The invention discloses a path planning method for automatic parking, an automatic parking method and a related device, and the method comprises the steps: obtaining the parking space information of a target parking space, and determining a parking segment and an adjustment segment based on the parking space information; determining a first planned path corresponding to the parking section through a mixed A * algorithm; determining a second planning path corresponding to the adjustment section by adopting a linear driving-in mode; and connecting the first planned path and the second planned path to form an automatic parking path. According to the method, the parking path is divided into the parking section and the adjusting section, the mixed A * algorithm is adopted for path planning in the parking section, the linear driving-in mode is adopted for path planning in the adjusting section, the vehicle attitude error generated by the parking section is adjusted through the adjusting section, the requirement for the control precision when the vehicle is parked is lowered, and the control precision of the vehicle is improved. And the final posture of the vehicle can be well ensured.

    本申请公开了一种自动泊车的路径规划方法、自动泊车方法及相关装置,所述路径规划方法包括获取目标车位的车位信息,并基于所述车位信息确定泊入段和调整段;通过混合A*算法确定所述泊入段对应的第一规划路径;采用直线驶入方式确定所述调整段对应的第二规划路径;将所述第一规划路径和所第二规划路径连接,以形成自动泊车路径。本申请通过将泊车路径划分为泊入段和调整段,在泊入段采用混合A*算法进行路径规划,在调整段采用直线驶入方式进行路径规划,通过调整段对泊入段的所产生的车辆姿态误差进行调整,降低了对车辆泊入时的控制精度的要求,且可以很好的保证车辆的最终姿态。


    Access

    Download


    Export, share and cite



    Title :

    Automatic parking path planning method, automatic parking method and related device


    Additional title:

    一种自动泊车的路径规划方法、自动泊车方法及相关装置


    Contributors:
    LIU YIMING (author)

    Publication date :

    2023-07-04


    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



    Personified automatic parking path planning method

    GUAN XIN / CAI LEI / JIA XIN et al. | European Patent Office | 2022

    Free access

    Obstacle avoidance method for automatic parking path planning and parking path planning system

    TONG LEBIN / LYU BINGBING / CHENG HANGJIAN | European Patent Office | 2020

    Free access

    OBSTACLE AVOIDANCE METHOD IN AUTOMATIC PARKING PATH PLANNING AND PARKING PATH PLANNING SYSTEM

    TONG LEBIN / LV BINGBING / CHENG HANGJIAN | European Patent Office | 2021

    Free access

    Automobile automatic parking path planning method

    ZHAO HUAJIE / HUANG MAO | European Patent Office | 2023

    Free access

    Automatic parking path planning method for various parking space scenes

    CHEN HUI / ZHANG SHUKAI / SUN HONGWEI | European Patent Office | 2023

    Free access