CN110347167B - Speed planning method and speed planning system - Google Patents
Speed planning method and speed planning system Download PDFInfo
- Publication number
- CN110347167B CN110347167B CN201910797231.2A CN201910797231A CN110347167B CN 110347167 B CN110347167 B CN 110347167B CN 201910797231 A CN201910797231 A CN 201910797231A CN 110347167 B CN110347167 B CN 110347167B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- current
- vehicle speed
- speed
- pose
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The embodiment of the invention discloses a speed planning method and a speed planning system, which are used for improving the automatic parking efficiency of vehicles and the user experience. The method provided by the embodiment of the invention comprises the following steps: acquiring a planned path of a vehicle; acquiring a first current pose of a vehicle; calculating to obtain a first remaining parking distance; determining a first current deceleration of the ESP when the first remaining stopping distance is greater than or equal to a first threshold and the first remaining stopping distance is less than a second threshold; determining a first target vehicle speed of the vehicle according to the first remaining parking distance, the target vehicle speed of the vehicle in the last operation period and a preset operation period; controlling the vehicle to run to a second current pose according to the first target speed according to the first current deceleration; calculating to obtain a second remaining parking distance; when the second remaining parking distance is smaller than the first threshold value, reducing the torque of the VCU according to the preset torque variation, and determining a second current deceleration of the ESP; the vehicle is decelerated according to the second current deceleration to stop at the stop point.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a speed planning method and a speed planning system.
Background
Compared with other automatic driving scenes, automatic parking has the particularity that: firstly, the sensors adopted by the existing automatic parking are mainly ultrasonic detectors, the sensing capability of the sensors is limited, the speed is generally low when the automatic parking is carried out, for example, the speed of the automatic parking is generally below 3 km/h; secondly, the space near the parking space is narrow, so the requirement on the control precision is high, for example, the parking precision is generally within 0.1 m; thirdly, when parking, the adjustment of forward and backward needs to be carried out for many times, namely, the parking and gear shifting need to be carried out for many times. Therefore, how to improve the automatic parking efficiency and the comfort of the user experience on the premise of ensuring the parking accuracy is a hot point of research in the industry.
Disclosure of Invention
The embodiment of the invention provides a speed planning method and a speed planning system, which are used for improving the automatic parking efficiency of a vehicle and the user experience.
In view of the above, a first aspect of the present invention provides a speed planning method, which may include:
acquiring a planned path of a vehicle, wherein the terminal point of the planned pose is a parking point of the vehicle;
acquiring a first current pose of the vehicle, wherein the first current pose comprises a first current vehicle speed;
calculating to obtain a first remaining parking distance according to the first current pose and the terminal pose of the planned path;
when the first remaining parking distance is greater than or equal to a first threshold and the first remaining parking distance is less than a second threshold, determining a first current deceleration of the ESP based on the first current vehicle speed and the first remaining parking distance;
determining a first target vehicle speed of the vehicle according to the first remaining parking distance, the target vehicle speed of the vehicle in the last operation period and a preset operation period;
controlling the vehicle to run to a second current pose according to the first target speed according to the first current deceleration, wherein the second current pose comprises a second current speed;
calculating to obtain a second remaining parking distance according to the second current pose and the terminal pose of the planned path;
when the second remaining parking distance is smaller than the first threshold, reducing (VCU) torque according to a preset torque variation, and determining a second current deceleration of the ESP according to the second current Vehicle speed and the second remaining parking distance; decelerating in accordance with the second current deceleration to stop the vehicle at the stop point.
Optionally, in some embodiments of the present invention, the planned path includes a reference vehicle speed corresponding to each path point.
Optionally, in some embodiments of the present invention, before the acquiring the first current pose of the vehicle, the method further includes:
acquiring a third current pose of the vehicle;
determining a corresponding first reference vehicle speed according to the third current pose;
calculating to obtain a third remaining parking distance according to the third current pose and the terminal pose of the planned path;
when the third remaining parking distance is greater than or equal to the second threshold value, the third remaining parking distance is smaller than a third threshold value, and the first reference vehicle speed is greater than an automatic parking threshold value, determining that a second target vehicle speed of the vehicle is the automatic parking threshold value;
when the third remaining parking distance is greater than or equal to the second threshold value, the third remaining parking distance is smaller than a third threshold value, and the first reference vehicle speed is less than or equal to the automatic parking threshold value, determining a second target vehicle speed of the vehicle to be the first reference vehicle speed;
and controlling the vehicle to run to the first current pose according to the second target speed.
Optionally, in some embodiments of the invention, before the obtaining the third current pose of the vehicle, the method further includes:
acquiring a fourth current pose of the vehicle;
determining a corresponding second reference vehicle speed according to the fourth current pose;
calculating according to the fourth current pose and the terminal pose of the planned path to obtain a fourth remaining parking distance;
determining a third target vehicle speed of the vehicle as the second reference vehicle speed when the fourth remaining parking distance is greater than a third threshold;
and controlling the vehicle to run to the third current pose according to the third target vehicle speed.
Optionally, in some embodiments of the present invention, before the acquiring the third current pose of the vehicle, or before the acquiring the fourth current pose of the vehicle, the method further includes:
when the vehicle starts, accelerating according to preset acceleration, and increasing the torque of the VCU according to preset torque variation to obtain a third current speed of the vehicle;
acquiring a fifth current pose of the vehicle;
determining a corresponding third reference vehicle speed according to the fifth current pose;
if the third reference vehicle speed is greater than an automatic parking threshold value and the third current vehicle speed is greater than the automatic parking threshold value, or if the third reference vehicle speed is less than or equal to the automatic parking threshold value and the third current vehicle speed is greater than the third reference vehicle speed, determining that the vehicle is started;
and controlling the vehicle to run to the third current pose or the fourth current pose according to the third current vehicle speed.
A second aspect of the present invention provides a speed planning system, which may include:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a planned path of a vehicle, and the terminal point of a planned pose is a parking point of the vehicle; acquiring a first current pose of the vehicle, wherein the first current pose comprises a first current vehicle speed;
the processing module is used for calculating to obtain a first remaining parking distance according to the first current pose and the terminal pose of the planned path; when the first remaining parking distance is greater than or equal to a first threshold and the first remaining parking distance is less than a second threshold, determining a first current deceleration of the ESP based on the first current vehicle speed and the first remaining parking distance; determining a first target vehicle speed of the vehicle according to the first remaining parking distance, the target vehicle speed of the vehicle in the last operation period and a preset operation period; controlling the vehicle to run to a second current pose according to the first target speed according to the first current deceleration, wherein the second current pose comprises a second current speed; calculating to obtain a second remaining parking distance according to the second current pose and the terminal pose of the planned path; when the second remaining parking distance is smaller than the first threshold, reducing the torque of the VCU according to a preset torque variation, and determining a second current deceleration of the ESP according to the second current vehicle speed and the second remaining parking distance; decelerating in accordance with the second current deceleration to stop the vehicle at the stop point. Optionally, in some embodiments of the present invention, the planned path includes a reference vehicle speed corresponding to each path point.
