The invention belongs to the technical field of parking path planning, and particularly relates to a vehicle and a parking path planning method and system.The method includes the steps that after steering wheel rotation angle cost and vehicle course angle cost are added to a generated parking environment cost map, a new cost map is generated, and an RS curve is used as a heuristic function; a parking path from a parking starting point to a parking end point is generated, whether a collision point exists between the parking path and an obstacle in the environment where the vehicle is located or not is judged, and under the condition that the collision point exists, RS curve extension searching is applied till the formed parking path does not have the collision point with the obstacle in the environment where the vehicle is located. The problem of in-situ steering of a parking curve generated by a cost map is avoided by increasing the steering wheel angle cost and the vehicle course angle cost to generate a new cost map, and the finally generated parking path is free of collision based on an RS curve extension search mode. And the safety of the vehicle in the parking process is ensured.

    本发明属于泊车路径规划技术领域,具体涉及一种车辆及其泊车路径规划方法、系统,该方法通过在生成的泊车环境代价地图中增加方向盘转动角度代价以及车辆航向角代价后,生成新的代价地图,运用RS曲线作为启发函数,生成从泊车起点至泊车终点的泊车路径,判断此泊车路径是否与车辆所处环境中的障碍物存在碰撞点,在存在碰撞点的情况下,运用RS曲线扩展搜索,至形成的泊车路径与车辆所处环境中的障碍物无碰撞点。进而通过增加方向盘转角代价以及车辆航向角代价生成新的代价地图的过程,来避免由代价地图生成的泊车曲线存在原地转向的问题,并基于RS曲线扩展搜索方式使得最终生成的泊车路径无碰撞的情况存在,保证了车辆在泊车过程中的安全性。


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    Title :

    Vehicle and parking path planning method and system thereof


    Additional title:

    一种车辆及其泊车路径规划方法、系统


    Contributors:
    GAO JIANPING (author) / LEE HYUN (author) / WU YANFENG (author) / SHI ZHENNING (author) / YAO CHENHAO (author)

    Publication date :

    2023-06-23


    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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