The invention discloses a trailer tractor parking path planning method based on a Hybrid A * algorithm, and the method comprises the steps: firstly building a kinematic model of a trailer tractor, and describing an abstract motion state as specific data; and then, based on a Hybrid A * algorithm, substituting the kinematic model of the trailer tractor to perform node updating, setting a reasonable evaluation function to screen an optimal driving node, and solving a parking path conforming to the kinematics of the trailer tractor. According to the method disclosed by the invention, a parking path conforming to the kinematics of the trailer tractor can be quickly planned at any pose of the trailer tractor, and the parking efficiency and accuracy are improved.

    本发明公开了一种基于Hybrid A*算法的拖挂牵引车泊车路径规划方法,首先搭建拖挂牵引车运动学模型,将抽象的运动状态描述成具体的数据;然后基于HybridA*算法,带入拖挂牵引车运动学模型进行节点更新,设定合理的估价函数筛选最佳行驶节点,求解符合拖挂牵引车运动学泊车路径。本发明方法可以使拖挂牵引车在任意位姿快速规划出一条符合拖挂牵引车运动学的泊车路径,提高了泊车的效率和准确度。


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    Title :

    Trailed tractor parking path planning method based on Hybrid A* algorithm


    Additional title:

    一种基于HybridA*算法的拖挂牵引车泊车路径规划方法


    Contributors:
    REN TIAN (author) / YAN MENGNA (author) / NI HAIYAN (author) / HAN TIAOTIAO (author) / DONG XIN (author) / LI LIRU (author) / KOU YIXIANG (author)

    Publication date :

    2022-11-08


    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 / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung