The invention relates to an automatic parking path planning method and device and self-moving equipment, and the method comprises the steps: obtaining the width of a road, the position information of an intelligent vehicle and a parking space, building a local coordinate system according to the parking space, determining a preposed geometric condition and an optimization variable according to a preset optimization target, and carrying out the optimization of the preposed geometric condition. And determining a key position coordinate according to the preposed geometric condition, the optimization variable and the coordinate system, determining a constraint condition according to the optimization target and the key position coordinate, obtaining an optimization model according to the constraint condition, and solving a parking path according to the optimization model. According to the method, the planned path is composed of three arcs and one straight line segment, the space requirement for a parking scene is lowered, and the path generation success rate of the intelligent vehicle in the narrow space is increased. In the problem model established by the invention, the model ensures that only one path is generated according to a solving result in any scene with a solution, and the path is an optimal solution occupying the minimum road space under the constraint of the target parking space and kinematics.
本申请涉及一种自动泊车路径规划方法、装置及自移动设备,该方法包括通过获取道路宽度、智能车辆位置信息和泊车位,根据泊车位建立局部坐标系,根据预设的优化目标确定前置几何条件和优化变量,根据前置几何条件、优化变量和坐标系确定关键位置坐标,根据优化目标和关键位置坐标确定约束条件,根据约束条件得到优化模型,并根据优化模型求解泊车路径。该方法中的规划路径由三段圆弧加一段直线段构成,降低了对泊车场景的空间要求,提高了智能车辆在狭隘空间下路径生成的成功率。本申请建立的问题模型中,该模型在任何有解的场景里,求解结果保证只生成一条路径,该路径是在目标车位和运动学约束下的占用道路空间最小的最优解。
Automatic parking path planning method and device and self-moving equipment
自动泊车路径规划方法、装置及自移动设备
2022-11-18
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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