 | Automatic parking control method, device and controller |
| CN112572397B (en) * | 2019-09-30 | 2022-07-15 | 毫末智行科技有限公司 | Automatic parking control method, device and controller |
| CN111845717A (en) * | 2020-06-09 | 2020-10-30 | 武汉乐庭软件技术有限公司 | Method and system for dynamically compensating yaw angle during automatic parking |
| CN111966101A (en) * | 2020-08-18 | 2020-11-20 | 国以贤智能科技(上海)股份有限公司 | Turning control method, device and system for unmanned mobile device and storage medium |
| CN111966101B (en) * | 2020-08-18 | 2021-12-14 | 国以贤智能科技(上海)股份有限公司 | Turning control method, device and system for unmanned mobile device and storage medium |
| CN112124295A (en) * | 2020-09-29 | 2020-12-25 | 北京易控智驾科技有限公司 | Unmanned vehicle, transverse steady-state control method of terminal point of unmanned vehicle and electronic equipment |
| CN112124295B (en) * | 2020-09-29 | 2024-01-05 | 北京易控智驾科技有限公司 | Unmanned vehicle, terminal transverse steady-state control method thereof and electronic equipment |
| CN114274959A (en) * | 2021-04-16 | 2022-04-05 | 阿波罗智联(北京)科技有限公司 | Vehicle control method, device, equipment and computer storage medium |
| CN113386792A (en) * | 2021-06-16 | 2021-09-14 | 北京汽车研究总院有限公司 | Trajectory tracking-based automatic driving vehicle control method and device, vehicle and storage medium |
| CN114013429A (en) * | 2021-12-23 | 2022-02-08 | 东风悦享科技有限公司 | Integrated automatic driving vehicle control system |
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