The invention discloses an automatic parking reference trajectory optimization method, which comprises the following steps of: acquiring a current position of a vehicle, a garage position and a standard parking position, and constructing a reference trajectory optimization model through a cubic spline fitting method according to a preset number of reference trajectory feature points; performing gene correction on three conditions of a far side line, parking inclination and dislocation of an anti-collision storage location generated in the optimization process of the reference trajectory optimization model; and solving the reference trajectory optimization model after gene correction based on an improved moth fire suppression optimization algorithm so as to obtain an optimal reference trajectory. On the basis of a standard automatic garage parking plane coordinate system, a cubic spline fitting method is combined, an automatic garage parking reference trajectory optimization model is constructed, a weight coefficient nonlinear decreasing moth fire suppression algorithm integrated with a gene correction and directional variation mechanism is provided, the model is solved, and the automatic garage parking reference trajectory optimization model is obtained. Therefore, the reference track which is free of collision, smooth and short enough in track length can be quickly obtained.
本发明公开了一种自动入库泊车参考轨迹优化方法,包括:获取车辆当前位置、车库位置以及标准泊车位置,根据预设的参考轨迹特征点数量,通过三次样条拟合方法,构建参考轨迹优化模型;对所述参考轨迹优化模型优化过程中产生的避碰库位远侧边线、泊停倾斜和失位的三种情形予以基因修正;基于改进的飞蛾扑火优化算法对基因修正后的参考轨迹优化模型进行求解,从而获取最优参考轨迹。本发明在标准自动入库泊车平面坐标系基础上,结合三次样条拟合方法,构建自动入库泊车参考轨迹优化模型,并提出了一种融入基因修正与定向变异机制的权重系数非线性递减飞蛾扑火算法,对模型进行求解,从而快速得到无避碰、光滑且轨迹长度足够短的参考轨迹。
Automatic parking reference trajectory optimization method
一种自动入库泊车参考轨迹优化方法
2024-02-20
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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