805results about How to "No collision" patented technology

The invention discloses a dynamic automatic drive lane-changing trajectory planning method based on real-time environment information. A rollover limitation trajectory vertical coordinate, an optimal trajectory and a collision avoidance trajectory terminus security area are calculated; the relation between the rollover limitation trajectory vertical coordinate and the security area is compared, the positional relation between the optimal trajectory vertical coordinate and the security area is further compared, and then lane-changing decision-making is conducted. According to the dynamic automatic drive lane-changing trajectory planning method based on the real-time environment information, and a polynomial trajectory equation which dose not depend on time is adopted to represent a lane-changing trajectory curve, so that the problem that hypotheses of a speed and an accelerated speed are too strong is avoided; furthermore, collision avoidance algorithm and rollover prevention algorithm which are based on reaction time are introduced to guarantee security of lane-changing; then the optimal trajectory in a safe trajectory cluster is determined through real-time speed adjusting; and finally, an optimal lane-changing trajectory of real-time dynamic state is output through a trajectory generation module to guide an autonomous vehicle to complete a lane-changing behavior, and therefore a set of complete dynamic autonomous vehicle lane-changing trajectory planning module is built.

Provided is a communication method for downlink transmission with a low peak to average power ratio (PAPR) and compatibility with long-term evolution (LTE)-based downlink transmission in an LTE-based mobile communication system in which the performance degradation may occur due to a high PAPR in multi-carrier transmission caused by non-linearity of a power amplifier in a base station including a satellite, to have the effects of supporting a terminal that reuses an existing terrestrial LTE chipset and a terminal that enables downlink reception with a low PAPR with no collision between the terminals, and of implementing an integrated satellite / terrestrial mobile communication system with a minimum change of an existing mobile communication system to ensure economic efficiency.

Disclosed are a method and apparatus for resource scheduling in an Internet of Vehicles system, to implement allocation of timeslot resources in the Internet of Vehicles system through centralized scheduling at a network side. The method comprises: a scheduling apparatus receives information, reported by a first node, about geographic areas corresponding to the first node; and the scheduling apparatus determines timeslot resources that can be scheduled in the geographic areas reported by the first node, and allocates timeslot resources for the first node from the determined timeslot resources, wherein each cell is divided into multiple geographic areas; and non-adjacent geographic areas in the same cell can use the same timeslot resources and / or non-adjacent geographic areas in different cells can use the same timeslot resources. The centralized scheduling of the timeslot resources ensures communication between nodes in a preset range, to prevent collision of the timeslot resources used by the nodes.

The invention discloses a power inspection tour flying robot air route planning method based on a three-dimensional digital map in the technical field of power transmission line inspection tour flying robot air route planning method research. The method comprises: acquiring three-dimensional data information of terrain and surface features near a power line by using laser scanning technology and constructing a corresponding three-dimensional digital map; generating a barrier map according to the three-dimensional digital map and establishing a safe flight path for the inspection tour flying robot; if a weather condition which is not beneficial to flying robot inspection tour happens, immediately making an emergency landing in order to enable the flying robot safely land as near as possible, and reclaiming the flying robot after the emergency situation finishes; if no special weather condition happens, enabling the flying robot to determine whether an inspection tour task is completed after performing inspection tour for a certain time; if the inspection tour task is completed, enabling the flying robot to return along the original safe flight path; and if the inspection tour task is not completed, enabling the flying robot to perform autonomous risk avoiding according to the established safe flight path.

The embodiment of the invention discloses a method for sending uplink data, a base station, user equipment and a communication network. The method includes the steps that the base station is used for dividing an uplink data channel into a plurality of uplink resource blocks, and all the uplink resource blocks are in mutual orthogonality; the base station generates a first notification message which is used for indicating downlink control channels corresponding to all the uplink resource blocks and determined by the base station; the base station sends the first notification message to the user equipment so that the user equipment can monitor the downlink control channels so as to select a target uplink resource block used for sending uplink data, and the uplink data are sent through the target uplink resource block. In the embodiment, due to the fact that the uplink data channel is divided into the uplink resource blocks by the base station, the sending method can well support small data packages so that when network loads are light, high efficiency can be achieved.

