The invention discloses a parking path planning and parking method for an unstructured scene automatic driving vehicle, and the method comprises the following steps: S1, carrying out the rasterization of an unstructured scene map, and constructing a road passing network; s2, searching and selecting idle parking spaces; s3, searching a parking path by combining dynamic step length motion primitive expansion and a multi-curvature RS curve planning method, and completing parking path planning; the parking method comprises the following steps: predicting a track of a dynamic obstacle appearing in a parking track space, establishing a track interaction graph, discretizing a track planning graph, and performing dynamic planning search; and constructing a quadratic programming problem based on the parking path and the initial solution result, and solving by using a solver. According to the invention, the efficient planning of the safe parking track of the automatic driving vehicle can be realized by using the targeted expansion strategy and the obstacle avoidance scheme in the limited space of the unstructured scene, and the safety and the operation efficiency of the automatic driving vehicle in the unstructured environment are improved.
本发明公开了非结构化场景自动驾驶车辆的泊车路径规划及泊车方法,泊车路径规划方法包括以下步骤:S1、非结构化场景地图栅格化处理,构建道路通行网络;S2、空闲车位搜索与选定;S3、动态步长运动基元拓展与多曲率RS曲线规划方法相结合搜索泊车路径,完成泊车路径规划;泊车方法包括以下步骤:预测泊车轨迹空间内出现的动态障碍物的轨迹,建立轨迹交互图,离散化轨迹规划图,进行动态规划搜索;基于泊车路径和初解结果构建二次规划问题并使用求解器求解。本发明能够在非结构化场景的有限空间下,利用具有针对性的拓展策略和避障方案,实现自动驾驶车辆的安全泊车轨迹的高效规划,提高自动驾驶车辆在非结构化环境中的安全性和运行效率。
Parking path planning and parking method for unstructured scene autonomous vehicle
非结构化场景自动驾驶车辆的泊车路径规划及泊车方法
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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