The invention belongs to the technical field of automatic driving, and particularly relates to an automatic parking path planning method based on target planning, which comprises the following steps: presetting a plurality of performance indexes # imgabs0 # for automatic parking path planning; according to the specific parameters of the path planning vehicle or robot, calculating the theoretical optimal value # imgabs1 # of each performance index; a target function is constructed, the deviation # imgabs4 # between each performance index # imgabs2 # and a theoretical optimal value # imgabs3 # is minimized, a path planning trajectory equation is generated and specifically is # imgabs5 #, # imgabs6 # is a weight coefficient and meets # imgabs7 #, and a path planning trajectory equation is generated; and solving the objective function by using a solver to obtain an automatic parking driving path. According to the path planning method taking the plurality of performance indexes as the objective function, the optimization of the plurality of performance indexes is realized by utilizing the objective planning method, and the path planning method has a better effect on solving the path planning problem with the requirements of the plurality of performance indexes.
本发明属于自动驾驶技术领域,具体涉及一种基于目标规划的自动泊车路径规划方法,包括:预设多个性能指标#imgabs0#,用于自动泊车路径规划;根据路径规划车辆或机器人的具体参数,计算每个性能指标的理论最优值#imgabs1#;构造目标函数,通过最小化每个性能指标#imgabs2#与理论最优值#imgabs3#的偏差#imgabs4#,生成路径规划轨迹方程,具体为:#imgabs5#,其中,#imgabs6#为权重系数,满足#imgabs7#;使用求解器求解目标函数,获得自动泊车驾驶路径。本发明将多个性能指标作为目标函数的路径规划方法,利用目标规划法实现多个性能指标的优化,对解决有多个性能指标要求的路径规划问题有较好的效果。
Automatic parking path planning method based on target planning
一种基于目标规划的自动泊车路径规划方法
2025-03-18
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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