The invention provides a target position mirroring automatic parking method and device, and the method comprises the steps: firstly carrying out the environment sensing of an intelligent vehicle through a sensing device, and collecting the position of a parking line, the boundary of a road, and other information; then considering the characteristics of different parking scenes, applying constraints to the intelligent vehicle based on target accessibility and collision avoidance, determining the position of a mirror image line in combination with the preference of a driver, further realizing mirroring of a parking target and a parking planning path, and converting reverse and forward path planning of traditional parking into one-way path planning; and finally, making an automatic parking behavior decision to realize automatic parking. One-way path planning is realized through the mirroring target position, the range and the solution space of a speed planning domain are reduced, the calculation load is reduced, the automatic parking efficiency is improved, and the space range of forward path planning is expanded, so that the parking success rate of an intelligent vehicle in a narrow space is improved; and the adaptability of the automatic parking system to a real parking full scene is improved.
本发明提出一种目标位置镜像的自动泊车方法及装置,首先利用感知设备进行智能车辆的环境感知,采集泊车线位置、道路边界等信息;之后考虑不同泊车场景的特点,基于目标可达性和避免碰撞性,为智能车辆施加约束,结合驾驶人偏好确定镜像线的位置,进而实现泊车目标和泊车规划路径的镜像化,将传统泊车的逆向和正向路径规划转变为单向路径规划;最后进行自动泊车行为决策,实现自动泊车。本发明通过镜像目标位置实现单向路径规划,缩小速度规划域的范围和解空间,降低计算负荷,提高自动泊车效率,扩大正向路径规划的空间范围,进而提高智能车辆在狭窄空间中的泊车成功率,以及自动泊车系统对现实泊车全场景的适应性。
Target position mirroring automatic parking method and device
一种目标位置镜像的自动泊车方法及装置
02.08.2024
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 |
Survey of Target Parking Position Designation for Automatic Parking Systems
Springer Verlag | 2023
|PARKING POSITION INFORMATION ACQUISITION DEVICE AND AUTOMATIC PARKING CONTROLLER
Europäisches Patentamt | 2019
|Europäisches Patentamt | 2018
|Europäisches Patentamt | 2022
|