According to the method, the complex, changing and narrow environment is automatically recognized without human intervention, the parking mode with the simplest route, feasible vehicle conditions and comfortable passengers is calculated, and automatic parking is achieved; a current parking environment is collected and input into a system, a corresponding sensor is matched with an accurate positioning system to draw a parking environment map, more environmental factors are comprehensively considered, and automatic parking is achieved in the environment with narrow space, complex environment and moving objects. An actual parking environment is converted into a model map in the system, an automatic parking path is planned according to calculation, a parking line with high difficulty can be designed in a complex and narrow environment, and the problem that automatic parking cannot be started when the difficulty is high is solved; the parking system is controlled in combination with a PID optimization control strategy, parking is carried out under the conditions of no obstacle, obstacle and the like according to the calculated track, and compared with the prior art, the adaptive capacity to the environment is higher, the efficiency of automatic parking is higher, and the experience is better.

    本申请在完全没有人为干预下自动对复杂、变化、狭小环境进行识别,计算线路最简、车况可行、乘客舒适的泊车方式并自动泊车;将当前泊车环境收集录入系统,对应传感器配合精确定位系统绘制泊车环境图,将更多环境因素综合考虑,在空间狭小、环境复杂、存在运动物体的环境中实现自动泊车;将实际泊车环境转换为系统中的模型地图,根据计算规划自动泊车的路径,能够在复杂狭小环境中设计出难度较高的泊车线路,不会出现在难度较高时自动泊车无法启动的问题;联合PID优化控制策略对泊车系统进行控制,按照计算好的轨迹在无障碍、有障碍等多种情形下泊车,相比现有技术对环境的适应能力更强,自动泊车的效率更高,体验更好。


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    Title :

    Auxiliary driving multi-environment intelligent parking path planning control method


    Additional title:

    辅助驾驶多环境智慧泊车路径规划控制方法


    Contributors:
    YANG CHUNPING (author) / CHEN XIN (author)

    Publication date :

    2022-07-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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