CN111547038A - Vehicle control system, equipment and method - Google Patents
Vehicle control system, equipment and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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Abstract
The application discloses vehicle control system, equipment and method, vehicle control system includes image module, route planning module, dead reckoning module, tracking error calculation module, controller mathematics module, vehicle equivalence module and hardware response module, wherein, vehicle control method includes: receiving a setting instruction, acquiring a first position coordinate, acquiring environment image data within a preset threshold range with the first position coordinate as a center, and planning a parking path according to the environment image data; executing a parking cycle until parking is finished, wherein the parking cycle comprises the following steps: and calculating longitudinal acceleration and longitudinal distance through world coordinates and path planning points, converting the longitudinal acceleration into a bus instruction to control the vehicle, and feeding back the longitudinal distance to form a closed-loop system. Therefore, the method and the device have the advantages of adopting a closed loop to eliminate accumulated errors and dynamically adjusting the position of the vehicle relative to the parking path in real time, and also have the beneficial effect of improving the parking precision.
Description
Technical Field
The application relates to the field of intelligent vehicles, in particular to a vehicle control system, equipment and method.
Background
With the rapid development of the automobile field, the holding amount of automobiles is more and more, the requirement for automobile automation is higher and higher, and therefore the demand for automatic parking is higher and higher. The automatic parking system is an important link comprising database patrol, path planning, path tracking and the like, wherein the path tracking is a guarantee for realizing the driving of a vehicle according to an expected path.
In the prior art, path tracking mainly realizes control over a vehicle through open-loop control, but in the prior art, the open-loop control cannot avoid the problem of accumulated errors, the position of the vehicle relative to a parking path cannot be dynamically adjusted in real time, automatic parking times are increased, and an automatic parking effect is low, so that user experience is low.
Disclosure of Invention
The embodiment of the application provides a vehicle control system and method, which can improve parking accuracy and improve parking effect.
A first aspect of an embodiment of the present application provides a vehicle control system, including a path planning module, a dead reckoning module, a tracking error calculation module, a controller math module, a vehicle equivalence module, and a hardware response module;
the tracking error calculation module is used for determining a first path planning point according to the parking path and first world coordinates, and calculating a first error value of the first path planning point and the first world coordinates;
the controller mathematical module is used for calculating to obtain a first longitudinal acceleration according to the first error value, and calculating the first longitudinal acceleration to obtain a first longitudinal distance;
the vehicle equivalent module is used for converting the first longitudinal acceleration into a first bus instruction;
the hardware response module is used for executing a first parking action according to the first bus instruction;
the tracking error calculation module is further configured to determine a second path planning point according to the parking path and a second world coordinate, and calculate a second error value between the second path planning point and the second world coordinate;
the controller mathematical module is further configured to calculate a second longitudinal acceleration according to the second error value and the first longitudinal speed, and calculate a second longitudinal distance;
the vehicle equivalent module is further used for converting the second longitudinal acceleration into a second bus instruction;
and the hardware response module is also used for executing a second parking action according to the second bus instruction.
As can be seen, the vehicle control system comprises: the route planning module, the dead reckoning module, tracking error calculation module, controller mathematics module, vehicle equivalence module and hardware response module still include: the image module is used for acquiring environment image data through the image module, and the path planning module plans a parking path according to the environment image data, so that the automatic route planning according to the implementation environment is realized; calculating a first projection point and a second projection point through a dead reckoning module and a tracking error calculation module, realizing the construction of world coordinates, improving the calculation precision of the position of the vehicle and the position of a planned point, and adjusting the position of the vehicle relative to a parking path according to the real-time position; the controller mathematical module is used for converting the first error value into a first longitudinal acceleration, calculating a first longitudinal distance according to the first longitudinal acceleration, and calculating the first longitudinal distance and a second error value to obtain a second longitudinal acceleration to form a closed-loop control system, so that error accumulation caused by other interference in the parking process is avoided, the control precision is improved, the whole vehicle control system is controlled to be in a stable state by selecting parameters in the closed-loop control system, and the system stability is improved; the method comprises the steps that a first longitudinal acceleration is calculated through a vehicle equivalent module to obtain a first front wheel deflection angle, a first steering wheel rotation angle is calculated according to the first front wheel deflection angle, the first steering wheel rotation angle is converted into a first bus instruction, a second longitudinal acceleration is calculated through a vehicle equivalent module to obtain a second front wheel deflection angle, a second steering wheel rotation angle is calculated according to the second front wheel deflection angle, the second steering wheel rotation angle is converted into a second bus instruction, the accurate first steering wheel rotation angle and the accurate second steering wheel rotation angle are obtained through calculation, the control precision of a steering wheel is improved, the parking effect is improved, a hardware response module executes a first parking action and a second parking action, the position of a vehicle is updated, the world coordinate of the vehicle is updated, and the real-time path tracking closed loop of the vehicle is realized.
A second aspect of the embodiments of the present application provides a vehicle control method, including:
receiving a setting instruction, acquiring a first position coordinate, acquiring environment image data within a preset threshold range with the first position coordinate as a center, and planning a parking path according to the environment image data;
executing a parking cycle until parking is completed, the parking cycle comprising:
calculating a first world coordinate corresponding to the first position coordinate, determining a first path planning point according to the parking path and the first world coordinate, and calculating a first error value of the first path planning point and the first world coordinate;
calculating to obtain a first longitudinal acceleration according to the first error value, calculating to obtain a first longitudinal distance, converting the first longitudinal acceleration into a first bus instruction, and executing a first parking action according to the first bus instruction;
determining that the execution of the first parking action is finished, acquiring a second position coordinate, calculating a second world coordinate corresponding to the second position coordinate, determining a second path planning point according to the parking path and the second world coordinate, and calculating a second error value of the second path planning point and the second world coordinate;
and calculating to obtain a second longitudinal acceleration according to the second error value and the first longitudinal distance, calculating to obtain a second longitudinal distance, converting the second longitudinal acceleration into a second bus instruction, and executing a second parking action according to the second bus instruction.
