公开(公告)号：EP4159569A1

公开(公告)日：2023-04-05

申请号：EP22198733.2

申请日：2022-09-29

申请人： ZF Commercial Vehicle Systems (Qingdao) Co., Ltd.

发明人： Shi, Qinglan

IPC分类号： B60W30/18 ,  B60W30/182 ,  B60W30/06 ,  B60W30/17 ,  B60W10/02 ,  B60W10/184 ,  B60W30/14 ,  B60W50/00

摘要： The present invention discloses a control method and a system for fixed-point parking in autonomous driving, relating to the technical field of automobile intelligent driving, the control method comprising the steps of: determining a target parking spot, and automatically generating target track points, an estimated braking distance, and an estimated coasting distance; calculating the longitudinal distance between the current position and the target end point according to the target track points and the current control deviation; collecting real-time vehicle driving information, and calculating current vehicle speed, slope, and vehicle braking response time information; updating the longitudinal distance at a fixed frequency according to the longitudinal distance to the target end point and the real-time vehicle speed; on the basis of control state decision logic, performing real-time estimation of the distance to the target parking point to determine the vehicle control state. The control system comprises a vehicle information collection module, a position estimation module, and a control state decision module, and, by adopting the above-described control method, it can park a vehicle at a fixed point with high precision in the process of autonomous driving or assisted driving, while ensuring driving comfort.