The invention relates to an optimal parking path real-time optimization method based on a circular arc equation, which belongs to the technical field of automatic parking, abandons a vehicle differential equation to describe vehicle motion characteristics, adopts a plurality of sections of circular arcs to splice and fit a parking path curve end to end, and reconstructs a parking path optimization problem by using the circular arc equation. And meanwhile, the obstacle avoidance constraints are designed according to the relative position relationship between the arc and the parking space boundary line, so that the number of the obstacle avoidance constraints is further reduced, the optimization calculation efficiency is further improved, and real-time online optimization of the parking path is realized.
本发明涉及一种基于圆弧方程的最优泊车路径实时优化方法,属于自动泊车技术领域,本发明摒弃了车辆微分方程来描述车辆运动特性,转而采用多段圆弧首尾拼接拟合泊车路径曲线,利用圆弧方程重构泊车路径优化问题,使得优化变量维度大幅降低,同时根据圆弧与车位边界线的相对位置关系设计避障约束,进一步降低避障约束数量,进而提升了优化计算效率,实现了泊车路径的实时在线优化。
Optimal parking path real-time optimization method based on arc equation
基于圆弧方程的最优泊车路径实时优化方法
2024-09-17
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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