Alternatively, in some embodiments of the present invention,
the acquisition module is further used for acquiring a third current pose of the vehicle;
the processing module is further used for determining a corresponding first reference vehicle speed according to the third current pose; calculating to obtain a third remaining parking distance according to the third current pose and the terminal pose of the planned path; when the third remaining parking distance is greater than or equal to the second threshold value, the third remaining parking distance is smaller than a third threshold value, and the first reference vehicle speed is greater than an automatic parking threshold value, determining that a second target vehicle speed of the vehicle is the automatic parking threshold value; determining a second target vehicle speed of the vehicle as the first reference vehicle speed when the third remaining parking distance is greater than or equal to the second threshold value and the third remaining parking distance is less than or equal to a third threshold value, and the first reference vehicle speed is less than or equal to the automatic parking threshold value; and controlling the vehicle to run to the first current pose according to the second target speed.
Alternatively, in some embodiments of the invention,
the acquisition module is further used for acquiring a fourth current pose of the vehicle;
the processing module is further configured to determine a corresponding second reference vehicle speed according to the fourth current pose; calculating to obtain a fourth remaining parking distance according to the fourth current pose and the terminal pose of the planned path; determining a third target vehicle speed of the vehicle as the second reference vehicle speed when the fourth remaining parking distance is greater than a third threshold; and controlling the vehicle to run to the third current pose according to the third target vehicle speed.
Alternatively, in some embodiments of the present invention,
the acquisition module is further configured to acquire a fifth current pose of the vehicle;
the processing module is further configured to accelerate the vehicle according to a preset acceleration when the vehicle starts, and increase the torque of the VCU according to a preset torque variation to obtain a third current vehicle speed of the vehicle; determining a corresponding third reference vehicle speed according to the fifth current pose; if the third reference vehicle speed is greater than an automatic parking threshold value and the third current vehicle speed is greater than the automatic parking threshold value, or if the third reference vehicle speed is less than or equal to the automatic parking threshold value and the third current vehicle speed is greater than the third reference vehicle speed, determining that the vehicle is started; and controlling the vehicle to run to the third current pose or the fourth current pose according to the third current vehicle speed.
A third aspect of the invention provides a vehicle which may include a speed planning system as described in the second aspect of the invention and in any alternative form of the second aspect of the invention.
A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, where the computer program enables a computer to execute a method of a speed planning method disclosed in the first aspect of the embodiments of the present invention.
According to the technical scheme, the embodiment of the invention has the following advantages:
in the embodiment of the invention, a planned path of a vehicle is obtained, and the terminal point of the planned pose is a parking point of the vehicle; acquiring a first current pose of the vehicle, wherein the first current pose comprises a first current vehicle speed; calculating to obtain a first remaining parking distance according to the first current pose and the terminal pose of the planned path; determining a first current deceleration of the ESP based on the first current vehicle speed and the first remaining parking distance when the first remaining parking distance is equal to or greater than a first threshold and the first remaining parking distance is less than a second threshold; determining a first target vehicle speed of the vehicle according to the first remaining parking distance, the target vehicle speed of the vehicle in the last operation period and a preset operation period; controlling the vehicle to run to a second current pose according to the first target speed according to the first current deceleration, wherein the second current pose comprises a second current speed; calculating to obtain a second remaining parking distance according to the second current pose and the terminal pose of the planned path; when the second remaining parking distance is smaller than the first threshold, reducing the torque of the VCU according to a preset torque variation, and determining a second current deceleration of the ESP according to the second current vehicle speed and the second remaining parking distance; decelerating in accordance with the second current deceleration to stop the vehicle at the stop point. The speed planning system can start to decelerate when the first remaining parking distance between the vehicle and the parking point is greater than or equal to a first threshold value and the first remaining parking distance is smaller than a second threshold value, determine a first target vehicle speed of the vehicle, and drive the vehicle to a second current pose at the first target vehicle speed; when the second remaining parking distance between the vehicle and the parking spot is smaller than the first threshold value, the speed is further reduced, meanwhile, the torque of the VCU is reduced, the vehicle is stably parked at the parking spot, and the automatic parking efficiency of the vehicle and the user experience can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and obviously, the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to the drawings.
FIG. 1 is a schematic diagram of the remaining parking distance and speed planning during automatic parking;
FIG. 2 is a schematic diagram of a first embodiment of a speed planning method according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a second embodiment of a speed planning method according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a third embodiment of a speed planning method according to an embodiment of the invention;
FIG. 5 is a schematic diagram of a fourth embodiment of a speed planning method according to an embodiment of the invention;
FIG. 6 is a schematic diagram of a first embodiment of a velocity planning system in accordance with an embodiment of the present invention;
fig. 7 is a schematic diagram of a second embodiment of the speed planning system according to an embodiment of the invention.
Detailed Description
The embodiment of the invention provides a speed planning method and a speed planning system, which are used for improving the automatic parking efficiency of a vehicle and the user experience.
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. The embodiments based on the present invention should fall into the protection scope of the present invention.
The executor of the speed planning system of the electric automobile mainly comprises a Vehicle Control Unit (VCU) and an Electronic Stability Program (ESP). The VCU is primarily responsible for controlling the electric machine, and unlike a gasoline powered vehicle, the VCU can generate a negative torque to provide a drag torque that slows the vehicle down. The ESP is the same as a fuel vehicle, and braking is realized by hydraulic pressure, so that response time is required for braking the ESP, for example, the response time is generally more than 300ms, but the braking of the ESP is very strong and nonlinear, and accurate control is difficult to realize.
In the technical scheme of the invention, aiming at the nonlinearity of ESP braking and combining the particularity of VCU control of the electric automobile, the invention provides a method for carrying out speed planning based on the remaining parking distance, which is applied to the electric automobile. The method can improve the parking efficiency and improve the comfort of user experience on the premise of ensuring the safety.
