The invention discloses an automatic parking path planning method for a vehicle at a corner parking space. The method comprises the following steps: step 1, reading vehicle data, establishing a vehicle kinematic model, and calculating the minimum turning radius of a vehicle; 2, calculating coordinates of a parking space in the space according to map input information; 3, searching a path by using a Hybrid A Star planning algorithm, and enabling the vehicle to run to a single-step optimal garage entry point; 4, whether a narrow space exists in the current position or not is judged, if the condition is met, the parking point position is optimized according to the characteristics of a Hybrid A Star algorithm and a Reed-Shepp (RS) curve, the shortest time is used as a primary target, the optimized parking point is set as a target point, and a parking path is re-planned; and step 5, outputting a collision-free smooth path. According to the invention, the problem that the path cannot be searched or the search time is too long due to excessive node expansion when the target parking space is narrow or the environment near the terminal point is complex in the traditional Hybrid A Star planning algorithm can be solved, so that the automatic parking of the vehicle at the corner parking space can be efficiently completed.

    本发明公开了一种拐角车位车辆自动泊车路径规划方法。该方法包括以下步骤:步骤1,读取车辆数据,建立车辆运动学模型,计算车辆最小转弯半径;步骤2,根据地图输入信息,计算泊车位在空间中的坐标;步骤3,利用Hybrid A Star规划算法搜索路径,使车辆行驶至单步最佳入库点;步骤4,判断当前位置是否存在狭小空间,如果满足条件,则根据Hybrid A Star算法与Reeds‑Shepp(RS)曲线的特性对泊车点位进行优化,以用时最短为首要目标,将优化后的泊车点设为目标点重新规划泊车路径;步骤5,输出无碰撞平滑路径。本发明能够解决传统Hybrid A Star规划算法在目标车位狭小或终点附近环境复杂时,节点扩展过多而无法搜索到路径或搜索时间过长的问题,从而高效完成拐角车位车辆自动泊车。


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    Title :

    Automatic parking path planning method for vehicle at corner parking space


    Additional title:

    一种拐角车位车辆自动泊车路径规划方法


    Contributors:
    CUI GAOJIAN (author) / YIN YUXI (author) / LI SHAOSONG (author) / LI DETAO (author) / HU RUI (author) / ZHANG KAI (author) / HAO HONGJIN (author) / LU XIAOHUI (author) / TIAN LIYUAN (author)

    Publication date :

    2023-12-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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