A path planning method for autonomous parking in vertical and diagonal parking spaces is disclosed, including the following steps: processing, after a parking space is found, initially detected obstacle information based on input of an ultrasonic wave and a camera to obtain four point coordinates of a quadrilateral parking space and a target parking position; establishing, based on Ackerman steering principle, a vehicle dynamics model to obtain a minimum turning radius Rmin of a vehicle, the path planning taking R = Rmin + Rmargin with Rmargin being a calibration value; activating, in a case that the vehicle arrives at a stopping point, a path planning system, and performing path planning and path tracking; calculating, according to the initially detected information and an attitude of the vehicle, a back-in path using a geometric method; and identifying a final back-in stage, updating the target parking position according to real-time detected information, and starting real-time planning. By establishing a vehicle dynamics model and real-time path planning, the parking success rate and parking accuracy are improved, and parking time is saved.


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    Title :

    PATH PLANNING METHOD AND DEVICE FOR AUTONOMOUS PARKING OF VERTICAL AND DIAGONAL PARKING SPACES


    Additional title:

    WEGPLANUNGSVERFAHREN UND VORRICHTUNG ZUM AUTONOMEN EINPARKEN VON VERTIKALEN UND DIAGONALEN PARKLÜCKEN
    PROCÉDÉ ET DISPOSITIF DE PLANIFICATION DE TRAJECTOIRE À DES FINS DE STATIONNEMENT AUTONOME D'EMPLACEMENTS DE STATIONNEMENT VERTICAUX ET DIAGONAUX


    Contributors:
    YANG JIAN (author) / TIAN XIAOKANG (author) / WAN KAILIN (author) / DANG JIANMIN (author) / REN FAN (author)

    Publication date :

    2024-12-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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