The invention belongs to the technical field of vehicle automatic parking, and particularly relates to an automatic parking track generation method and device. The method specifically comprises the steps that for a vertical or oblique extremely narrow parking space, a parking track is calculated in combination with a Hybrid A * algorithm and a double-arc-straight-line calculation mode, and for the interior of the parking space, a fixed straight line route AB and a fixed arc route BC are calculated through an arc-straight-line algorithm; and for the outside of the parking space, a Hybrid A * algorithm is used to calculate a route CD from a point C to a parking starting point or a parking target terminal point D, the route AB, the route BC and the route CD are sequentially spliced to obtain a route AD, the route AD is a parking track, and the AD is overturned to obtain a parking track DA.
本发明属于本发明属于车辆自动泊车技术领域,具体涉及一种自动泊车轨迹生成方法和装置。本发明具体包括:针对垂直或斜向的极窄车位,结合Hybrid A*算法和双圆弧‑直线计算方式对泊车轨迹进行计算,对于车位内部,使用圆弧‑直线算法计算出一条固定的直线路线AB和圆弧路线BC;对于车位外部,使用Hybrid A*算法计算出一条从C点到泊入起点或泊出目标终点D点的路线CD,依次将路线AB、路线BC和路线CD拼接得到路线AD,路线AD为泊出轨迹,将AD翻转即可得到泊入轨迹DA。
Automatic parking track generation method and device
一种自动泊车轨迹生成方法和装置
2023-09-01
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 |
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