The invention discloses an automatic parking path planning method based on a B spline theory. The method comprises the following steps: determining a specific position and an azimuth angle of a vehicle by utilizing a sensor mounted on a vehicle body; simplifying the vehicle and a parking space into a rectangle ABCD and a rectangle abcd according to the outlines of the vehicle and the parking spacerespectively, and analyzing possible collision points, wherein the planned parking path must can be accurately executed by an actuating mechanism of a subsequent vehicle; according to actual parkingprocess analysis, enabling the overall moving track of the vehicle to be a curve connecting the starting position and the end position of parking, wherein different sizes of parking spaces have curves in different shapes. On the premise that parking safety is guaranteed, the method can adapt to a narrow parking space and can better adapt to a complex parking environment; the planned parking pathis continuous, the influence of unsmooth curvature of the planned parking path is overcome, the problem that the turning amplitude of a steering wheel is too large is avoided, the vehicle moves more gently, and the driving and riding experience is improved.
本发明公开了一种基于B样条理论的自动泊车路径规划方法,利用车身上安装的传感器来确定车辆的具体位置和车辆的方位角;根据车辆及车位外形轮廓,将车辆及车位分别简化为矩形ABCD和矩形abcd,对可能存在的碰撞点进行分析;所规划的泊车路径必须保证后续车辆的执行机构能精确执行;根据实际的泊车过程分析,车辆整体的运行轨迹为连接泊车始末位置的一条曲线,车位大小的不同,曲线的形状亦存在差异;本发明在保证泊车安全的前提下,能适应狭窄的泊车位,更能适应复杂的泊车环境;所规划的泊车路径连续且克服了规划的泊车路径曲率不平滑的影响,避免方向盘转向幅度过大的问题,使车辆运动更平缓,提升驾乘体验。
Automatic parking path planning method based on B spline theory
一种基于B样条理论的自动泊车路径规划方法
2020-04-17
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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