It can be seen that the updating of the path planning points and the real-time path tracking of the vehicle are realized through the calculation of the first path planning points and the second path planning points; the first longitudinal distance is obtained through calculation of the first longitudinal acceleration, the first longitudinal distance is fed back to be used for calculating the second longitudinal acceleration, a closed-loop control system is formed, accumulated errors are avoided, calculation accuracy and path tracking accuracy are improved, and vehicle control accuracy is improved; through the calculation of the first error value and the second error value, the distance between the real-time position of the vehicle and the parking path is accurately calculated, the calculation precision and the control precision are improved, the parking effect of the vehicle is improved, and the user experience is improved.
A third aspect of the present application provides a vehicle control apparatus comprising: a vehicle control system and memory; and one or more programs stored in the memory and configured to be executed by the vehicle control system, the programs including instructions for some or all of the steps as described in the second aspect.
The embodiment of the application has the following beneficial effects:
it can be seen that the vehicle control system, the apparatus and the method described in the embodiments of the present application, wherein the vehicle control system includes a path planning module, a dead reckoning module, a tracking error calculation module, a controller math module, a vehicle equivalence module and a hardware response module; the tracking error calculation module is used for determining a first path planning point according to the parking path and first world coordinates, and calculating a first error value of the first path planning point and the first world coordinates; the controller mathematical module is used for calculating to obtain a first longitudinal acceleration according to the first error value, and calculating the first longitudinal acceleration to obtain a first longitudinal distance; the vehicle equivalent module is used for converting the first longitudinal acceleration into a first bus instruction; the hardware response module is used for executing a first parking action according to the first bus instruction; the tracking error calculation module is further configured to determine a second path planning point according to the parking path and a second world coordinate, and calculate a second error value between the second path planning point and the second world coordinate; the controller mathematical module is further configured to calculate a second longitudinal acceleration according to the second error value and the first longitudinal speed, and calculate a second longitudinal distance; the vehicle equivalent module is further used for converting the second longitudinal acceleration into a second bus instruction; and the hardware response module is also used for executing a second parking action according to the second bus instruction. Therefore, the real-time position corresponding to the world coordinate is calculated, the longitudinal acceleration of the vehicle is calculated according to the world coordinate and the longitudinal distance of the vehicle, the parking accuracy is guaranteed, the longitudinal distance is fed back to form a closed loop, and the parking effect is improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a system framework of a vehicle control system according to an embodiment of the present application.
Fig. 2 is a schematic flowchart of a vehicle control method according to an embodiment of the present application.
FIG. 3 is a closed-loop system block diagram of a closed-loop control system of a vehicle according to an embodiment of the present disclosure.
Fig. 4 is a schematic diagram of an error value calculation method according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a method for calculating a deflection angle of a front wheel according to an embodiment of the present application.
Fig. 6 is a schematic structural diagram of a vehicle control device 600 provided in an embodiment of the present application
Fig. 7 is a flowchart illustrating a method for calculating an error value according to an embodiment of the present application.
Fig. 8 is a simplified flow chart of a closed-loop control system according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to better understand a vehicle control system, a device and a method provided by the embodiments of the present application, a system architecture of the vehicle control system according to the embodiments of the present application will be described first. Referring to fig. 1, fig. 1 is a system framework of a vehicle control system according to an embodiment of the present disclosure, where the vehicle control system 100 described in this embodiment includes a path planning module 101, a dead reckoning module 102, a tracking error calculation module 103, a controller math module 104, a vehicle equivalence module 105, a hardware response module 106, and an image module 107, where:
the path planning module 101 is configured to design a parking path, and send the parking path to the tracking error calculation module 103.
The dead reckoning module 102 is configured to collect a first position coordinate of the vehicle, calculate a first world coordinate of the vehicle according to the first position coordinate, and send the first world coordinate to the tracking error calculation module 103.
The tracking error calculation module 103 is configured to receive the parking path and the first world coordinate, determine a first path planning point according to the parking path and the first world coordinate, calculate a first error value between the first path planning point and the first world coordinate, and send the first error value to the controller math module 104.
The controller math module 104 is configured to receive the first error value, calculate a first longitudinal acceleration according to the first error value, integrate the first longitudinal acceleration to obtain a first longitudinal distance, integrate the first longitudinal distance to obtain a first longitudinal distance, and send the first longitudinal acceleration to the vehicle equivalence module 105.
The vehicle equivalence module 105 is configured to receive the first longitudinal acceleration, convert the first longitudinal acceleration into a first bus instruction, and send the first bus instruction to the hardware response module 106.
The hardware response module 106 is configured to receive the first bus instruction and execute the first parking action according to the first bus instruction.
The dead reckoning module 102 is further configured to collect a second position coordinate of the vehicle, calculate a second world coordinate of the vehicle according to the second position coordinate, and send the second world coordinate to the tracking error calculation module 103.
The tracking error calculation module 103 is further configured to determine a second path planning point according to the parking path and the second world coordinate, calculate a second error value between the second path planning point and the second world coordinate, and send the second error value to the controller math module 104.
