The invention discloses a vehicle head parking path re-planning method based on an improved mixed A * algorithm. The vehicle head parking path re-planning method comprises the following steps: acquiring obstacle information around a parking space by using an ultrasonic radar; acquiring target parking space position information by using a camera visual recognition algorithm; acquiring vehicle coordinate position information by using combined inertial navigation equipment; generating a reference path of parking the vehicle out of the parking space by using a tangent circle planning method; selecting a target point close to the current attitude of the vehicle in the reference path by using an evaluation function; searching to obtain a path according to the starting point, the target point and the surrounding obstacle information by using a mixed A * algorithm; and obtaining a complete and smooth parking path by using a curvature smoothing method. The problems that an existing mixed A * algorithm is long in search time and discontinuous in search path curvature are solved, the parking path can be efficiently planned in real time, the adaptability of the mixed A * algorithm for searching the path is improved, and it can be guaranteed that the smooth parking path is obtained through planning in various re-planning environments.
本发明公开了一种基于改进混合A*算法的车头泊入路径重规划方法:利用超声波雷达获取车位周围障碍物信息;利用摄像头视觉识别算法获取目标停车位位置信息;利用组合惯导设备获取车辆坐标位置信息;利用相切圆规划方法生成车辆泊出车位的参考路径;利用评价函数选取参考路径中与车辆当前姿态接近的目标点;利用混合A*算法根据起始点和目标点、根据周围障碍物信息搜索得到路径;利用曲率平滑方法得到完整平滑的泊车路径。本发明解决了现有混合A*算法搜索时间长,搜索路径曲率不连续的问题,可以实现实时高效规划泊车路径,提高了混合A*算法搜索路径的适应性,能够在多种重规划环境下保证规划得到平滑的泊车路径。
Vehicle head parking path re-planning method based on improved hybrid A* algorithm
一种基于改进混合A*算法的车头泊入路径重规划方法
2023-07-25
Patent
Electronic Resource
Chinese
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