In the following embodiments, reference may be made to fig. 1. Fig. 1 is a schematic diagram illustrating remaining parking distance and speed planning in an automatic parking process according to an embodiment of the present invention. It will be understood that fig. 1 is also only a schematic representation of a speed plan for a vehicle from start to stop, and that the speed shown in fig. 1 does not constitute a limitation of the solution of the invention. When automatic parking is carried out, the motion control module receives a planned path sent by the planning module, and the planned path comprises information such as reference vehicle speed corresponding to each path point. Calculating the remaining parking distance (RemainingDist) of the path according to the current pose of the vehicle and the pose of the parking point; according to the remaining parking distance, the dynamic planning of the vehicle target speed is carried out, the control of each path can be divided into five stages, and each stage ESP and VCU execute corresponding actions.
In fig. 1, T2, T3, T4, and T5 represent different stages of division according to the difference between the current pose of the vehicle and the remaining parking distance (remaining distance) of the parking spot, but other division methods are not excluded, and are not limited herein.
A T1 stage, which can be understood as a starting stage, wherein the vehicle is started from a stop state; a stage T2, which can be understood as a first stage of speed control, namely, the vehicle is far away from a parking point, and the vehicle can run at a reference speed; a stage T3, which can be understood as a second stage of speed control, wherein the vehicle has a part of distance from a parking spot and runs to the parking spot; a stage T4, which can be understood as a deceleration stage, namely, the vehicle is relatively close to a stop point, and the vehicle can be controlled to start to decelerate; the phase T5, which may be understood as the parking phase, is the phase in which the vehicle is about to reach the parking spot, and the vehicle decelerates again until it stops at the parking spot.
In order to improve efficiency and save time, the motion control module may run at a reference vehicle speed when performing vehicle speed control. Meanwhile, the motion control module needs to consider the response characteristic of the ESP, plan a target vehicle speed which can be actually executed and realize accurate parking. In addition, speed planning also needs to improve the user experience, i.e. the comfort of starting and stopping, as much as possible during the whole process.
The technical solution provided in the embodiment of the present invention is further described below by way of an embodiment, and as shown in fig. 2, a schematic diagram of a first embodiment of a speed planning method in the embodiment of the present invention may include:
201. a planned path of the vehicle is obtained.
In the embodiment of the present invention, description is made in conjunction with T4 (deceleration phase) and T5 (parking phase) shown in fig. 1. The speed planning system acquires a planned path of the vehicle, the terminal point of the planned pose is a stop point of the vehicle, and the planned path comprises reference vehicle speeds corresponding to all path points or reference vehicle speeds of paths between adjacent path points. The reference vehicle speed is sent by the planning module in advance, and the reference vehicle speed sent by the planning module is the maximum vehicle speed allowed for the vehicle to run after the current environmental information and the sensing capability of the sensor are considered.
202. And acquiring a first current pose of the vehicle.
For example, the vehicle may be equipped with an Inertial Measurement Unit (IMU), a wheel pulse counter, and other sensors, which may be used as a positioning module (e.g., a body odometer) of the vehicle to obtain a first current pose of the vehicle.
It is understood that the first current pose of the vehicle may include information such as a first current position, a first current heading angle, a first current vehicle speed, etc.
203. And calculating to obtain a first remaining parking distance according to the first current pose and the terminal pose of the planned path.
The speed planning system calculates a first remaining parking distance between the first current pose and the end pose of the planned path, and the first remaining parking distance is the remaining parking distance between the vehicle and the parking point. It is understood that the first remaining parking distance may be a straight-line distance or a curved-line distance, and is determined according to whether a path between the first current pose and the parking point is a straight-line path or a curved-line path.
Illustratively, the remaining parking distance is calculated as follows:
1. searching a next path point on the planned path, which is closest to the current pose of the vehicle;
2. calculating the distance s between the current pose of the vehicle and the next path point 0 ；
3. For all the remaining path points (the total number is n), the distance s between two adjacent path points is calculated i (i＝1,2，...,n-1)；
4. The remaining parking distance is calculated according to the following formula:
204. when the first remaining parking distance is equal to or greater than the first threshold value and the first remaining parking distance is less than the second threshold value, a first current deceleration of the ESP is determined based on a first current vehicle speed of the vehicle and the first remaining parking distance.
Illustratively, when the first remaining stopping distance (RemainingDist 1) is 0.49m, the vehicle enters a deceleration phase (0.1 m ≦ RemainingDist1<0.5 m), where the ESP starts to enable and requests the first current deceleration, which is requested as shown in equation 1, because 0.1m ≦ 0.49m is restricted to 0.5 m:
wherein, a is a first current deceleration, v is a first current vehicle speed of the vehicle, and s is a first remaining parking distance, that is, the first current deceleration can be adjusted in real time according to the actual state of the vehicle motion.
205. And determining a first target vehicle speed of the vehicle according to the first remaining parking distance, the target vehicle speed of the vehicle in the last operation period and a preset operation period.
Illustratively, the VCU performs closed-loop speed control, but the first target vehicle speed at this time is dynamically programmed based on the remaining stopping distance. The specific planning algorithm is as follows:
v k ＝v k-1 +a r Δ t (equation 3)
Wherein v is k-1 ，v k Target vehicle speeds of the previous and current operation periods, a r And delta t is a preset operation period for the calculated reference acceleration. I.e. v k And the vehicle speed is a first target vehicle speed corresponding to the first current pose of the vehicle.
It can be understood that the preset operation period is an execution period of the motion control module in the embedded system, for example, the operation period of the motion control module in the embedded system is 10ms, and in general, the operation is performed by the motion control module every 10 ms.
206. And controlling the vehicle to run to a second current pose according to the first target speed according to the first current deceleration.
And the speed planning system decelerates the vehicle according to the first current deceleration and the first current speed, and controls the vehicle to run to the position indicated by the second current pose according to the first target speed.
It is understood that the first current deceleration is adjusted in real time based on the remaining stopping distance of the vehicle and the current vehicle speed, and the first target vehicle speed is adjusted in real time based on the remaining stopping distance of the vehicle. The second current pose of the vehicle may include information such as a second current position, a second current heading angle, a second current vehicle speed, and the like.
It will be appreciated that the primary purpose of the T4 phase is to allow the ESP to build up brake pressure gradually, in sufficient preparation for the final stop of the next phase. At the same time, the vehicle speed is reduced by the combined action of the ESP and the VCU, according to the target of the final stopping point. After this phase the speed of the vehicle has decreased to a low speed and close to the level of stopping, while the ESP has also built up brake pressure, so that in the next phase the vehicle can be stopped very comfortably and accurately.