The controller math module 104 is further configured to calculate a second longitudinal acceleration according to the second error value and the first longitudinal distance, calculate a second longitudinal distance, and send the second longitudinal acceleration to the vehicle equivalence module 105.
The vehicle equivalence module 105 is further configured to convert the second longitudinal acceleration into a second bus instruction, and send the second bus instruction to the hardware response module 106.
The hardware response module 106 is further configured to execute a second parking action according to the second bus instruction.
The image module 107 is configured to collect environment image data within a preset threshold range with the first position coordinate as a center, and send the environment image data to the path planning module 101.
The hardware response module 106 includes a hardware controller, wherein the hardware controller is configured to control the vehicle to perform a first parking action according to the first bus instruction, and is further configured to control the vehicle to perform a second parking action according to the second bus instruction.
The path planning module 101 is further configured to receive environment image data, determine whether there is an empty space in the current environment according to the environment image data, and execute a path planning action if there is an empty space in the current environment, where the path planning action includes: a mooring path is designed.
In a possible example, the tracking error calculation module 103 is configured to receive the parking path and the first world coordinate, determine a first path planning point according to the parking path and the first world coordinate, calculate a first error value between the first path planning point and the first world coordinate, and send the first error value to the controller math module 104, and the tracking error calculation module is specifically configured to: receiving a parking path and a first world coordinate, determining a projection point of the first world coordinate on the parking path, determining that the projection point is a first path planning point, determining a first straight line according to the first world coordinate and the first path planning point, cutting a tangent line along the parking path direction according to the first path planning point to obtain a second straight line, determining that an included angle formed by the first straight line and the second straight line is a first included angle, determining a first included angle, calculating according to the first world coordinate, the first path planning point and the first included angle to obtain a first error value, and sending the first error value to the controller mathematical model 104.
In a possible example, the controller mathematical model 104 is further configured to calculate a second longitudinal acceleration according to the second error value and the first longitudinal distance, calculate a second longitudinal distance, and send the second longitudinal acceleration to the vehicle equivalence module 105, and is specifically configured to: receiving a second error value, obtaining a first longitudinal distance, wherein the first longitudinal distance is a distance from a longitudinal position of a central point of a rear axle of the vehicle to a second path planning point, the second longitudinal acceleration is a longitudinal acceleration of the central point of the rear axle of the vehicle, obtaining a longitudinal position of the second path planning point, calculating according to the first longitudinal distance, the longitudinal position of the second path planning point and the second error value to obtain a second longitudinal acceleration, integrating the second longitudinal acceleration to obtain a second longitudinal speed, integrating the second longitudinal speed to obtain a second longitudinal distance, storing the second longitudinal distance, and sending the second longitudinal acceleration to the vehicle equivalence module 105.
In a possible example, the vehicle equivalence module 105 is configured to receive a first longitudinal acceleration, convert the first longitudinal acceleration into a first bus instruction, and send the first bus instruction to the hardware response module 106, and is specifically configured to: calculating a first longitudinal acceleration, converting the first longitudinal acceleration into a parameter of a vehicle equivalent model, calculating a first front wheel deflection angle according to the parameter, and calculating a first steering angle of a steering wheel according to the first front wheel deflection angle, wherein the vehicle equivalent model comprises a plurality of parameters, and the relation between the first longitudinal acceleration and the parameter is as follows: a ═ d (vsin θ)v)/dt＝(vcosθvdθv)/dt＝v2cosθvtan theta/l, where thetavAnd if the included angle between the vehicle and the parking path is defined, and l is the vehicle wheelbase, the relationship between the deflection angle of the first front wheel and the equivalent model parameter of the vehicle is as follows: theta-arctan ((al/v)2)/(cosθv) The first bus instruction includes: the steering wheel rotates a first angle and sends a first bus command to the hardware response module 106.
It can be seen that, in the embodiment of the present application, through the vehicle control system 100, which includes the vehicle control system composed of the path planning module 101, the dead reckoning module 102, the tracking error calculation module 103, the controller math module 104, the vehicle equivalence module 105, the hardware response module 106, and the image module 107, the position of the vehicle relative to the parking path can be adjusted according to the real-time position, the problem of accumulated errors existing in the open-loop control system is solved, and the parking accuracy and the parking effect are improved.
Referring to fig. 2, fig. 2 is a schematic flowchart of a vehicle control method according to an embodiment of the present application, and as shown in fig. 2, the method includes:
Optionally, the method includes monitoring a setting instruction, detecting the setting instruction, and receiving the setting instruction, where the setting instruction is used to automatically start a vehicle control function, acquire a current position coordinate as a first position coordinate, start the imaging device, determine a preset threshold range, and collect environment image data within the preset threshold range centered on the first position coordinate, where the environment image data includes: judging whether the current driving environment has an empty parking space or not according to the environment image data, if so, planning a parking path according to the environment image data; for example, the parking space near the current driving environment is judged, the current road condition is obtained from the environment image data, whether the current road condition meets the parking condition is judged, namely whether the current road condition can provide a parking space is judged, if the current road condition meets the parking condition, the path planning function is started, and the parking path is planned according to the first position coordinate, the current road condition and the position of the empty parking space.
