The invention relates to a narrow vertical parking path planning method. The method comprises the following steps: 1 determining an end point position, planning from the end point position to the outside of a parking space, and determining to execute primary maneuvering parking or secondary maneuvering parking or tertiary maneuvering parking in the parking process according to the width of a parking space corridor and the current position of a vehicle; 2 determining a target line at an initial parking position; 3 after target line setting is determined, selecting a target line from the currentposition, and planning a path to reach the initial parking position; and 4 when reaching the initial parking position, following the planned path. The minimum corridor width capable of being executedby primary maneuvering parking, secondary maneuvering parking and tertiary maneuvering parking can be determined according to the parking space parameters and the vehicle parameters, and the method can adapt to more variable traffic conditions such as narrow parking spaces and narrow parking corridor spaces. A personified parking path planning mode is provided, and if a driver rides the vehicle,the psychological acceptance ability of the driver can be met.
本发明是一种狭小垂直泊车路径规划方法。包括以下步骤:步骤一、终点位置确定,并从终点位置到车位外进行规划,根据车位走廊的宽度及车辆当前的位置来确定在停车过程中执行一次机动停车或二次机动停车或三次机动停车;步骤二、起始停车位置确定目标线;步骤三、确定目标线设置后,从当前位置选择目标线,并规划路径到达起始停车位置;步骤四、到达起始停车位置时,跟随规划路径。本发明可根据泊车位参数和车辆参数确定一次机动停车、两次机动停车和三次机动停车可执行的最小走廊宽度,能够为更加多变的交通情况适应,如车位狭小与停车走廊空间狭小的情况。具有拟人化的泊车路径规划方式,若乘坐驾驶员,能够满足驾驶员的心理接受能力。
Narrow vertical parking path planning method
一种狭小垂直泊车路径规划方法
2021-01-05
Patent
Electronic Resource
Chinese
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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