The invention relates to a multi-section parallel parking path planning method for a heavy all-wheel steering vehicle. According to vehicle parameters and the parallel parking space size and road information detected by a sensor, a parallel parking scene of the all-wheel steering vehicle is established, initial parking point information of vehicle positioning is input, a designed algorithm is executed, and an existing safe parking path is detected in real time. A series of parking paths are generated by using a parameter sampling method, the paths are dispersed, road constraints and vehicle dynamics constraints needing to be met in the parking process are defined, a path evaluation function is designed, the paths meeting the constraints are evaluated, and the paths are optimized. According to the method, optimization design of the parallel parking path of the multi-section type multi-steering-mode vehicle is completed, more flexible parking path design of the heavy all-wheel steering vehicle is achieved, the parking space occupied in the parking process is reduced, and the parking efficiency is improved.
本发明涉及一种面向重型全轮转向车辆的多段式平行泊车路径规划方法。根据车辆参数以及传感器检测到的平行泊车位尺寸及道路信息,建立全轮转向车辆的平行泊车场景,输入车辆定位的起始泊车点信息,执行设计的算法,实时检测存在的安全泊车路径。其中,利用参数采样法生成一系列泊车路径并对路径进行离散,明确在泊车过程中需要满足的道路约束及车辆动力学约束,设计路径评价函数,对满足约束的路径进行评价并优选路径,完成多段式多转向模式车辆的平行泊车路径的优化设计,实现重型全轮转向车辆更灵活的泊车路径设计,减少泊车过程所占用的泊车空间,提高了泊车效率。
Multi-section parallel parking path planning method for heavy all-wheel steering vehicle
面向重型全轮转向车辆的多段式平行泊车路径规划方法
2023-08-22
Patent
Electronic Resource
Chinese
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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