Optionally, a parking path is obtained, and a parking cycle is started to be executed until parking is finished, where the parking cycle includes: calculating first world coordinates corresponding to the first position coordinates, determining a first projection point of the first world coordinates on the parking path, and determining the first projection point as a first projection pointA path planning point, a first straight line is determined according to a first world coordinate and the first path planning point, a tangent line of the first path planning point is made at the first path planning point along the direction of the parking path, the tangent line is determined to be a second straight line, an included angle between the first straight line and the second straight line is determined to be a first included angle, a first included angle of the first included angle is determined, and a first error value is calculated according to the first world coordinate, the first projection point and the first included angle, wherein (x) isA，yA) Denotes first world coordinates, (x)C，yC) Representing first path planning point coordinates, thetapathIf the first angle is expressed, the formula for calculating the first error value Δ l according to the first world coordinate, the first projective point coordinate, and the first angle includes:
Optionally, a first error value is obtained, the first error value is calculated to obtain a first longitudinal acceleration, the first longitudinal acceleration is integrated with respect to time to obtain a first longitudinal speed, the first longitudinal speed is integrated with respect to time to obtain a first longitudinal distance, the first longitudinal acceleration is a longitudinal distance acceleration of a center point of a rear axle of the vehicle corresponding to the first position coordinate, the first longitudinal distance is a longitudinal distance between the center point of the rear axle of the vehicle corresponding to the first position coordinate and the first path planning point, the first longitudinal distance is fed back, the first longitudinal distance is used for calculating a second longitudinal acceleration, the first longitudinal acceleration is calculated, the first longitudinal acceleration is converted into a parameter of an equivalent model of the vehicle, a first front wheel deflection angle is calculated according to the parameter, wherein the equivalent model of the vehicle comprises a plurality of parameters, and wherein the equivalent model of the vehicle comprises a plurality of parametersThe first longitudinal acceleration is related to the parameter by: a ═ d (vsin θ)v)/dt＝(vcosθvdθv)/dt＝v2cosθvtan theta/l, where thetavAnd if the included angle between the vehicle and the parking path is defined, and l is the vehicle wheelbase, the relationship between the deflection angle of the front wheel and the equivalent model parameter of the vehicle is as follows: theta-arctan ((al/v)2)/(cosθv) According to a first front wheel deflection angle, calculating a first steering angle of the steering wheel, and generating a first bus instruction, wherein the first bus instruction comprises: and the steering wheel has a first rotating angle, and executes a first parking action according to the first bus instruction.
And 204, determining that the execution of the first parking action is finished, acquiring a second position coordinate, calculating a second world coordinate corresponding to the second position coordinate, determining a second path planning point according to the parking path and the second world coordinate, and calculating a second error value of the second path planning point and the second world coordinate.
Optionally, after the first parking action is determined to be finished, obtaining the current position coordinate as a second position coordinate, calculating a second world coordinate according to the second position coordinate, determining a second projection point of the second world coordinate on the parking path, determining the second projection point as a second path planning point, determining a first straight line according to the second world coordinate and the second path planning point, making a tangent line of the second path planning point at the second path planning point along the parking path direction, determining the tangent line as a second straight line, determining an included angle between the first straight line and the second straight line as a second included angle, determining a second included angle of the second included angle, and calculating a second error value according to the second world coordinate, the second projection point and the second included angle, wherein (x) isA2，yA2) Representing second world coordinates, (x)C2，yC2) Representing the coordinates of the second path planning point, thetapath2And when the second angle is expressed, the formula for calculating the second error value Δ l2 according to the second world coordinate, the second path planning point coordinate and the second angle includes:
Optionally, a second error value is obtained, a first longitudinal distance is obtained, a second longitudinal acceleration is obtained by calculating according to the second error value and the first longitudinal distance, the second longitudinal acceleration is integrated with respect to time to obtain a second longitudinal velocity, the second longitudinal velocity is integrated with respect to time to obtain a second longitudinal distance, the second longitudinal distance is fed back, the second longitudinal distance is used for calculating a third longitudinal acceleration, the second longitudinal acceleration is calculated, the second longitudinal acceleration is converted into a parameter of a vehicle equivalent model, and a second front wheel deflection angle is calculated according to the parameter, where a relationship between the second longitudinal acceleration and the parameter is: a ═ d (v)2sinθv2)/dt＝(v2cosθv2dθv2)/dt＝v2 2cosθv2tanθ2L2, wherein θv2I.e. the angle of the vehicle to the parking path, l2 the wheel base of the vehicle, the front wheel deflection angle theta2The relationship with the vehicle equivalent model parameters is as follows: theta2＝arctan((a2l2/v2 2)/(cosθv2) According to the second front wheel deviation angle, calculating a second corner angle of the steering wheel, and generating a second bus instruction, wherein the second bus instruction comprises: and executing a second parking action according to a second bus instruction by using a second corner angle of the steering wheel.
It can be seen that, in the embodiment of the present application, a first position coordinate is obtained by receiving a setting instruction, environmental image data within a preset threshold range centered on the first position coordinate is collected, and a parking path is planned according to the environmental image data; executing a parking cycle until parking is completed, the parking cycle comprising: calculating a first world coordinate corresponding to the first position coordinate, determining a first path planning point according to the parking path and the first world coordinate, and calculating a first error value of the first path planning point and the first world coordinate; calculating to obtain a first longitudinal acceleration according to the first error value, calculating to obtain a first longitudinal distance, converting the first longitudinal acceleration into a first bus instruction, and executing a first parking action according to the first bus instruction; determining that the execution of the first parking action is finished, acquiring a second position coordinate, calculating a second world coordinate corresponding to the second position coordinate, determining a second path planning point according to the parking path and the second world coordinate, and calculating a second error value of the second path planning point and the second world coordinate; and calculating to obtain a second longitudinal acceleration according to the second error value and the first longitudinal distance, calculating to obtain a second longitudinal distance, converting the second longitudinal acceleration into a second bus instruction, executing a second parking action according to the second bus instruction, and forming a closed loop system by the feedback of the longitudinal distance to solve the problem of accumulated errors of the open loop control system, so that the position of the vehicle relative to a parking path is adjusted according to the real-time position in the parking process, the control precision of a steering wheel is improved, and the parking effect is improved.
