The invention discloses a path planning method for autonomous parking at a vertical and inclined parking space, and the method comprises the steps: processing the initially detected obstacle information based on the input of ultrasonic waves and a camera after a parking space is found, and obtaining the coordinates of four points of the quadrilateral parking space and a target parking position; a vehicle dynamics model is established by utilizing the Ackerman steering principle, the minimum turning radius Rmin of the vehicle is obtained, path planning is carried out according to the formula that R = Rmin + Rmargin, and Rmargin is a calibration value; when the vehicle arrives at the stop point, activating a path planning system to perform path planning and path tracking; according to the initially detected information and the posture of the vehicle, a geometric method is used for calculating an in-out path; and the last step of garage entering stage is recognized, the target parking position is updated according to the real-time detection information, and real-time planning is started. According to the invention, the parking success rate and the parking precision are improved and the parking time is saved by establishing the vehicle dynamics model and planning the path in real time.
本发明公开了一种垂直与斜列车位自主泊车的路径规划方法,找到车位之后,基于超声波和摄像头的输入,对初始探测的障碍物信息进行处理,得出四边形车位的4个点坐标和目标停车位置;利用阿克曼转向原理建立车辆动力学模型,得出车辆最小转弯半径Rmin,路径规划以R=Rmin+Rmargin,其中Rmargin为标定值;车辆到达停止点,激活路径规划系统,进行路径规划以及路径跟踪;根据初始探测的信息和本车姿态,使用几何方法计算出入库路径;识别出最后一步入库阶段,根据实时的探测信息,更新目标停车位置,开启实时规划。本发明通过建立车辆动力学模型,实时路径规划,提升泊车成功率以及泊车精度,同时节省泊车时间。
Path planning method and device for autonomous parking at vertical and inclined train positions
垂直与斜列车位自主泊车的路径规划方法及装置
2022-09-16
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
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