The invention belongs to the technical field of automatic parking, and discloses a parallel parking track planning method, system and device and a storage medium, and the method comprises the following steps: building a parking space coordinate system with a parking end point as an original point, a long axis direction of a parking space as an X axis, and a short axis direction of the parking space as a Y axis; the angle of the steering wheel in the return state is 0 degree; calculating the horizontal coordinate and the vertical coordinate of each point according to a double-trapezoid path planning model; establishing a parking space coordinate system; the minimum turning radius is obtained according to vehicle steering mechanical structure limitation, and the maximum turning radius is determined according to the parking space; and traversing the turning radius through a bisection method to obtain a track. According to the method, only kinematics constraints need to be considered during path planning, the constraints are simplified, so that the planned path has feasibility, and real-time calculation can be conveniently carried out.

    本发明属于自动泊车技术领域,本发明公开了一种平行泊车轨迹规划方法、系统、设备及存储介质,方法包括以下步骤:建立以泊车终点为原点,以车位长轴方向为X轴,以车位短轴方向为Y轴的车位坐标系;以方向盘回正状态的角度为0°;根据双梯形路径规划模型分别计算各点的横坐标和纵坐标;建立车位坐标系;根据车辆转向机械结构限制得到最小转弯半径,根据泊车空间确定最大转弯半径;通过二分法遍历转弯半径得到轨迹。本发明在路径规划时仅需要考虑运动学约束,简化了约束,使规划的路径具有可落地性,且能够方便进行实时计算。


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    Title :

    Parallel parking trajectory planning method, system and device and storage medium


    Additional title:

    一种平行泊车轨迹规划方法、系统、设备及存储介质


    Contributors:
    WANG YAO (author) / LIU YI (author) / GAO WENJUAN (author) / HAO HAIYANG (author) / SHI YANLONG (author) / DONG PENG (author)

    Publication date :

    2024-09-20


    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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