The invention relates to a sampling-based parking track planning method for a trailer, and the method comprises the steps: observing whether a planning module needs to carry out the track planning or not according to a vehicle state, a reference line, an obstacle state and a task management state; if the upstream state is normal, the observation module inputs a reference line, garage location information, obstacle information, self-vehicle positioning information, vehicle parameters and the like under a tractor coordinate system to the planning module; the planning module performs coordinate conversion, track screening and track splicing operation according to the input of the observation module, and solves a track with the minimum loss; and outputting the track points to a control module.

    本发明涉及一种基于采样的带挂车辆泊出轨迹规划方法,根据车辆状态、参考线、障碍物状态以及任务管理状态,观察是否需要规划模块进行轨迹规划;如果上游状态均正常,观察模块将牵引车坐标系下的参考线和库位信息、障碍物信息、自车定位信息和车辆参数等作为输入给到规划模块;规划模块根据观察模块的输入,进行坐标转换、轨迹筛选和轨迹拼接操作,求解出损失最小的一条轨迹;将轨迹点输出到控制模块。


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    Title :

    Sampling-based vehicle parking track planning method and system


    Additional title:

    一种基于采样的带挂车辆泊出轨迹规划方法和系统


    Contributors:
    LI XIAOYUN (author) / TANG WEI (author) / ZHOU HAO (author) / JIANG YI (author) / KOYO (author)

    Publication date :

    2024-08-27


    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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