The invention relates to an obstacle avoidance method for automatic parking path planning. The obstacle avoidance method comprises the steps: planning a parking path track according to the initial position of a vehicle, parking spaces and obstacle information; selecting a plurality of nodes on the parking path track according to a preset step length, and determining poses corresponding to the nodes; according to the pose corresponding to each node, fitting the vehicle contour to each node in sequence; establishing a coordinate system, judging whether a vehicle contour which is overlapped withthe projection of the obstacle in an X-axis direction and a Y-axis direction exists or not, if so, considering that the parking path track is unqualified, and re-planning the parking path; otherwise,determining that the parking path track is qualified. According to the method, obstacle collision detection is carried out on the parking path track planned by taking the midpoint of the rear axle ofthe vehicle as a mass point, so that the collision risk in the parking process is avoided, and the parking success rate is increased to a certain extent; meanwhile, computing resources are not increased, and the method has important practical value.
本发明涉及一种自动泊车路径规划的避障方法,包括:根据车辆初始位置、停车位以及障碍物信息规划泊车路径轨迹;在泊车路径轨迹上根据预设步长选取若干节点,确定各节点对应的位姿;根据各节点对应的位姿,将车辆轮廓依次拟合至各节点上;建立坐标系,判断是否存在与障碍物在X轴方向以及Y轴方向均发生投影重叠的车辆轮廓,若是,则认为泊车路径轨迹不合格,重新规划泊车路径;否则,认为泊车路径轨迹合格。该方法对以车辆后轴中点为质点规划的泊车路径轨迹进行了障碍物碰撞检测,避免了泊车过程中发生碰撞风险,一定程度增加了泊车成功率,同时也不会增加计算资源,具有重要的实用价值。
Obstacle avoidance method for automatic parking path planning and parking path planning system
一种自动泊车路径规划的避障方法及泊车路径规划系统
2020-09-18
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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