Referring to fig. 3, fig. 3 is a block diagram of a closed-loop system of a vehicle closed-loop control system according to an embodiment of the present disclosure, and as shown in fig. 3, the vehicle closed-loop control system includes a path planning module 101, a dead reckoning module 102, a tracking error calculation module 103, a controller mathematical module 104, a vehicle equivalence module 105, a hardware response module 106, and an image module 107.
Optionally, the vehicle closed-loop control system includes a closed-loop, which is started from the beginning of the parking action to be executed until the end of the loop when the parking action is executed, where the closed-loop includes: image module 107 gathers the environmental image data within the preset threshold range with first position coordinate as the center, sends environmental image data to path planning module 103, and path planning module 101 receives environmental image data, judges whether there is a vacant parking stall in environmental image data, if yes, then carries out the path planning action, and wherein the path planning action includes: designing a parking path, sending the parking path to an error tracking module 103, acquiring a first position coordinate by a dead reckoning module 102, calculating a first world coordinate according to the first position coordinate, sending the first world coordinate to the error tracking module 103, receiving the first world coordinate and the parking path by the error tracking module 103, determining a first path planning point according to the first world coordinate and the parking path, calculating a first error value between the first path planning point and the first world coordinate, sending the first error value to a controller mathematical model 104, receiving the first error value by the controller mathematical model 104, calculating a first longitudinal acceleration according to the first error value, calculating according to the first longitudinal acceleration to obtain a first longitudinal distance, feeding back the first longitudinal distance, using the first longitudinal distance to calculate a second longitudinal acceleration, sending the first longitudinal acceleration to a vehicle equivalence module 105, the vehicle equivalence module 105 receives the first longitudinal acceleration, converts the first longitudinal acceleration into a first bus instruction, and sends the first bus instruction to the hardware response module 106, and the hardware response module 106 receives the first bus instruction and executes a first parking action according to the first bus instruction; after the first parking action is finished, the dead reckoning module 102 collects a second position coordinate of the vehicle, calculates a second world coordinate, sends the second world coordinate to the tracking error calculation module 103, the tracking error calculation module 103 receives the second world coordinate, calculates a second path planning point according to the parking path and the second world coordinate, calculates a second error value between the second path planning point and the second world coordinate, sends the second error value to the controller mathematical module 104, the controller mathematical module 104 calculates a second longitudinal acceleration according to the second error value and the first longitudinal acceleration, calculates a second longitudinal distance according to the second longitudinal acceleration, the second longitudinal distance is used for calculating a third longitudinal acceleration, sends the second longitudinal acceleration to the vehicle equivalence module 105, the vehicle equivalence module 105 converts the second longitudinal acceleration into a second bus instruction, and sends the second bus instruction to the hardware response module 106, the hardware response module 106 executes a second parking action according to the second bus command.
It can be seen that in the embodiment of the present application, the closed-loop control of vehicle parking is implemented by the path planning module 101, the dead reckoning module 102, the tracking error calculation module 103, the controller mathematical module 104, the vehicle equivalence module 105, the hardware response module 106, and the image module 107, so that the problem of accumulated errors in the open-loop control is avoided, and the parking effect is improved.
Referring to fig. 4, fig. 4 is a schematic diagram of an error value calculation method according to an embodiment of the present application, as shown in fig. 4, the method includes:
optionally, the position coordinates are obtained, and the world coordinates a corresponding to the position coordinates are calculated, wherein a (x) is usedA，yA) Representing world coordinate A, determining a projection point of the world coordinate A on the parking path, and determining the projection point as a path planning point C, wherein C (x) is usedC，yC) Representing a path planning point C, determining a first straight line according to a world coordinate A and the path planning point C, namely, a straight line determined by the world coordinate A and the path planning point C is a first straight line, drawing a tangent line of the path planning point at the path planning point C along the direction of a parking path, determining the tangent line as a second straight line, determining an included angle between the first straight line and the second straight line, and calculating an error value according to the world coordinate A, the path planning point C and the included angle, wherein thetapathRepresenting the angle of the included angle according to the world coordinate A, the path planning point C and the angle of the included angle thetapathThe calculation formula for calculating the first error value Δ l includes:
it can be seen that, in the embodiment of the present application, by obtaining the position coordinate, the world coordinate corresponding to the position coordinate is calculated, the path planning point is determined according to the world coordinate and the parking path, the error value between the world coordinate and the path planning point is calculated, the distance between the real-time position of the vehicle and the path planning point is represented by the error value, and the adjustment of the speed, the direction, and the direction angle of the vehicle parking according to the real-time position can be realized by the error value, so as to realize the real-time control of the vehicle.
