本发明公开一种非结构化场景自主泊车轨迹规划方法及相关装置,涉及自主泊车规划领域,方法包括以下步骤:先基于车辆初始位姿和车辆目标位姿确定一初始路径曲线;随后根据初始路径曲线,确定当前的自主泊车总用时、状态变量向量集、控制变量向量集和辅助变量向量集,作为当前解;再基于非线性优化方法,求解非结构化自主泊车轨迹规划问题,得到相应的优化解;在判断优化解发生碰撞时,更新优化解中的辅助变量向量集并确定关键避障约束总集,然后重新求解并判断是否发生碰撞,不断迭代,直到连续两次的解未发生碰撞时,将最后一次的优化解作为最终解,本发明方案能够降低避障约束的非线性与维度,提高了自主泊车轨迹规划效率及自主泊车轨迹的质量。
The invention discloses an unstructured scene autonomous parking trajectory planning method and a related device, and relates to the field of autonomous parking planning, and the method comprises the following steps: determining an initial path curve based on a vehicle initial pose and a vehicle target pose; then, according to the initial path curve, the current total time for autonomous parking, a state variable vector set, a control variable vector set and an auxiliary variable vector set are determined to serve as a current solution; based on a nonlinear optimization method, solving an unstructured autonomous parking trajectory planning problem to obtain a corresponding optimal solution; when it is judged that collision happens to the optimal solution, an auxiliary variable vector set in the optimal solution is updated, a key obstacle avoidance constraint total set is determined, then solving is carried out again, whether collision happens or not is judged, iteration is carried out continuously, and the last optimal solution serves as a final solution until collision does not happen to two continuous solutions; according to the scheme, nonlinearity and dimensionality of obstacle avoidance constraint can be reduced, and autonomous parking trajectory planning efficiency and autonomous parking trajectory quality are improved.
一种非结构化场景自主泊车轨迹规划方法及相关装置
2024-05-14
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 |