The invention discloses a parking track planning method and device for a four-wheel independent steering vehicle, and the method comprises the steps: S1, obtaining a grid map of a vehicle initial position, a target parking position and a parking scene, taking the target parking position as a search starting point, taking the vehicle initial position as an end point, carrying out the global path planning through an improved mixed A * algorithm, and obtaining a parking track; obtaining an original global path; the improved mixed A * algorithm comprises a sub-node expansion step, and the sub-node expansion step adopts a preset sub-node expansion mode corresponding to a vehicle movement mode; and S2, segmenting the original global path by taking a mode switching node on the original global path as an end point, and performing path optimization and speed planning on each segment of path to obtain an optimized global trajectory. The flexibility of the four-wheel independent steering vehicle can be brought into full play.

    本发明公开了一种四轮独立转向车辆的泊车轨迹规划方法及装置,其包括:S1,获取车辆初始位置、目标泊车位置和泊车场景的栅格地图,以目标泊车位置作为搜索起点,车辆初始位置作为终点,用改进的混合A*算法进行全局路径规划,获取原始全局路径;改进的混合A*算法包括子节点拓展步骤,该子节点拓展步骤采用预先设置的与车辆运动模式相对应的子节点拓展方式;S2,以原始全局路径上的模式切换节点为端点,将原始全局路径进行分段,对各段路径进行路径优化和速度规划,获取优化全局轨迹。本发明能够充分发挥四轮独立转向车辆的灵活性。


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    Title :

    Parking trajectory planning method and device for four-wheel independent steering vehicle


    Additional title:

    一种四轮独立转向车辆的泊车轨迹规划方法及装置


    Contributors:
    QIN HONGMAO (author) / JIN YINGJIE (author) / YANG ZEYU (author) / QIN XIAOHUI (author) / HU MANJIANG (author) / XU BIAO (author) / BIAN YOUGANG (author) / XIE GUOTAO (author) / QIN ZHAOBO (author) / WANG XIAOWEI (author)

    Publication date :

    2023-04-04


    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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