Referring to fig. 5, fig. 5 is a schematic diagram of a method for calculating a deflection angle of a front wheel according to an embodiment of the present application, as shown in fig. 5, the method includes:
optionally, the longitudinal acceleration a is obtained, the longitudinal acceleration a is calculated, the parameter value of the vehicle equivalent model is calculated according to the longitudinal acceleration and a calculation formula of parameters of the vehicle equivalent model, the steering wheel angle is calculated according to the parameter value, the vehicle equivalent model includes a plurality of parameters, and a relationship between the first longitudinal acceleration and the parameters is as follows: a ═ d (vsin θ)v)/dt＝(vcosθvdθv)/dt＝v2cosθvtan theta/l, where thetavAnd if the included angle between the vehicle and the parking path is defined, and l is the vehicle wheelbase, the relationship between the deflection angle of the front wheel and the equivalent model parameter of the vehicle is as follows: theta-arctan ((al/v)2)/(cosθv))。
It can be seen that, in the embodiment of the application, the front wheel deflection angle is calculated according to the longitudinal acceleration, and the steering wheel rotation angle is calculated according to the front wheel deflection angle, so that the accurate control of the vehicle parking process is realized, the control precision of the steering wheel is improved, and the parking effect is improved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a vehicle control device 600 according to an embodiment of the present application, where the vehicle control device 600 includes a processor, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for performing the following steps:
receiving a setting instruction, acquiring a first position coordinate, acquiring environment image data within a preset threshold range with the first position coordinate as a center, and planning a parking path according to the environment image data;
executing a parking cycle until parking is completed, the parking cycle comprising:
calculating a first world coordinate corresponding to the first position coordinate, determining a first path planning point according to the parking path and the first world coordinate, and calculating a first error value of the first path planning point and the first world coordinate;
calculating to obtain a first longitudinal acceleration according to the first error value, calculating to obtain a first longitudinal distance, converting the first longitudinal acceleration into a first bus instruction, and executing a first parking action according to the first bus instruction;
determining that the execution of the first parking action is finished, acquiring a second position coordinate, calculating a second world coordinate corresponding to the second position coordinate, determining a second path planning point according to the parking path and the second world coordinate, and calculating a second error value of the second path planning point and the second world coordinate;
and calculating to obtain a second longitudinal acceleration according to the second error value and the first longitudinal distance, calculating to obtain a second longitudinal distance, converting the second longitudinal acceleration into a second bus instruction, and executing a second parking action according to the second bus instruction.
It can be seen that, in the embodiment of the present application, the vehicle control device first determines the first longitudinal acceleration and the first longitudinal distance, then performs the first parking action according to the first bus instruction by converting the first longitudinal acceleration into the first bus instruction, determines the second longitudinal acceleration and the second longitudinal distance according to the second position coordinate and the first longitudinal distance after the first parking action is finished, converts the second longitudinal acceleration into the second bus instruction, and finally performs the second parking action according to the second bus instruction. Therefore, errors generated when the vehicle executes the first parking action are prevented from being accumulated in the second parking action, namely, the generation of accumulated errors is avoided, and meanwhile, the parking parameters of the vehicle are updated according to the real-time position of the vehicle. Referring to fig. 7, fig. 7 is a flowchart illustrating a method for calculating an error value according to an embodiment of the present application, as shown in fig. 7, the method includes the following steps:
and 701, determining a projection point of the first world coordinate on the parking path, and determining the projection point as a first path planning point.
Optionally, a projection point of the first world coordinate on the parking path is obtained according to the first world coordinate and the parking path, and the projection point is determined to be a first path planning point corresponding to the first world coordinate.
Optionally, a straight line is determined according to the first world coordinate and the two coordinate points of the first path planning point, the straight line is determined to be the first straight line, a tangent is made at the first path planning point along the direction of the parking path, the tangent is determined to be the second straight line, and the included angle between the first straight line and the second straight line is calculated to be the first included angle.
And 703, calculating the Euclidean distance between the first path planning point and the first world coordinate, and calculating according to the first included angle and the Euclidean distance to obtain an error value.
Optionally, a first error value is calculated according to the first world coordinate, the first projection point and the first included angle, wherein (x)A，yA) Denotes first world coordinates, (x)C，yC) Representing first path planning point coordinates, thetapathIf the first angle is expressed, the formula for calculating the first error value Δ l according to the first world coordinate, the first projective point coordinate, and the first angle includes:
it can be seen that, in the embodiment of the present application, the first error value is calculated by the first world coordinate, the first path planning point coordinate and the first included angle, so that the real-time error between the vehicle and the parking path can be calculated, the distance between the vehicle and the parking path can be more accurately represented, and the adjustment of the parking angle of the vehicle according to the driving direction and the distance of the vehicle is facilitated.
Referring to fig. 8, fig. 8 is a simplified flowchart of a closed-loop control system according to an embodiment of the present disclosure, and as shown in fig. 8, the closed-loop control system includes:
optionalThe closed-loop control system is controlled by the longitudinal position l of the path planning pointrefThe distance l between the longitudinal position of the central point of the rear axle of the vehicle and the path planning pointpLongitudinal speed v of the centre point of the rear axle of the vehiclepAnd the longitudinal acceleration a is formed, wherein the error value is converted into the longitudinal acceleration a through a closed loop transfer function of a closed loop control system, and the longitudinal acceleration a obtains the longitudinal speed v of the central point of the rear axle of the vehicle through l/s integral operationpLongitudinal speed v of the center point of the rear axle of the vehiclepThe distance l between the longitudinal position of the central point of the rear axle of the vehicle and the path planning point is obtained through l/s integral operationpDistance l from the longitudinal position of the center point of the rear axle of the vehicle to the path planning pointpFeeding back to the closed loop transfer function to obtain an updated error value, a distance l between the longitudinal position of the central point of the rear axle of the vehicle and the path planning pointpAnd the longitudinal acceleration a is updated through a closed-loop transfer function together with the updated error value to form a closed-loop control system.
