The invention discloses an automatic parking track planning method for a narrow vertical parking space and electronic equipment, and the method comprises the following steps: delimiting an initial range capable of taking over a vehicle to complete automatic parking according to vehicle sensing information; establishing a coordinate system according to the relative position between the vehicle and the parking space, and importing a parameter model of the surrounding environment of the vehicle; a first section of trajectory planning is completed based on a quintic polynomial, so that the vehicle runs to a position where the vehicle can be parked once; the second section of track planning and the third section of planning are completed in sequence based on a geometric method and a cubic polynomial coupling mode, so that the vehicle can be parked in the parking space from the position where the vehicle can be parked at a time, and finally the vehicle is parked in the middle of the parking space; and finally, outputting the calculated trajectory information in the form of a matrix to provide data for vehicle control. Multiple times of front-back moving and gear switching are avoided, the parking track of the channel space in front of the parking space is saved to the maximum degree, and meanwhile the requirement for comfort in the wide parking process in the narrow parking lot environment is met.
本发明公开了一种针对狭窄垂直车位的自动泊车轨迹规划方法及电子设备,包括如下步骤:根据车辆感知信息,划定能够接管车辆完成自动泊车的初始范围;根据车辆与车位之间的相对位置,建立坐标系,导入车辆周围环境的参数模型;基于五次多项式完成第一段轨迹规划,使得车辆行驶至能够一次泊入的位置;基于几何法和三次多项式耦合的方式依次完成第二段轨迹规划和第三段规划,使得车辆由能够一次泊入的位置一次泊入车位,再最终停在车位正中间的位置;最后将计算得到的轨迹信息以矩阵的形式输出,为车辆的控制提供数据。避免多次前后腾挪和档位切换,最大程度节约车位前通道空间的泊车轨迹,同时满足狭窄停车场环境下杜宇泊车过程舒适度的要求。
Automatic parking track planning method for narrow vertical parking space and electronic equipment
针对狭窄垂直车位的自动泊车轨迹规划方法及电子设备
2022-12-20
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 |
Europäisches Patentamt | 2023
|Parking space searching method for automatic parking and electronic equipment
Europäisches Patentamt | 2023
|Europäisches Patentamt | 2015
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