207. And calculating to obtain a second remaining parking distance according to the second current pose and the terminal pose of the planned path.
And the speed planning system calculates to obtain a second remaining parking distance according to the second current pose and the terminal pose of the planned path, wherein the second remaining parking distance is the remaining parking distance between the vehicle and the parking point. It can be understood that the second remaining parking distance may be a straight-line distance or a curved-line distance, and is determined according to whether a path between the second current pose and the parking point is a straight-line path or a curved-line path.
208. When the second remaining parking distance is smaller than the first threshold value, reducing the torque of the VCU according to the preset torque variation, and determining a second current deceleration of the ESP according to a second current vehicle speed and the second remaining parking distance of the vehicle; the vehicle is decelerated according to the second current deceleration to stop at the stop point.
Illustratively, when the second remaining stopping distance (RemainingDist 2) is less than 0.1m, the vehicle enters a stopping phase. That is, after the sufficient deceleration of the stage T4, the vehicle enters the stage T5, and the vehicle is within the last 0.1m, at which the required parking accuracy is already reached, so that the VCU is controlled to decrease the torque to 0 according to the preset torque variation in this stage, the esp sends out the parking signal, and the second current deceleration request continues to be sent out, and the calculation of the second current deceleration is similar to the above equation 1, which is not described again here.
In the parking stage, the ESP continuously requests deceleration, the deceleration is dynamically adjusted according to the remaining parking distance and the real-time vehicle speed of the vehicle, the parking request is sent out, the VCU is controlled to unload the torque to zero according to the preset torque variation, and the ESP is controlled to decelerate according to the second current deceleration so that the vehicle is parked at the parking point.
In the embodiment of the invention, a planned path of a vehicle is obtained; acquiring a first current pose of a vehicle; calculating to obtain a first remaining parking distance according to the first current pose and the terminal pose of the planned path; determining a first current deceleration of the ESP according to a first current vehicle speed and the first remaining stopping distance of the vehicle when the first remaining stopping distance is equal to or greater than a first threshold value and the first remaining stopping distance is less than a second threshold value; determining a first target vehicle speed of the current operation period of the vehicle according to the first remaining parking distance, the target vehicle speed of the vehicle in the last operation period and the operation period; controlling the vehicle to run to a second current pose according to the first target speed according to the first current deceleration; determining a second remaining parking distance of the end point pose of the planned path according to the second current pose; when the second remaining parking distance is smaller than the first threshold value, reducing the torque of the VCU according to the preset torque variation, and determining a second current deceleration of the ESP according to a second current vehicle speed and the second remaining parking distance of the vehicle; the vehicle is decelerated according to the second current deceleration to stop at the stop point. The speed planning system can start to decelerate when the first current pose of the vehicle and the first remaining parking distance of the parking point are greater than or equal to a first threshold value and the first remaining parking distance is smaller than a second threshold value, determine a first target vehicle speed of the vehicle, and drive the vehicle to the second current pose at the first target vehicle speed; when the second current pose of the vehicle and the second remaining parking distance of the parking point are smaller than the first threshold value, the speed is further reduced, meanwhile, the torque of the VCU is reduced, the vehicle is made to park at the parking point, and the automatic parking efficiency and the user experience of the vehicle are improved.
It will be appreciated that the embodiment shown in fig. 3 is a step performed prior to step 202 in the embodiment shown in fig. 2. In the embodiment of the invention shown in fig. 3, the description will be made in conjunction with T3 (second stage of speed control) shown in fig. 1. As shown in fig. 3, which is a schematic diagram of a second embodiment of the speed planning method in the embodiment of the present invention, the method may include:
301. and acquiring a third current pose of the vehicle.
For example, the vehicle may be equipped with an Inertial Measurement Unit (IMU), a wheel pulse counter, and other sensors, which may be used as a positioning module (e.g., a body odometer) of the vehicle to obtain a third current pose of the vehicle.
It is understood that the third current pose of the vehicle may include information of a third current position, a third current heading angle, a third current vehicle speed, and the like.
302. And determining a corresponding first reference vehicle speed according to the third current pose.
It will be appreciated that the speed planning system maintains reference vehicle speeds corresponding to each waypoint on the planned path, or between adjacent waypoints.
Determining a reference pose of a path point with the nearest third current pose as a first reference vehicle speed corresponding to the third current pose; or determining two path points closest to the third current pose, and taking the reference vehicle speed of the path between the two path points as the first reference vehicle speed corresponding to the third current pose.
303. And calculating to obtain a third remaining parking distance according to the third current pose and the terminal pose of the planned path.
The speed planning system calculates a third remaining parking distance of a third current pose and the terminal pose of the planned path, and the third remaining parking distance is the remaining parking distance between the vehicle and the parking spot. It is understood that the third remaining parking distance may be a straight-line distance or a curved-line distance, and is determined according to whether a path between the third current pose and the parking point is a straight-line path or a curved-line path.
It is understood that the timing of steps 302 and 303 is not limited.
304. And when the third remaining parking distance is greater than or equal to the second threshold value, the third remaining parking distance is smaller than the third threshold value, and the first reference vehicle speed is greater than the automatic parking vehicle speed threshold value, determining that the second target vehicle speed of the vehicle is the automatic parking vehicle speed threshold value.
For example, when the third remaining stopping distance (RemainingDist 3) is 0.99m, the vehicle enters the speed control second stage (0.5 m ≦ RemainingDist3<1.0 m), and the auto-parking vehicle speed threshold may be set to 0.34m/s, which is a preset value. When the remaining parking distance is within 1.0m and is greater than 0.5m, the ESP has no action in the speed control stage, and the VCU continues to perform closed-loop control on the vehicle speed to perform dynamic speed planning. At this stage if the first reference vehicle speed received by the speed planning system is >0.34m/s, the speed plan sets the second target vehicle speed of the vehicle to 0.34m/s.
305. And when the third remaining parking distance is greater than or equal to the second threshold value, the third remaining parking distance is smaller than the third threshold value, and the first reference vehicle speed is smaller than or equal to the automatic parking vehicle speed threshold value, determining that the second target vehicle speed of the vehicle is the first reference vehicle speed.
At this stage, if the first reference vehicle speed received by the speed planning system is less than or equal to 0.34m/s, the speed planning system sets the second target vehicle speed of the vehicle as the first reference vehicle speed.
