The invention provides an automobile automatic parking path planning method, which is a method for generating a parking reference path based on an automobile parking initial pose and a parking location, the generated reference path is a combined curve formed by splicing a straight line segment, a curve and a straight line segment, and the curve is a Bezier curve. The starting point of the combined curve is the parking initial position, and the end point is the midpoint position of the parking garage bottom line. The path planning method is simple and easy to implement, good in universality and suitable for various parking scenes such as vertical parking, oblique parking and parallel parking.

    本发明提供了一种汽车自动泊车路径规划方法,所述方法是一种基于汽车泊车初始位姿和库位生成泊车参考路径的方法,所生成的参考路径为由直线段‑曲线‑直线段拼接而成的组合曲线,其中曲线为Bezier曲线。所述组合曲线的起点为泊车初始位置,末点为泊车库底线的中点位置。该路径规划方法简单易行,通用性好,适用于垂直泊车、斜列泊车、平行泊车等多种泊车场景。


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    Title :

    Automobile automatic parking path planning method


    Additional title:

    一种汽车自动泊车路径规划方法


    Contributors:
    ZHAO HUAJIE (author) / HUANG MAO (author)

    Publication date :

    2023-05-30


    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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