The invention discloses a cooperative real-time path planning method for multiple unmanned aerial vehicles (UAVs) in case of communication latency. UAV data, obstacle data and target point data are firstly set to generate a digital map; then a simultaneous arrival constraint is executed, and the flight speed of each UAV is obtained; a communication latency constraint is executed, and the spacing range of the UAVs is obtained; an A-* algorithm is executed, and the next path of each UAV is obtained; and whether conditions of a collision avoidance constraint and a communication distance restriction are satisfied or not is judged, and whether the UAVs arrive a target point or not is finally judged. By adopting the cooperative real-time path planning method, the multiple UAVs can take off from different places and simultaneously arrive at the same target point under the condition of communication latency and can avoid obstacles on the way; the collision among the UAVs is avoided; and meanwhile, the communication among the UAVs can be kept.

Determining and simultaneously using a base station coupled to a mobile device, the base station comprising a detector for receiving a first identification signal corresponding to a first module and a second identification signal corresponding to a second module from the mobile device. A transmitter for sending a plurality of signals to the mobile device, said plurality of signals is configured to set up communication between the mobile device and the base station. A receiver for receiving a plurality of parameters for determining whether the second module is able to attach to the base station; and a processor for connecting the first and second module in the mobile device to the base station simultaneously in response to a plurality of slots by time multiplexing and the plurality of parameters when the second module is acceptable by the base station, wherein said plurality of slots are determined by the base station.

The present invention relates to a flexible display which comprises a back plate, a front plate and a display function layer which is clamped between the back plate and the front plate. The display function layer is distributed with a plurality of data lines and gate lines, and a plurality of pixel units are formed in a rectangle region which is enclosed by intersection of two adjacent data lines and two adjacent gate lines. Each of the pixel units comprises a pixel electrode and a common electrode. According to the invention, the back plate of the flexible display is a flexible substrate; the flexible display is provided with a plurality of rigid layer blocks which are arranged with intervals, and each rigid layer block is at least corresponding to a position area where a pixel unit locates in the display function layer of the flexible display. According to the flexible display, gap between rigid layer blocks ensures that mutual collision and extrusion between electronic devices in adjacent blocks do not occur in a bending process, so a service life of flexible display can be prolonged.

The invention relates to a distribution structure of an SPORT (Solar Polar Orbit Radio Telescope) clock scanning satellite. The SPORT clock scanning satellite comprises a satellite body, a subsatellite, a stretching arm, a solar cell paddle, a butt-joint ring, a geosynchronous communication antenna, adopts a main force-bearing structure which is a central force-bearing drum and a radial partition board force-transferring path, has a clear and concise force-transferring link and is beneficial to the design of structure strength and rigidity through configuration distribution; the invention can not cause excessive pressure on the control of a satellite attitude because the distribution position of a propelling module of the satellite body ensures that the position of a satellite geometric center is hardly changed with the decrease of fuel, thereby better keeping the stability of the satellite attitude; in addition, the SPORT clock scanning satellite ensures that relative positions among the earth, the sun and the satellite are changed at any time when the satellite moves on an orbit and the geosynchronous communication antenna is communicated with an earth communication link, and meets the requirements and the limit of carrying, the requirements of payloads on placement, fixing, directions, viewing fields, operation, replacement, thermal control, stability, and the like in a space and the requirements of the payloads on detecting to realize a scientific goal.

The invention discloses a precision navigation substation patrol inspection UAV system, which comprises a UAV take-off and landing platform, a UAV body, a ground monitoring and control system, and a flight route generating system, wherein the UAV take-off and landing platform comprises an attitude control module, a wireless transceiving module, a flight return module and a charging pipe; the UAV body is provided with a flight control system, an obstacle avoidance sensor, an attitude sensor, a navigation and positioning system, a UAV power system, a wireless transceiving module and an airborne holder; a battery voltage alarm module is electrically connected with the UAV power system; the ground monitoring and control system comprises a ground video monitoring module, a camera-shooting angle control module, a flight control module, a storage module, an alarm module, a wireless transceiving module and a control computer; and the flight route generating system comprises a GPS positioning matrix simulation module and an analog positioning signal transmitting antenna. Through integrating the obstacle avoidance function, fixed-height hovering technology and the like of the UAV, the precision navigation substation patrol inspection UAV system meets the requirements of flying in narrow space environments such as a substation and executing patrol inspection task.

