The invention aims to provide an all-wheel steering vehicle parallel parking path planning method considering positioning uncertainty, and the method comprises the steps: employing an inertial navigation system to collect the real-time coordinate information of a vehicle, employing a gyroscope sensor to obtain course angle data, calculating a localizability evaluation value through a maximum likelihood estimation method, carrying out the normalization smoothing, and carrying out the calculation of the localizability evaluation value. Constructing a localizable map; according to the method, environment information is converted into grid map representation, boundaries of a map and obstacles of the map are set, a heuristic cost function of an optimized node is adopted to guide path planning to avoid an area with a low localizability value according to a localizability evaluation value obtained after smooth normalization of the map, then a path is subjected to smooth processing, and the localizability of the path is improved. Therefore, a parking path planning task is completed.
本发明的目的在于提供一种考虑定位不确定的全轮转向车辆平行泊车路径规划方法,采用惯性导航系统采集车辆的实时坐标信息,陀螺仪传感器获取的航向角数据,通过极大似然估计方法,计算可定位性评价值,并进行归一平滑化,构建可定位性地图;将环境信息转化为栅格地图表示,对地图的边界以及地图的障碍物进行设置,根据地图平滑归一后的可定位性评价值,采用优化节点的启发式成本函数,以引导路径规划避开可定位性值低的区域,再对路径进行平滑处理,以完成泊车路径规划任务。
All-wheel steering vehicle parallel parking path planning method considering positioning uncertainty
考虑定位不确定的全轮转向车辆平行泊车路径规划方法
2023-11-03
Patent
Elektronische Ressource
Chinesisch
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