I.e. the speed plan follows the rule of min (auto park vehicle speed threshold, received first reference vehicle speed) during the T3 phase to determine the second target vehicle speed of the vehicle.
306. And controlling the vehicle to run to the first current pose according to the second target vehicle speed.
And the speed planning system controls the vehicle to run to the position indicated by the first current pose according to the second target speed. It is understood that the first current pose belongs to the pose at the T4 phase, i.e., the vehicle enters the deceleration phase.
In the embodiment of the invention, a third current pose of the vehicle is obtained; determining a corresponding first reference vehicle speed according to the third current pose; calculating according to the third current pose and the terminal pose of the planned path to obtain a third remaining parking distance; when the third remaining parking distance is greater than or equal to the second threshold value, the third remaining parking distance is smaller than the third threshold value, and the first reference vehicle speed is greater than the automatic parking vehicle speed threshold value, determining that the second target vehicle speed of the vehicle is the automatic parking vehicle speed threshold value; when the third remaining parking distance is greater than or equal to the second threshold value, the third remaining parking distance is smaller than the third threshold value, and the first reference vehicle speed is smaller than or equal to the automatic parking vehicle speed threshold value, determining that the second target vehicle speed of the vehicle is the first reference vehicle speed; and controlling the vehicle to run to the first current pose according to the second target vehicle speed. The embodiment of how to determine the second target vehicle speed before the vehicle decelerates is provided, because the reference vehicle speed is not necessarily accurately planned, the speed of the vehicle is reasonably planned under feasible conditions, the speed of the vehicle is improved, and the time for the vehicle to reach a stopping point is saved.
It will be appreciated that the embodiment shown in figure 4 is a step performed prior to step 301 in the embodiment shown in figure 3. In the embodiment of the invention shown in fig. 4, the description will be made in conjunction with T2 (first stage of speed control) shown in fig. 1. As shown in fig. 4, which is a schematic diagram of a third embodiment of the speed planning method in the embodiment of the present invention, the method may include:
401. and acquiring a fourth current pose of the vehicle.
402. And determining a corresponding second reference vehicle speed according to the fourth current pose.
403. And calculating according to the fourth current pose and the terminal pose of the planned path to obtain a fourth remaining parking distance.
In the embodiment of the present invention, steps 401 to 403 are similar to steps 301 to 303 in the embodiment shown in fig. 3, and are not described herein again.
404. When the fourth remaining parking distance is greater than the third threshold value, it is determined that the third target vehicle speed of the vehicle is the second reference vehicle speed.
Exemplarily, the vehicle enters the speed control first stage (1 m ≦ RemainingDist 4) when the fourth remaining stopping distance (RemainingDist 4) is 10 m. If the vehicle is more than 1m away from the stop point, the vehicle can run with the reference vehicle speed as the target vehicle speed because the vehicle has a longer running distance, the VCU performs closed-loop control on the vehicle speed, and the braking force of the ESP at the starting stage is released, so the ESP has no action at the stage.
405. And controlling the vehicle to run to a third current pose according to the third target vehicle speed.
And the speed planning system controls the vehicle to run to the position indicated by the third current pose according to the third target vehicle speed. It can be understood that the third target vehicle speed of the vehicle at this stage is the reference vehicle speed sent by the tracking planning module, and if the path is short, that is, the remaining distance of the path after the vehicle is started is less than 1m, this stage can be directly skipped. The third current pose belongs to the pose in the stage T3, namely the vehicle enters the second stage of speed control.
In the embodiment of the invention, a fourth current pose of the vehicle is obtained; determining a corresponding second reference vehicle speed according to the fourth current pose; calculating according to the fourth current pose and the terminal pose of the planned path to obtain a fourth remaining parking distance; when the fourth remaining parking distance is greater than the third threshold value, determining that a third target vehicle speed of the vehicle is a second reference vehicle speed; and controlling the vehicle to run to a third current pose according to the third target vehicle speed. When the fourth remaining parking distance is larger than the third threshold value, the remaining parking distance between the vehicle and the parking spot is relatively long, and the vehicle can run at the reference vehicle speed, so that the vehicle can efficiently reach the parking spot on the premise of safety.
It will be appreciated that the embodiment shown in fig. 5 is a step performed before step 301 in the embodiment shown in fig. 3, or alternatively, a step performed before step 401 in the embodiment shown in fig. 4. In the embodiment of the invention shown in fig. 5, the description will be made with reference to T1 (the starting stage) shown in fig. 1. As shown in fig. 5, which is a schematic diagram of a fourth embodiment of the speed planning method in the embodiment of the present invention, the method may include:
501. when the vehicle starts, the vehicle is accelerated according to the preset acceleration, the torque of the VCU is increased according to the preset torque variation, and a third current vehicle speed of the vehicle is obtained.
It can be understood that the starting stage is to realize the starting of the vehicle on the premise of ensuring safety. In order to ensure the comfort of the user at this stage, the preset acceleration for starting the vehicle should not be too large, and the experience value selected by combining the experience debugging of the real vehicle is required. For example, the preset acceleration is 0.25m/s 2 。
The VCU performs closed-loop control on the acceleration according to the acceleration preset by the vehicle, and performs torque increasing according to the preset torque variation. In order to ensure the starting safety, namely, the vehicle does not slide during starting, and the speed control is not overshot, the ESP selects pressure-maintaining starting or starting without braking according to the ramp information sent by the positioning module and the moving direction of the vehicle.
502. And acquiring a fifth current pose of the vehicle.
503. And determining a corresponding third reference vehicle speed according to the fifth current pose.
In the embodiment of the present invention, steps 502-503 are similar to steps 302-303 in the embodiment shown in fig. 3, and are not described herein again.
504. And if the third reference vehicle speed is greater than the automatic parking vehicle speed threshold value and the third current vehicle speed is greater than the automatic parking vehicle speed threshold value, or if the third reference vehicle speed is less than or equal to the automatic parking vehicle speed threshold value and the third current vehicle speed is greater than the third reference vehicle speed, determining that the vehicle is started.
For example, if the third reference vehicle speed sent by the planning module is greater than 0.34m/s, when the current vehicle speed of the vehicle is greater than 0.34m/s, the starting is considered to be completed; and if the third reference vehicle speed sent by the planning module is not more than 0.34m/s, when the current vehicle speed of the vehicle is more than the third reference vehicle speed, the starting stage is considered to be finished.
505. And controlling the vehicle to run to a third current pose or a fourth current pose according to the third current vehicle speed.