The embodiment of the invention discloses a method for transmitting channel sounding reference signals SRSs, a terminal and a base station. The method comprises following steps of receiving downlink service sent by the base station, wherein the downlink service is transmitted based on a target channel, and the target channel is the channel in an unlicensed frequency band; periodically sending the channel sounding reference signals SRSs to the base station, wherein the SRSs are used for sounding the channel quality of the target channel; judging whether the difference value between the deadline of the downlink service and the sending time of the SRSs is less than or equal to a preset threshold value or not when uplink service needs to be sent to the base station, wherein the SRSs are transmitted based in the target channel; not carrying out LBT sounding if the difference value is less than or equal to the preset threshold value; sending the uplink service to the base station; carrying out the LBT sounding if the difference value is more than the preset threshold value, wherein the LBT sounding is used for sounding the idle / busy state of the target channel; and sending the uplink service to the base station when the target channel is in an idle state. Through adoption of the method, the terminal and the base station, the times of carrying out LBT (Listen Before Talk) sounding can be reduced, and the data throughout can be improved.

The invention relates to a vehicle data acquiring device based on active radio frequency identification (RFID), comprising an active RFID label unit and a label activating and data acquiring unit, wherein the active RFID label unit specifies a work frequency channel itself when an activated signal is activated, and the specified work frequency channel sends vehicle data; the label activating and data acquiring unit sends the activated signal to activate the active RFID label unit, and the specified work frequency channel receives the vehicle data sent by the active RFID label unit; after the active RFID label unit is activated, a vehicle-mounted automatic diagnostic system data interface acquires the vehicle data; and the frequency of the work frequency channel of the active RFID label unit and the frequency of the activated signal are in different frequency bands. The invention also relates to a method for acquiring the vehicle data. The vehicle data acquiring device and method based on RFID have the beneficial effects that extra expenses are not needed in a data transmission process, the collision of a large amount of data in the same channel (frequency channel) during transmission is avoided, and vehicle data acquiring device and method based on RFID are stable and reliable.

The invention discloses a stall fruit selling vehicle with a damping function. The stall fruit selling vehicle comprises first sliding devices. A damping device is fixedly connected to the top end of each first sliding device and comprises a shell. A telescopic rod is arranged in each shell. The surface of each telescopic rod is sleeved with a spring. The top end of each telescopic rod is fixedly connected with a first fixing rod. The top of each first fixing rod is fixedly connected with a sliding board. A storage basket is fixedly connected to the top ends of the sliding boards. One end of each first fixing rod is fixedly connected with a second sliding device. The end, away from the first fixing rod, of each second sliding device is movably connected to the inner wall of the corresponding shell. By the adoption of the stall fruit selling vehicle with the damping function, through the common effect of the springs and the telescopic rods, vibration is eliminated, so that the selling vehicle walks smoothly, fruits in the storage basket are not impacted and are perfect without damage, and therefore a seller does not need to worry about the situation that the sale volume of the fruits is affected by collisions among the fruits.

The invention discloses a material carrying and moving composite robot. The robot comprises the following modules of a visual grabbing module, a Mecanum wheel-based moving control module, a laser navigation module and a laser and sonar obstacle avoidance module, wherein the visual grabbing module is used for grabbing information data of a target material, processing the information data, comparingthe information data with key characteristic information of the target material, and carrying out visual grabbing on the target material during the material carrying and moving process; the Mecanum wheel-based moving control module is used for controlling walking poses of the composite robot; the laser navigation module is used for conducting navigation and optimal path planning according to a global map and a local map, and conducting rough positioning of the position of a target station; and the laser and sonar obstacle avoidance module integrates a laser obstacle avoidance algorithm and asonar obstacle avoidance algorithm, and is used for obstacle avoidance during walking. The robot has the beneficial effects of being high in target material grabbing success rate, accurate in positioning and capable of automatically walking.

The invention belongs to the field of milling processing, and particularly discloses a cutter-axis vector optimization method based on multi-objective constraints and system. The method comprises steps: S1, a multi-objective constrained cutter-axis vector optimization model is built according to cutter axis optimization requirements; S2, discretization is carried out on the cutter-axis vector optimization model to obtain a discrete cutter-axis vector optimization model; S3, the discrete cutter-axis vector optimization model is converted to a cutter-axis vector optimization model with a variables in a local coordinate system as an optimization variable; and S4, a cutter-axis feasible region without over cutting in the cutter-axis vector optimization model is calculated, and the optimized cutter-axis vector is solved. The cutter-axis vector and the processing path can be ensured to be more stable, the cutter can be prevented from generating over cutting or collision during a processing process, the method and the system are applicable to workpiece surfaces with different parameterization, the processing precision is high, and the surface quality of a processing working piece is good.

