The invention relates to the field of parking, in particular to an automatic parking path planning method based on beetle beetle search, and the method comprises the following steps: 1, obtaining the current position of a vehicle, the position of an unoccupied parking space, and the position of a real-time obstacle in a basement; step 2, acquiring a driving path from the current position to the unoccupied berth position; 3, obtaining a fitness function of a longhorn beetle left beard and a fitness function of a longhorn beetle right beard of the path node through a longhorn beetle algorithm; 4, sequentially determining each path node in the vehicle driving path in the searching process, and judging whether the position of the vehicle and the driving path are in the effective area or not; according to the method, the path of the vehicle from the current position to the unoccupied parking position is searched by adopting the beetle antennae algorithm, and the driving path of the vehicle from the current position to the unoccupied parking position is obtained, so that the length of the driving path of the vehicle is obviously superior to that of a conventional method at the same time.
本发明涉及泊车领域,具体是一种基于天牛须搜索的自动泊车路径规划方法,该方法包括以下步骤:步骤一:获取车辆的当前位置、空余泊位位置以及地库中实时障碍物位置;步骤二:获取从当前位置到空余泊位位置的行驶路径;步骤三:通过天牛须算法获取路径节点的天牛左须的适应度函数和天牛右须的适应度函数;步骤四:在搜索过程中依次确定车辆行驶路径中的每一个路径节点,并判断车辆的位置和行驶路径在不在有效区域;本发明通过采用天牛须算法对车辆从当前位置到空余泊位位置的路径进行搜索,获取从当前位置到空余泊位位置的行驶路径,使得车辆行驶的路径在长度上与以往的方法在相同的时间下相比有明显优势。
Automatic parking path planning method based on beetle antennae search
一种基于天牛须搜索的自动泊车路径规划方法
2022-07-29
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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