The invention discloses an autonomous parking trajectory planning method suitable for multiple scenarios. The autonomous parking trajectory planning method comprises the steps of (1) building a parking map; (2) determining a current vehicle position and a target parking location; (3) determining physical parameters of a vehicle and initializing a virtual protection box expansion coefficient of thevehicle; (4) expressing a kinematic differential equation of the vehicle as a vehicle motion state constraint; (5) establishing a vehicle and obstacle collision avoidance constraint by using a virtual protection frame and the virtual protection box expansion coefficient; (6) establishing state variable and input variable constraints; (7) determining an optimization objective and building an optimization problem; (8) solving the optimization problem by a solver and obtaining an alternative autonomous parking trajectory; and (9) recalculating the virtual protection box expansion coefficient, obtaining the final autonomous parking trajectory if the parking condition is met, or else, updating the virtual protection box expansion coefficient and repeating the steps (4) to (8). By using the autonomous parking trajectory planning method, a collision-free parking trajectory can be planned in multiple scenarios.
本发明公开了一种适用于多场景的自主泊车轨迹规划方法,包括:(1)构建泊车地图;(2)确定车辆当前位置和目标车位位置;(3)确定车辆物理参数,初始化车辆的虚拟保护框膨胀系数;(4)将车辆运动学微分方程表示为车辆运动状态约束;(5)使用虚拟保护框和虚拟保护框膨胀系数建立车辆与障碍物避免碰撞约束;(6)建立状态变量和输入变量约束;(7)确定优化目标,建立优化问题;(8)求解器求解优化问题,获得备选的自主泊车轨迹;(9)重新计算虚拟保护框膨胀系数,若满足停止条件,获得最终自主泊车轨迹,否则更新虚拟保护框膨胀系数,重复步骤(4)到步骤(8)。利用本发明,可以在多种场景下规划出无碰撞的泊车轨迹。
Autonomous parking trajectory planning method suitable for multiple scenarios
一种适用于多场景的自主泊车轨迹规划方法
2020-05-01
Patent
Elektronische Ressource
Chinesisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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