A parking path search using a modified parking path algorithm is provided. Techniques and systems are described herein for performing a parking path search using a modified parking path algorithm. An exemplary parking system may obtain an initial attitude and a target attitude of a vehicle and an obstacle map of a parking environment. The parking system may then determine a first waypoint for the parking path using a parking path algorithm. In response to the number of runtime iterations being greater than a threshold, the parking system may select an intermediate source node that is closest to the target pose. A parking path algorithm may then be used to determine a second waypoint from the intermediate source node to the target pose. The first waypoint and the second waypoint may then be used to control the vehicle to park. In this way, a parking path search is performed more efficiently while still producing a path close to the globally optimal solution.
提供了使用经修改的停车路径算法的停车路径搜索。本文描述用于使用经修改的停车路径算法来执行停车路径搜索的技术和系统。示例性停车系统可以获得本载具的初始姿态和目标姿态以及停车环境的障碍物地图。停车系统然后可以使用停车路径算法来确定用于停车路径的第一路点。响应于运行时间迭代次数大于阈值,停车系统可以选择最接近目标姿态的中间源节点。然后可以使用停车路径算法来确定从中间源节点到目标姿态的第二路点。然后可以使用第一路点和第二路点来控制本载具停车。这样,较有效地执行停车路径搜索,同时仍然产生接近全局最优解的路径。
Parking path search using modified parking path algorithm
使用经修改的停车路径算法的停车路径搜索
2024-09-24
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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