The invention relates to the field of intelligent automobiles, in particular to an automatic parking track planning method based on a vehicle kinematic model, which comprises the following steps of: receiving vehicle positioning information and target parking space position information through a combined positioning device, acquiring surrounding obstacle information through a forward camera, a millimeter-wave radar and an ultrasonic radar; and obtaining the corner point information of the parking space through the look-around sensing module. A vehicle carries out parking path planning according to the current posture, parking space information and lane width information, according to different parking space types, parking space information constraints, road width constraints and a vehicle kinematic model, a one-time vertical parking planning method, a multi-section type vertical parking planning method and a pouring type parallel parking planning method are designed, and after planning succeeds, the vehicle can be parked according to the parking space types, the parking space information constraints, the road width constraints and the vehicle kinematic model. And the track control point is sent to a vehicle-mounted controller, and the vehicle-mounted controller controls the vehicle to be parked in the target parking space. Compared with the prior art, the method has the advantages of being high in parameter adjusting capacity, good in algorithm real-time performance and the like.
本发明涉及智能汽车领域,尤其是涉及一种基于车辆运动学模型的自动泊车轨迹规划方法,本发明通过组合定位装置接收车辆定位信息以及目标库位位置信息,通过前向摄像头、毫米波雷达以及超声波雷达获取周围障碍物信息,通过环视感知模块获取库位角点信息。车辆将根据当前姿态、库位信息以及车道宽度信息进行泊车路径规划,根据不同的库位类型、库位信息约束、道路宽度约束以及车辆运动学模型,设计了一次垂直泊车规划、多段式垂直泊车规划以及倒入式平行泊车规划方法,规划成功后,将轨迹控制点发送给车载控制器,车载控制器控制车辆泊入目标库位。与现有技术相比,本发明具有参数调整能力强、算法实时性好等优点。
Automatic parking trajectory planning method based on vehicle kinematic model
一种基于车辆运动学模型的自动泊车轨迹规划方法
2022-05-24
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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