The invention discloses an automatic parking multi-target adaptive trajectory optimization method based on a genetic algorithm. The method comprises the following steps: S1, vehicle surrounding environment perception fusion and fuzzy processing; s2, establishing a transformation relation of a coordinate system to realize unification and transformation of the coordinate system; s3, parameterized parking planning is carried out based on the parking space coordinate system; s4, establishing a multi-objective function model of automatic parking planning; s5, performing multi-objective optimization on the established multi-objective function model through a genetic algorithm; and S6, calculating an optimal parking track according to an optimization result, and outputting a planning result. According to the method, different environments are rapidly met by establishing the parameterized automatic parking planning model, high flexibility is achieved, the multi-objective optimization model is established, optimization is conducted through the genetic algorithm, the algorithm with relatively low complexity is taken into account, reliability is improved, and consumption of computing resources is greatly reduced.
本发明公开了一种基于遗传算法的自动泊车多目标自适应轨迹优化方法,包括下列步骤:S1、车辆周围环境感知融合及模糊处理;S2、建立坐标系的变换关系,实现坐标系统一与变换;S3、基于车位坐标系进行参数化泊车规划;S4、建立自动泊车规划的多目标函数模型;S5、通过遗传算法对建立的多目标函数模型进行多目标优化;S6、根据优化结果计算最优泊车轨迹,并输出规划结果。本发明通过建立参数化自动泊车规划模型快速满足不同的环境,具有较高的灵活性,建立多目标优化模型,以遗传算法进行优化,兼顾了相对较低复杂度的算法,可靠性提高,而计算资源的消耗也大大降低。
Automatic parking multi-target adaptive trajectory optimization method based on genetic algorithm
一种基于遗传算法的自动泊车多目标自适应轨迹优化方法
2023-10-13
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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