Further, the closed-loop control system includes a closed-loop transfer function derived from an open-loop transfer function, the open-loop transfer function including: gk(s)＝(k(s/ω1+1))/s2＝(kds+kp)/s2Wherein, ω is1Is the transition frequency, kpAs a proportional parameter, kdIs a differential parameter, and s ═ j ω ═ j2 π f, kd＝k/ω1，kpK, wherein the cut-off frequency ωcIs taken as the control frequency omegactrlOne tenth of the transition frequency ω1Is greater than the cut-off frequency omegacIs one fourth of the value of (a) and less than the cut-off frequency omegacIs one half of the value of (a), the differential parameter kdThe values of (A) include: control frequency omegactrlIs one tenth of the value of (a), namely kd＝ωctrl10, ratio parameter kpThe values of (A) include: control frequency omegactrlOne fourth of the calculation result obtained by performing the squaring operation, i.e. kp＝ωctrl 2And 400, calculating to obtain a closed loop transfer function according to the selection of the parameters and the open loop transfer function: gb(s)＝Gk(s)/(1+Gk(s))＝(kds+kp)/(s2+kds+kp) Wherein, as long as k is guaranteedd、kpIf the two are positive numbers, the pole of the closed-loop transfer function is necessarily positioned on the left half plane, and the stability of the whole closed-loop control system is ensured.
Embodiments of the present application also provide a computer storage medium for storing a computer program, the computer program being executed by a processor to implement part or all of the steps of any one of the methods as set forth in the above method embodiments, and the computer including a vehicle control device.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods as described in the above method embodiments. The computer program product may be a software installation package, the computer comprising a vehicle control device.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the above-described modules is merely a logical division, and other divisions may be realized in practice, for example, a plurality of modules 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 of devices or modules through some interfaces, and may be in an electrical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated modules, if implemented in the form of software functional modules and sold or used as separate products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above-mentioned method of the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash Memory disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific implementation and application scope, and in view of the above, the content of the present specification should not be construed as a limitation to the present application.
Claims (18)
1. A vehicle control system is characterized by comprising a path planning module, a dead reckoning module, a tracking error calculation module, a controller mathematical module, a vehicle equivalent module and a hardware response module;
the tracking error calculation module is used for determining a first path planning point according to the parking path and first world coordinates, and calculating a first error value of the first path planning point and the first world coordinates;
the controller mathematical module is used for calculating to obtain a first longitudinal acceleration according to the first error value, and calculating the first longitudinal acceleration to obtain a first longitudinal distance;
the vehicle equivalent module is used for converting the first longitudinal acceleration into a first bus instruction;
the hardware response module is used for executing a first parking action according to the first bus instruction;
the tracking error calculation module is further configured to determine a second path planning point according to the parking path and a second world coordinate, and calculate a second error value between the second path planning point and the second world coordinate;
the controller mathematical module is further configured to calculate a second longitudinal acceleration according to the second error value and the first longitudinal distance, and calculate a second longitudinal distance;
the vehicle equivalent module is further used for converting the second longitudinal acceleration into a second bus instruction;
and the hardware response module is also used for executing a second parking action according to the second bus instruction.
2. The vehicle control system of claim 1, further comprising an imaging module, wherein:
the image module is used for acquiring environment image data within a preset threshold range with the first position coordinate as a center and sending the environment image data to the path planning module;
and the path planning module is used for receiving the environment image data, judging whether the environment has empty parking spaces according to the environment image data, and executing a path planning action if the environment has empty parking spaces.
3. The vehicle control system of claim 1, wherein the tracking error calculation module is further configured to, in calculating a first path plan point from the parking path and the first world coordinate, calculate a first error value of the first path plan point and the first world coordinate:
determining a first projection point of the first world coordinate on the parking path, and determining the first projection point as the first path planning point;
determining a first straight line according to the first world coordinate and the first path planning point, drawing a tangent line along the direction of the parking path according to the first path planning point to obtain a second straight line, and determining a first included angle according to the first straight line and the second straight line;
and calculating according to the first world coordinate, the first path planning point and the first included angle to obtain the first error value.
4. The vehicle control system of claim 1, further configured to determine a second routing point from the parking path and second world coordinates, and to calculate a second error value between the second routing point and the second world coordinates, wherein the tracking error calculation module is specifically configured to:
determining a second projection point of the second world coordinate on the parking path, and determining the second projection point as the second path planning point;
determining a third straight line according to the second world coordinate and the second path planning point, making a tangent line along the direction of the parking path according to the first path planning point to obtain a fourth straight line, and determining a second included angle according to the third straight line and the fourth straight line;
and calculating according to the second world coordinate, the second path planning point and the second included angle to obtain the second error value.
5. The vehicle control system of claim 1, wherein the hardware response module comprises a hardware controller, wherein:
the hardware controller is used for controlling the vehicle to execute a first parking action according to the first bus instruction;
and the hardware controller is also used for controlling the vehicle to execute a second parking action according to the second bus instruction.
6. The vehicle control system of claim 1, wherein the controller math block is specifically configured to, in calculating the first longitudinal acceleration to yield a first longitudinal distance:
and carrying out integral operation on the first longitudinal acceleration to obtain a first longitudinal speed, and carrying out integral operation on the first longitudinal speed to obtain a first longitudinal distance.
7. The vehicle control system of claim 1, wherein in calculating the second longitudinal distance, the controller math module is specifically configured to:
and carrying out integral operation on the second longitudinal acceleration to obtain a second longitudinal speed, and carrying out integral operation on the second longitudinal speed to obtain a second longitudinal distance.