And the speed planning system controls the vehicle to run to the position indicated by the third current pose or the position indicated by the fourth current pose according to the third current speed. The third current pose belongs to the pose in the stage T3, namely the vehicle enters the second stage of speed control; the fourth current pose belongs to the pose in the stage T2, i.e., the vehicle enters the first stage of speed control.
In the embodiment of the invention, when the vehicle starts, the vehicle is accelerated according to the preset acceleration, and the torque of the VCU is increased according to the preset torque variation to obtain the third current speed of the vehicle; acquiring a fifth current pose of the vehicle; determining a corresponding third reference vehicle speed according to the fifth current pose; if the third reference vehicle speed is greater than the automatic parking vehicle speed threshold value and the third current vehicle speed is greater than the automatic parking vehicle speed threshold value, determining that the vehicle is started; if the third reference vehicle speed is less than or equal to the automatic parking vehicle speed threshold value and the third current vehicle speed is greater than the third reference vehicle speed, determining that the vehicle is started; and controlling the vehicle to run to a third current pose or a fourth current pose according to the third current vehicle speed. The embodiment of the invention relates to vehicle speed planning for a starting stage of a vehicle.
As shown in fig. 6, which is a schematic diagram of a first embodiment of the speed planning system in the embodiment of the present invention, the speed planning system may include:
the obtaining module 601 is configured to obtain a planned path of a vehicle, where a terminal point of the planned pose is a parking point of the vehicle; acquiring a first current pose of the vehicle, wherein the first current pose comprises a first current vehicle speed;
a processing module 602, configured to calculate a first remaining parking distance according to the first current pose and the end pose of the planned path; determining a first current deceleration of the ESP based on the first current vehicle speed and the first remaining parking distance when the first remaining parking distance is equal to or greater than a first threshold and the first remaining parking distance is less than a second threshold; determining a first target vehicle speed of the vehicle according to the first remaining parking distance, the target vehicle speed of the vehicle in the last operation period and a preset operation period; controlling the vehicle to run to a second current pose according to the first target speed according to the first current deceleration, wherein the second current pose comprises a second current speed; calculating to obtain a second remaining parking distance according to the second current pose and the terminal pose of the planned path; when the second remaining parking distance is smaller than the first threshold, reducing the torque of the VCU according to a preset torque variation, and determining a second current deceleration of the ESP according to the second current vehicle speed and the second remaining parking distance; decelerating in accordance with the second current deceleration to stop the vehicle at the stop point. Optionally, in some embodiments of the present invention, the planned path includes a reference vehicle speed corresponding to each path point.
Alternatively, in some embodiments of the present invention,
the obtaining module 601 is further configured to obtain a third current pose of the vehicle;
the processing module 602 is further configured to determine a corresponding first reference vehicle speed according to the third current pose; calculating to obtain a third remaining parking distance according to the third current pose and the terminal pose of the planned path; when the third remaining parking distance is greater than or equal to the second threshold value, the third remaining parking distance is smaller than a third threshold value, and the first reference vehicle speed is greater than an automatic parking threshold value, determining that a second target vehicle speed of the vehicle is the automatic parking threshold value; determining a second target vehicle speed of the vehicle as the first reference vehicle speed when the third remaining parking distance is greater than or equal to the second threshold value and the third remaining parking distance is less than or equal to a third threshold value, and the first reference vehicle speed is less than or equal to the automatic parking threshold value; and controlling the vehicle to run to the first current pose according to the second target speed. Alternatively, in some embodiments of the invention,
the obtaining module 601 is further configured to obtain a fourth current pose of the vehicle;
the processing module 602 is further configured to determine a corresponding second reference vehicle speed according to the fourth current pose; calculating according to the fourth current pose and the terminal pose of the planned path to obtain a fourth remaining parking distance; when the fourth remaining parking distance is greater than a third threshold value, determining a third target vehicle speed of the vehicle as the second reference vehicle speed; and controlling the vehicle to run to the third current pose according to the third target vehicle speed.
Alternatively, in some embodiments of the present invention,
the obtaining module 601 is further configured to obtain a fifth current pose of the vehicle;
the processing module 602 is further configured to, when the vehicle starts, accelerate according to a preset acceleration, and increase the torque of the VCU according to a preset torque variation to obtain a third current vehicle speed of the vehicle; determining a corresponding third reference vehicle speed according to the fifth current pose; if the third reference vehicle speed is greater than an automatic parking threshold value and the third current vehicle speed is greater than the automatic parking threshold value, or if the third reference vehicle speed is less than or equal to the automatic parking threshold value and the third current vehicle speed is greater than the third reference vehicle speed, determining that the vehicle is started; and controlling the vehicle to run to the third current pose or the fourth current pose according to the third current vehicle speed.
Optionally, an embodiment of the present invention further provides a vehicle, where the vehicle includes a speed planning system as shown in fig. 6.
Fig. 7 is a schematic diagram of a second embodiment of the velocity planning system in accordance with an embodiment of the present invention. The method can comprise the following steps:
a memory 701 in which executable program code is stored;
a processor 702 coupled to the memory 701;
a transceiver 703;
the transceiver 703 acquires path information of a vehicle, acquires a first current pose of the vehicle, and transmits the first current pose to the processor 702, and the processor 702 calls an executable program code stored in the memory 701 to execute any one of the automatic parking methods shown in fig. 2 to 4.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that includes one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of speed planning, comprising:
acquiring a planned path of a vehicle, wherein the terminal point of the planned path is a stop point of the vehicle;
acquiring a first current pose of the vehicle, wherein the first current pose comprises a first current vehicle speed;
calculating to obtain a first remaining parking distance according to the first current pose and the terminal pose of the planned path;
determining a first current deceleration of a vehicle body electronic stability system (ESP) according to the first current vehicle speed and the first remaining parking distance when the first remaining parking distance is greater than or equal to a first threshold and the first remaining parking distance is less than a second threshold;
determining a first target vehicle speed of the vehicle according to the first remaining parking distance, the target vehicle speed of the vehicle in the last operation period and a preset operation period, wherein the preset operation period is an execution period of a motion control module in an embedded system;
controlling the vehicle to run to a second current pose according to the first target speed according to the first current deceleration, wherein the second current pose comprises a second current speed;
calculating to obtain a second remaining parking distance according to the second current pose and the terminal pose of the planned path;
when the second remaining parking distance is smaller than the first threshold, reducing the torque of a Vehicle Control Unit (VCU) according to a preset torque variation, and determining a second current deceleration of the ESP according to the second current vehicle speed and the second remaining parking distance; decelerating in accordance with the second current deceleration to stop the vehicle at the stop point.
