The invention discloses a two-section parallel parking path planning algorithm considering tracking error accumulation. The two-section parallel parking path planning algorithm comprises the following steps: S1, periodically acquiring vehicle operation data, parking space coordinate information and obstacle coordinate information; s2, performing path search and obstacle avoidance constraint through a Hybrid A * algorithm, and planning an optimal path from a vehicle starting point to a parking terminal point in real time; s3, judging the lateral error of the vehicle at the detection point, and re-planning the parking path in the garage if the error exceeds a threshold value; s4, forming a complete automatic parking planning path; the method comprises the following steps: firstly, performing path search by matching a mixed A * algorithm with an RS curve, secondly, performing further planning at a planning midpoint in combination with an environment in a parking space, and finally, detecting a trajectory tracking error of a vehicle by using a detection point to ensure that the vehicle can be successfully parked.
本发明公开了一种考虑跟踪误差累积的两段式平行泊车路径规划算法,包括步骤:S1、周期性获取车辆运行数据、车位坐标信息及障碍物坐标信息;S2、通过Hybrid A*算法进行路径搜索、避障约束,实时规划车辆起点至泊车终点间最优路径;S3、在检测点,对车辆横向误差进行判断,若误差超出阈值,重新规划车库内泊车路径;S4、形成完整的自动泊车规划路径;本发明首先以混合A*算法搭配RS曲线进行路径搜索,其次在规划中点处结合车位内环境进行进一步规划,最后利用检测点检测车辆的轨迹跟踪误差,确保车辆能成功泊车。
Two-section parallel parking path planning algorithm considering tracking error accumulation
一种考虑跟踪误差累积的两段式平行泊车路径规划算法
2025-03-11
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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