The invention discloses a heuristic automatic parking method and device for an unmanned vehicle. The heuristic automatic parking method comprises the steps that a vehicle pose state set is constructed; a multi-resolution state conversion rule set is constructed; a heuristic function and an estimation function for parking path search is constructed; and on the basis of the constructed heuristic function and estimation function, heuristic automatic parking path search based on an A * algorithm is carried out according to the state conversion rule set, and an automatic parking path meeting preset requirements is found for the vehicle. According to the method, automatic parking path planning can be realized, and the method is suitable for rapid and accurate automatic parking path planning under any initial pose state, target pose state and boundary constraint conditions of the vehicle.
本发明公开了一种无人车启发式自动泊车方法及装置,该方法包括:构建车辆位姿状态集;构建多分辨率的状态转换规则集;构建用于泊车路径搜索的启发函数和估计函数;基于构建的启发函数和估计函数,根据状态转换规则集,进行基于A*算法的启发式自动泊车路径搜索,为车辆找出符合预设要求的自动泊车路径。本发明能够实现自动泊车路径规划,而且适用于在车辆任意初始位姿状态、目标位姿状态和任意边界约束条件下的快速准确的自动泊车路径规划。
Heuristic automatic parking method and device for unmanned vehicle
一种无人车启发式自动泊车方法及装置
23.07.2021
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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