2. The method of claim 1, wherein the planned path includes a reference vehicle speed corresponding to each path point.
3. The method of claim 2, wherein prior to the obtaining the first current pose of the vehicle, the method further comprises:
acquiring a third current pose of the vehicle;
determining a corresponding first reference vehicle speed according to the third current pose;
calculating to obtain a third remaining parking distance according to the third current pose and the terminal pose of the planned path;
when the third remaining parking distance is greater than or equal to the second threshold value, the third remaining parking distance is smaller than a third threshold value, and the first reference vehicle speed is greater than an automatic parking threshold value, determining that a second target vehicle speed of the vehicle is the automatic parking threshold value;
determining a second target vehicle speed of the vehicle as the first reference vehicle speed when the third remaining parking distance is greater than or equal to the second threshold value and the third remaining parking distance is less than or equal to a third threshold value, and the first reference vehicle speed is less than or equal to the automatic parking threshold value;
and controlling the vehicle to run to the first current pose according to the second target speed.
4. The method of claim 3, wherein prior to the obtaining the third current pose of the vehicle, the method further comprises:
acquiring a fourth current pose of the vehicle;
determining a corresponding second reference vehicle speed according to the fourth current pose;
calculating according to the fourth current pose and the terminal pose of the planned path to obtain a fourth remaining parking distance;
determining a third target vehicle speed of the vehicle as the second reference vehicle speed when the fourth remaining parking distance is greater than a third threshold;
and controlling the vehicle to run to the third current pose according to the third target vehicle speed.
5. The method of claim 3 or 4, wherein the obtaining the third current pose of the vehicle, or, prior to the obtaining the fourth current pose of the vehicle, the method further comprises:
when the vehicle starts, accelerating according to preset acceleration, and increasing the torque of the VCU according to preset torque variation to obtain a third current speed of the vehicle;
acquiring a fifth current pose of the vehicle;
determining a corresponding third reference vehicle speed according to the fifth current pose;
if the third reference vehicle speed is greater than an automatic parking threshold value and the third current vehicle speed is greater than the automatic parking threshold value, or if the third reference vehicle speed is less than or equal to the automatic parking threshold value and the third current vehicle speed is greater than the third reference vehicle speed, determining that the vehicle is started;
and controlling the vehicle to run to the third current pose or the fourth current pose according to the third current vehicle speed.
6. A speed planning system, comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring a planned path of a vehicle, and the terminal point of the planned path is the stop point of the vehicle; acquiring a first current pose of the vehicle, wherein the first current pose comprises a first current vehicle speed;
the processing module is used for calculating to obtain a first remaining parking distance according to the first current pose and the terminal pose of the planned path; determining a first current deceleration of a vehicle body electronic stability system (ESP) according to the first current vehicle speed and the first remaining parking distance when the first remaining parking distance is greater than or equal to a first threshold and the first remaining parking distance is less than a second threshold; determining a first target vehicle speed of the vehicle according to the first remaining parking distance, the target vehicle speed of the vehicle in the last operation period and a preset operation period, wherein the preset operation period is an execution period of a motion control module in an embedded system; controlling the vehicle to run to a second current pose according to the first target speed according to the first current deceleration, wherein the second current pose comprises a second current speed; calculating to obtain a second remaining parking distance according to the second current pose and the terminal pose of the planned path; when the second remaining parking distance is smaller than the first threshold, reducing the torque of a Vehicle Control Unit (VCU) according to a preset torque variation, and determining a second current deceleration of the ESP according to the second current vehicle speed and the second remaining parking distance; decelerating in accordance with the second current deceleration to stop the vehicle at the stop point.
7. The speed planning system of claim 6 wherein the planned path includes a reference vehicle speed corresponding to each path point;
the acquisition module is further used for acquiring a third current pose of the vehicle;
the processing module is further used for determining a corresponding first reference vehicle speed according to the third current pose; calculating to obtain a third remaining parking distance according to the third current pose and the terminal pose of the planned path; when the third remaining parking distance is greater than or equal to the second threshold value, the third remaining parking distance is smaller than a third threshold value, and the first reference vehicle speed is greater than an automatic parking threshold value, determining that a second target vehicle speed of the vehicle is the automatic parking threshold value; determining a second target vehicle speed of the vehicle as the first reference vehicle speed when the third remaining parking distance is greater than or equal to the second threshold value and the third remaining parking distance is less than or equal to a third threshold value, and the first reference vehicle speed is less than or equal to the automatic parking threshold value; controlling the vehicle to run to the first current pose according to the second target speed;
alternatively, the first and second electrodes may be,
the acquisition module is further configured to acquire a fourth current pose of the vehicle;
the processing module is further configured to determine a corresponding second reference vehicle speed according to the fourth current pose; calculating to obtain a fourth remaining parking distance according to the fourth current pose and the terminal pose of the planned path; determining a third target vehicle speed of the vehicle as the second reference vehicle speed when the fourth remaining parking distance is greater than a third threshold; and controlling the vehicle to run to the third current pose according to the third target vehicle speed.
8. The speed planning system of claim 7,
the acquisition module is further configured to acquire a fifth current pose of the vehicle;
the processing module is further configured to accelerate the vehicle according to a preset acceleration when the vehicle starts, and increase the torque of the VCU according to a preset torque variation to obtain a third current vehicle speed of the vehicle; determining a corresponding third reference vehicle speed according to the fifth current pose; if the third reference vehicle speed is greater than an automatic parking threshold value and the third current vehicle speed is greater than the automatic parking threshold value, or if the third reference vehicle speed is less than or equal to the automatic parking threshold value and the third current vehicle speed is greater than the third reference vehicle speed, determining that the vehicle is started; and controlling the vehicle to run to the third current position and the fourth current position according to the third current vehicle speed.