8. The vehicle control system of claim 1, wherein the controller mathematical model is further configured to:
controlling changes in controller parameters such that the vehicle control system is in a steady state, wherein the controller parameters include: low frequency band, middle frequency band, turning frequency omega1Controlling the frequency omegactrlCut-off frequency omegacProportional parameter kpAnd a differential parameter kdThe values of the low frequency band include: -40 db/decade, the values of the mid-band include: -20 db/decade of frequency multiplication, said cut-off frequency ωcThe values of (A) include: the control frequency omegactrlIs one tenth of the value of (c), the turning frequency ω1The values of (A) include: greater than said cut-off frequency ωcIs one fourth of the value of (a) and less than the cut-off frequency ωcIs one half of the value of (a), the differential parameter kdThe values of (A) include: the control frequency omegactrlIs one tenth of the value of (a), the ratio parameter kpThe values of (A) include: the control frequency omegactrlOne fourth of the calculation results obtained by performing the square operation.
9. The vehicle control system of claim 1, wherein the vehicle equivalence module, in converting the first longitudinal acceleration into a first bus command, is specifically configured to:
and carrying out inverse trigonometric operation on a first front wheel deflection angle according to the first longitudinal acceleration, carrying out operation according to the first front wheel deflection angle to obtain a first steering wheel rotation angle, and converting the first steering wheel rotation angle into the first bus instruction.
10. The vehicle control system of claim 1, further configured to convert the second longitudinal acceleration into a second bus command, the vehicle equivalence module being specifically configured to:
and carrying out reverse triangulation calculation on a second front wheel deflection angle according to the second longitudinal acceleration, carrying out reverse triangulation calculation on a second steering wheel corner angle according to the second front wheel deflection angle, and converting the second steering wheel corner angle into the second bus instruction.
11. A vehicle control method based on a proportional-derivative controller, comprising:
receiving a setting instruction, acquiring a first position coordinate, acquiring environment image data within a preset threshold range with the first position coordinate as a center, and planning a parking path according to the environment image data;
executing a parking cycle until parking is completed, the parking cycle comprising:
calculating a first world coordinate corresponding to the first position coordinate, determining a first path planning point according to the parking path and the first world coordinate, and calculating a first error value of the first path planning point and the first world coordinate;
calculating to obtain a first longitudinal acceleration according to the first error value, calculating to obtain a first longitudinal distance, converting the first longitudinal acceleration into a first bus instruction, and executing a first parking action according to the first bus instruction;
determining that the execution of the first parking action is finished, acquiring a second position coordinate, calculating a second world coordinate corresponding to the second position coordinate, determining a second path planning point according to the parking path and the second world coordinate, and calculating a second error value of the second path planning point and the second world coordinate;
and calculating to obtain a second longitudinal acceleration according to the second error value and the first longitudinal distance, calculating to obtain a second longitudinal distance, converting the second longitudinal acceleration into a second bus instruction, and executing a second parking action according to the second bus instruction.
12. The method of claim 11, wherein said calculating a first path plan point from said berthing path and said first world coordinates comprises:
and determining a first projection point of the first world coordinate on the parking path, and determining the first projection point as the first path planning point.
13. The method of claim 11, wherein said determining a second path plan point from said berthing path and said second world coordinates comprises:
and determining a second projection point of the second world coordinate on the parking path, and determining the second projection point as the second path planning point.
14. The method of claim 11, wherein said calculating the first longitudinal acceleration to obtain a first longitudinal distance comprises:
and carrying out integral operation on the first longitudinal acceleration to obtain a first longitudinal speed, and carrying out integral operation on the first longitudinal speed to obtain a first longitudinal distance.
15. The method of claim 11, wherein said calculating the second longitudinal acceleration results in a second longitudinal distance comprising:
and carrying out integral operation on the second longitudinal acceleration to obtain a second longitudinal speed, and carrying out integral operation on the second longitudinal speed to obtain a second longitudinal distance.
16. The method of claim 11, wherein calculating a first error value for the first routing point and the first world coordinate comprises:
determining a projection point of the first world coordinate on the parking path, and determining the projection point as the first path planning point;
determining a first straight line according to the first world coordinate and the first path planning point, drawing a tangent line along the direction of the parking path according to the first path planning point to obtain a second straight line, and determining a first included angle between the first straight line and the second straight line;
and calculating the Euclidean distance between the first path planning point and the first world coordinate, and calculating according to the first included angle and the Euclidean distance to obtain the first error value.
17. The method of claim 11, wherein calculating a second error value between the second path plan point and the second world coordinate comprises:
determining a second projection point of the second world coordinate on the parking path, and determining the second projection point as the second path planning point;
determining a third straight line according to the second world coordinate and the second path planning point, making a tangent line along the direction of the parking path according to the first path planning point to obtain a fourth straight line, and determining a second included angle according to the third straight line and the fourth straight line;
and calculating according to the second world coordinate, the second path planning point and the second included angle to obtain the second error value.
18. A vehicle control apparatus, comprising a processor and a memory for storing one or more programs configured for execution by the processor, the programs comprising instructions for performing the steps of the method of any of claims 11-17.
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| CN112363511A (en) * | 2020-11-23 | 2021-02-12 | 上海欧菲智能车联科技有限公司 | Vehicle path planning method and device, vehicle-mounted device and storage medium |
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| CN106950953A (en) * | 2017-03-13 | 2017-07-14 | 江苏大学 | A kind of automatic parking path trace and vehicle control system and method |
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| CN112092804A (en) * | 2020-11-02 | 2020-12-18 | 天津天瞳威势电子科技有限公司 | Automatic parking method and system |
| CN112363511A (en) * | 2020-11-23 | 2021-02-12 | 上海欧菲智能车联科技有限公司 | Vehicle path planning method and device, vehicle-mounted device and storage medium |
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