The invention belongs to the technical field of unmanned parking planning in mining areas, and particularly discloses a parking planning method for a four-wheel steering vehicle in a mining area, which comprises the following steps: selecting a proper parking posture according to the initial position and initial orientation of a driving-in point, two parking poses with the same vehicle position and different vehicle orientations are selected; according to different drive-in points and different curvature radiuses, according to three reversing modes of front wheel steering, rear wheel steering and four-wheel steering, using a reeds-shear curve to generate a plurality of paths as an alternative set; establishing an evaluation function for calculating the cost value of each parking path adopted by the vehicle, and selecting the optimal path with the lowest cost value in the alternative set; according to the parking planning method disclosed by the invention, the occurrence of'reversing path switching 'is avoided; and the dynamic performance of the four-wheel steering vehicle is fully exerted.

    本发明属于矿区无人驾驶泊车规划技术领域,具体公开了一种用于矿区四轮转向车辆的泊车规划方法,根据驶入点的初始位置和初始朝向选取合适的停靠位姿,停靠位姿的参数包括车辆位置和车辆朝向,并选取具有相同车辆位置和不同车辆朝向的两种停靠位姿;根据不同驶入点以及不同曲率半径,按照前轮转向、后轮转向和四轮转向的三种倒车模式使用reeds‑sheep曲线生成多条路径作为备选集合;建立评价函数用于计算车辆采用每个泊车路径的代价值,选取备选集合中代价值最低的最优路径;以便车辆更够根据初始位置和最终位置进行选择,本发明的泊车规划方法避免“倒车切换路径”出现;充分发挥了四轮转向车辆的动力学性能。


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    Titel :

    Parking planning method for four-wheel steering vehicle in mining area


    Weitere Titelangaben:

    一种用于矿区四轮转向车辆的泊车规划方法


    Beteiligte:
    DUAN XINGJI (Autor:in) / HU RUI (Autor:in) / HAN JUNRU (Autor:in) / CHEN JIANGSONG (Autor:in) / CAO ZENG (Autor:in)

    Erscheinungsdatum :

    2023-03-24


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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