The invention relates to the technical field of automobile intellectualization, and provides a parallel parking path planning method, which comprises the steps of S1 to S6, namely, sensing data such as data of a parking space to be parked through a vehicle sensor, establishing a polynomial function relationship according to a vehicle parallel parking path, and establishing a parallel parking path; obtaining a polynomial coefficient value according to the first constraint condition, the second constraint condition, the third constraint condition and the fourth constraint condition, and obtaining a polynomial function path planning curve; a hyperbolic tangent path planning curve is obtained on the basis of a hyperbolic tangent tanh function, a parallel parking path planning curve is obtained by fusing a polynomial function path planning curve and the hyperbolic tangent path planning curve, a vehicle is subjected to tracking control according to the parallel parking path planning curve, and vehicle parking operation is completed. The defects that the parking path curvature is discontinuous, tracking is not easy, the path structure composition is complex, nodes are too many, and the fitting path error is large can be overcome, it is guaranteed that the parking path is smooth, the parking efficiency is improved, and the parking effect is improved.

    本发明涉及汽车智能化技术领域,提供一种平行泊车路径规划方法,包括步骤S1‑S6,即通过车辆传感器感知待泊车车位数据等数据,根据车辆平行泊车路径建立多项式函数关系,根据第一约束条件、第二约束条件、第三约束条件、第四约束条件获得多项式系数数值,并获得多项式函数路径规划曲线;基于双曲正切tanh函数获得双曲正切路径规划曲线,再通过融合多项式函数路径规划曲线和双曲正切路径规划曲线,获得平行泊车路径规划曲线,车辆根据平行泊车路径规划曲线进行跟踪控制,完成车辆泊车操作。能够解决泊车路径曲率不连续、不易跟踪、路径结构组成复杂,节点过多,拟合路径误差较大的缺点,保障泊车路径平滑,提高泊车效率,改善泊车效果。


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    Title :

    Parallel parking path planning method and system


    Additional title:

    平行泊车路径规划方法及系统


    Contributors:
    WU CHUNLONG (author) / LUAN XIN (author) / SONG XUEKUN (author) / LI JINZHENG (author) / ZHAO PIN (author)

    Publication date :

    2023-05-26


    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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