A path planning method for autonomous parking in vertical and diagonal parking spaces is disclosed, including the following steps: processing, after a parking space is found, initially detected obstacle information based on input of an ultrasonic wave and a camera to obtain four point coordinates of a quadrilateral parking space and a target parking position; establishing, based on Ackerman steering principle, a vehicle dynamics model to obtain a minimum turning radius Rmin of a vehicle, the path planning taking R = Rmin + Rmargin with Rmargin being a calibration value; activating, in a case that the vehicle arrives at a stopping point, a path planning system, and performing path planning and path tracking; calculating, according to the initially detected information and an attitude of the vehicle, a back-in path using a geometric method; and identifying a final back-in stage, updating the target parking position according to real-time detected information, and starting real-time planning. By establishing a vehicle dynamics model and real-time path planning, the parking success rate and parking accuracy are improved, and parking time is saved.
PATH PLANNING METHOD AND DEVICE FOR AUTONOMOUS PARKING OF VERTICAL AND DIAGONAL PARKING SPACES
WEGPLANUNGSVERFAHREN UND VORRICHTUNG ZUM AUTONOMEN EINPARKEN VON VERTIKALEN UND DIAGONALEN PARKLÜCKEN
PROCÉDÉ ET DISPOSITIF DE PLANIFICATION DE TRAJECTOIRE À DES FINS DE STATIONNEMENT AUTONOME D'EMPLACEMENTS DE STATIONNEMENT VERTICAUX ET DIAGONAUX
11.12.2024
Patent
Elektronische Ressource
Englisch
IPC: | G06V / 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 |
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