The invention discloses an automatic vertical parking track planning method, which comprises the following steps of: 1, reading the length and width of a to-be-carried vehicle, establishing a vehicle kinematic model in a coordinate system, and detecting the position of the vehicle in the coordinate system by a parking robot through a sensor mounted on the parking robot; 2, the parking starting position and the target position are read, and the movement speed and the acceleration and deceleration speed are set; 3, the turning radius and related parameters are calculated, and parking robot path planning is obtained; according to the model in the first step, the steering characteristics of the automobile are obtained, and vertical parking track planning is decomposed into linear arc path planning and speed planning. According to the method, vertical parking can be effectively and safely completed according to the target position and the initial position, the vertical parking track planning problem of the parking robot is decomposed into path planning and speed planning, planning is completed by adopting a linear arc strategy and a trapezoidal speed method, and the path planning and the speed planning are organically combined; and the parking robot can be effectively and safely parked vertically.

    本发明公开了一种自动垂直泊车轨迹规划方法,步骤1:读取所要搬运车辆的车长车宽,在坐标系中建立车辆运动学模型,停车机器人通过安装在身上的传感器检测汽车在坐标系中的位置;步骤2:读取停车起始与目标位置,设定运动速度和加减速度;步骤3:计算转弯半径及相关参数,获得停车机器人路径规划;根据步骤1中的模型,获取汽车的转向特性,将垂直泊车轨迹规划分解为直线圆弧路径规划和速度规划。本发明能有效安全地根据目标位置和起始位置完成垂直泊车,本发明将停车机器人垂直泊车轨迹规划问题分解为路径规划和速度规划,并分别采用直线圆弧策略和梯形速度法完成规划,将两者有机结合,可使停车机器人实现有效、安全地垂直泊车。


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    Title :

    Automatic vertical parking trajectory planning method


    Additional title:

    一种自动垂直泊车轨迹规划方法


    Contributors:
    WANG WEI (author) / ZHANG ZITONG (author) / SU PENGFEI (author) / WANG CHUNZHENG (author) / LI NING (author) / ZHANG YINHUA (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




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