9. A vehicle comprising a speed planning system according to any one of claims 6-8.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the speed planning method according to any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910797231.2A CN110347167B (en) | 2019-08-27 | 2019-08-27 | Speed planning method and speed planning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910797231.2A CN110347167B (en) | 2019-08-27 | 2019-08-27 | Speed planning method and speed planning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110347167A CN110347167A (en) | 2019-10-18 |
| CN110347167B true CN110347167B (en) | 2022-10-14 |
Family
ID=68181238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910797231.2A Active CN110347167B (en) | 2019-08-27 | 2019-08-27 | Speed planning method and speed planning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110347167B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723137A (en) * | 2019-10-24 | 2020-01-24 | 重庆长安汽车股份有限公司 | Deceleration control method and system for short-distance automatic parking and computer readable storage medium |
| CN113264035B (en) * | 2020-02-14 | 2022-03-25 | 广州汽车集团股份有限公司 | Full-automatic parking control method and system and vehicle |
| CN113442909A (en) * | 2020-03-27 | 2021-09-28 | 广州汽车集团股份有限公司 | Autonomous parking control method and device |
| 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 |
| CN111873988B (en) * | 2020-08-03 | 2021-12-07 | 上海元城汽车技术有限公司 | Parking control method and device, vehicle and storage medium |
| CN112092801A (en) * | 2020-08-13 | 2020-12-18 | 武汉乐庭软件技术有限公司 | Vehicle speed planning method and system for automatic parking system |
| CN112498355B (en) * | 2020-11-02 | 2022-11-25 | 浙江吉利控股集团有限公司 | Speed planning method and device |
| CN112606828B (en) * | 2020-12-11 | 2022-02-01 | 东风汽车集团有限公司 | Automatic parking control device and method and vehicle |
| CN114274959B (en) * | 2021-04-16 | 2023-06-23 | 阿波罗智联(北京)科技有限公司 | Vehicle control method, apparatus, device, and computer storage medium |
| CN113246980A (en) * | 2021-04-22 | 2021-08-13 | 前海七剑科技(深圳)有限公司 | Vehicle speed planning method and device, vehicle and storage medium |
| CN113276808B (en) * | 2021-05-19 | 2022-03-08 | 江铃汽车股份有限公司 | Active braking system control method and system |
| CN116494956A (en) * | 2023-03-21 | 2023-07-28 | 广州汽车集团股份有限公司 | Parking control method and device, vehicle and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622083A (en) * | 2017-03-15 | 2018-10-09 | 本田技研工业株式会社 | Parking assist apparatus |
| CN109353335A (en) * | 2018-11-21 | 2019-02-19 | 清华大学苏州汽车研究院（吴江） | A kind of parking space's detection method and device |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005008176A1 (en) * | 2005-02-23 | 2006-08-31 | Robert Bosch Gmbh | Device for semi-autonomous support of the parking process in vehicles |
| DE102016103899A1 (en) * | 2016-03-04 | 2017-09-07 | Valeo Schalter Und Sensoren Gmbh | Method for the autonomous parking of a motor vehicle in a parking space with specification of a speed profile, driver assistance system and motor vehicle |
| WO2018066024A1 (en) * | 2016-10-03 | 2018-04-12 | 本田技研工業株式会社 | Vehicle control device |
| CN109789873B (en) * | 2016-10-03 | 2022-04-26 | 本田技研工业株式会社 | Vehicle control device |
| CN107618504A (en) * | 2017-09-15 | 2018-01-23 | 中汽研（常州）汽车工程研究院有限公司 | It is a kind of applied to the crawl speed control method and device automatically parked |
| CN107776570B (en) * | 2017-09-19 | 2020-09-01 | 广州汽车集团股份有限公司 | Full-automatic parking method and full-automatic parking system |
| DE102017122426A1 (en) * | 2017-09-27 | 2019-03-28 | Valeo Schalter Und Sensoren Gmbh | Control with specification of a speed profile |
| CN108545069B (en) * | 2018-03-30 | 2020-03-10 | 北京图森未来科技有限公司 | Vehicle parking control method and device |
| CN109895764B (en) * | 2018-06-29 | 2023-06-27 | 华为技术有限公司 | Method and device for determining automatic parking strategy |
| CN109760672A (en) * | 2018-12-29 | 2019-05-17 | 北京智行者科技有限公司 | The crosswise joint method that automatic Pilot charging vehicle is precisely parked |
| CN109733386A (en) * | 2018-12-29 | 2019-05-10 | 北京智行者科技有限公司 | The longitudinally controlled method that automatic Pilot charging vehicle is precisely parked |
| CN109624971A (en) * | 2019-01-31 | 2019-04-16 | 西南交通大学 | A kind of method for planning track of parking of pilotless automobile |
-
2019
- 2019-08-27 CN CN201910797231.2A patent/CN110347167B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622083A (en) * | 2017-03-15 | 2018-10-09 | 本田技研工业株式会社 | Parking assist apparatus |
| CN109353335A (en) * | 2018-11-21 | 2019-02-19 | 清华大学苏州汽车研究院（吴江） | A kind of parking space's detection method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110347167A (en) | 2019-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110347167B (en) | Speed planning method and speed planning system | |
| CN107792079B (en) | Autonomous vehicle with path prediction | |
| JP7198829B2 (en) | vehicle controller | |
| US9469299B2 (en) | Deceleration setting system, deceleration setting method, and deceleration setting program | |
| CN112061106B (en) | Automatic driving control method, device, vehicle and storage medium | |
| CN109305195B (en) | Train control method and device | |
| US9823660B2 (en) | System for distance to stop | |
| KR101745152B1 (en) | Automatic parking assist system and operation method thereof | |
| JP5507433B2 (en) | Driving assistance device | |
| CN111661060B (en) | Method and device for establishing vehicle longitudinal motion model and computer system | |
| CN104395157A (en) | Vehicle running assist apparatus | |
| CN110893850A (en) | Vehicle longitudinal speed planning method and longitudinal speed planning device | |
| CN110723137A (en) | Deceleration control method and system for short-distance automatic parking and computer readable storage medium | |
| GB2481888A (en) | Driver assistance system with activation of the brake | |
| CN110525435B (en) | Method and device for acquiring vehicle distance, storage medium and vehicle | |
| CN112542061A (en) | Lane borrowing and overtaking control method, device and system based on Internet of vehicles and storage medium | |
| CN108313051B (en) | Parking method, device, system and storage medium | |
| WO2013046959A1 (en) | Travel control apparatus | |
| CN113978547A (en) | Automatic driving steering control method and system | |
| CN114620028A (en) | Automatic parking and braking control method and system and vehicle | |
| CN115257863B (en) | Train control method and equipment | |
| CN115571117B (en) | Vehicle longitudinal control method, computer device, storage medium and vehicle | |
| CN115817505A (en) | Longitudinal speed control method and device for automatic parking and vehicle | |
| JP7133752B2 (en) | travel control device | |
| JP2019196138A (en) | Travel control device for automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |