The invention relates to the technical field of automatic driving, in particular to an autonomous parking track planning method and system for irregular road obstacles, and the method comprises the steps: constructing an obstacle map for a to-be-planned region; pre-searching the obstacle map according to the position information generated by the user side to obtain a pre-search track; performing trajectory expansion along the pre-search trajectory to form a trajectory planning corridor; and planning in the trajectory planning corridor according to the kinematic model of the vehicle to obtain an actual driving trajectory. In order to solve the problem that in the prior art, the planning process of automatic parking in a multi-obstacle scene is relatively complex, a rough pre-search track is obtained through pre-sampling and searching, then a track planning corridor is generated based on the pre-search track, and track planning is performed in corridor constraints. Therefore, the vehicle trajectory planning process is separated from irregular obstacles in the environment, the problem that the obstacle constraint in the unstructured road cannot be solved in the nonlinear solving process is solved, and the scale of the optimization problem is simplified.
本发明涉及自动驾驶技术领域,具体涉及一种不规则道路障碍物的自主停车轨迹规划方法及系统,包括:对待规划地区构建障碍物地图;依照用户侧产生的位置信息对障碍物地图进行预搜索得到预搜索轨迹;沿预搜索轨迹进行轨迹膨胀以形成轨迹规划走廊;于轨迹规划走廊中根据车辆的运动学模型规划得到实际行车轨迹。针对现有技术中的多障碍物场景下对自动泊车的规划过程相对复杂的问题,通过预先采样和搜索得到粗略的预搜索轨迹,再基于预搜索轨迹生成轨迹规划走廊,于走廊约束中进行轨迹规划,从而将车辆轨迹规划的过程与环境中的不规则障碍物进行分离,解决非结构化道路中的障碍物约束在非线性求解的过程中无法求解的情况,简化了优化问题的规模。
Autonomous parking track planning method and system for irregular road obstacles
不规则道路障碍物的自主停车轨迹规划方法及系统
2025-03-28
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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