The invention relates to a narrow space parking motion planning method for a four-wheel steering vehicle. The narrow space parking motion planning method comprises the steps that a four-wheel steering kinematics model of the vehicle is constructed; based on a four-wheel steering kinematics model, a node expansion process of a Hybrid A * algorithm is carried out for searching a coarse track with four-wheel steering characteristics from a starting point to an end point; constructing parking as a nonlinear optimization problem, and performing numerical solution by using an OBCA algorithm and taking the coarse trajectory as an initial solution to obtain a parking motion trajectory; and correspondingly controlling the vehicle to finish parking according to the parking motion trail. Compared with the prior art, on one hand, the Hybrid A * algorithm is improved according to the four-wheel steering kinematics, on the other hand, the four-wheel steering kinematics is applied to nonlinear optimization of parking, and the OBCA algorithm is used for accurate obstacle avoidance constraint, so that the flexible maneuverability of the four-wheel steering vehicle can be fully utilized for parking planning in a narrow space; the parking efficiency is effectively improved, and the efficiency is improved along with the increase of the maximum rear wheel turning angle.
本发明涉及一种面向四轮转向车辆的狭窄空间泊车运动规划方法,包括:构建车辆的四轮转向运动学模型;基于四轮转向运动学模型,进行Hybrid A*算法的节点扩展过程,用于搜索起点到终点的带有四轮转向特性的粗轨迹;将泊车构建为非线性优化问题,使用OBCA算法,并以粗轨迹作为初始解进行数值求解,得到泊车运动轨迹;根据泊车运动轨迹,相应控制车辆完成泊车。与现有技术相比,本发明一方面根据四轮转向运动学改进Hybrid A*算法,另一方面将四轮转向运动学应用于泊车的非线性优化,并使用OBCA算法进行精准地避障约束,能够充分利用四轮转向车辆的灵活机动能力进行狭窄空间的泊车规划,有效提高泊车效率,并且效率随最大后轮转角的增加而提高。
Narrow space parking motion planning method for four-wheel steering vehicle
一种面向四轮转向车辆的狭窄空间泊车运动规划方法
2024-11-26
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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