The invention provides a method for realizing a wireless ad hoc network. The wireless ad hoc network is used for dividing in-cluster and inter-cluster control information to different areas in a wireless frame structure. Furthermore a control area and a data area which are specialized for each broadcast service are divided in the wireless frame structure. The method realizes overall scheduling on different types of services with different priorities through a specific frame structure. Furthermore through reserving a specialized control resource area and a data resource area for the high-priority broadcast service, service priority insurance is realized.

The invention discloses an intelligent bridge detection system based on an unmanned aerial vehicle. The intelligent bridge detection system comprises an unmanned aerial vehicle body and a ground station control center, wherein the unmanned aerial vehicle body is provided with an image data acquisition apparatus, a flight control module, an automatic navigation module, an ultrasonic distance measurement module, a GPS module and a wireless transmission module, the ground station control center comprises a central control module, a route simulation processing module, a human-machine interaction module, an image analysis and processing module, a display module, a storage module and a wireless transmission module, the flight control module is respectively electrically connected with the image data acquisition apparatus, the automatic navigation module, the ultrasonic distance measurement module, the GPS module and the wireless transmission module, and the central control module is respectively electrically connected with the route simulation processing module, the human-machine interaction module, the image analysis and processing module, the display module, the storage module and the wireless transmission module. By adopting the intelligent bridge detection system, the detection precision is high, and the road traffic is not influenced.

The invention provides a flexible filter bag device of a pulse dust collector. The flexible filter bag device consists of a filter bag, an upper bushing ring, anti-flat rings, a hose, a back-over filter bag plate, a bundling rope, a tension spring, upper and lower hooks and a hanger, wherein the upper bushing ring is arranged to be a conical plug bushing ring; a semicircular arc clamp groove is arranged on the outer wall of the upper bushing ring; the outer circle of the upper end face of the upper bushing ring is larger than a pattern card hole, so as to tightly press a sealing ring of the filter bag; the anti-flat rings are arranged in the filter bag, and are fixedly arranged inside the filter bag according to a certain distance; the bundling rope is arranged at the lower end of the filter bag, and is bundled on the back-over lower filter bag plate; the grating type filter bag hanger is arranged at the upper end of a dust hopper; and the tension spring is fixedly arranged on the filter bag plate and the hanger by using the upper hook and the lower hook. The flexible filter bag device provided by the invention has the advantages of simple structure and easiness in manufacturing; the filter bag and the pattern card hole are in tight contact; no movement exists; the filter bag can be prevented from being damaged, and is convenient to replace; the service life of the filter bag is prolonged; and various defects of a cage type rigid framework can be overcome.

The invention provides a side plate installing vehicle for an omnidirectional fine-tuning satellite instrument. The side plate installing vehicle comprises a base assembly (1), a lifting function assembly (2), a turnover function assembly (3) and a side plate installing frame assembly (4), wherein the lifting function assembly (2), the turnover function assembly (3) and the side plate installing frame assembly (4) are arranged on the base assembly (1). The side plate installing vehicle can be adjusted in three linear directions of front and back, left and right and up and down and two angular directions of pitching and rolling through mechanisms such as an adjustable leg support, a screw rod, a linear guide rail and a lifter, and can be used for installing side plates of various satellite instruments on satellites.

The invention relates to a continuously switchable four-way rotary valve, which comprises a rotating component and a non-rotating component. The rotating component mainly comprises a driving shaft, a rotary valve spool, a mandrel connecting pin and a shaft sleeve, wherein the rotary valve spool is provided with two arc through hole type fluid channels, and the rotary valve spool is connected with the driving shaft by the aid of the mandrel connecting pin. The continuously switchable four-way rotary valve can be superposed, and rotary valve units can be increased as needed. The continuously switchable four-way rotary valve is driven by a motor, can be continuously switched, and is free of impact during switching, long in service life and particularly suitable for serving as a high-concentration seawater guide valve for a reverse osmosis seawater desalinization energy recovery device.

The invention relates to a mobile robot obstacle avoidance method based on a neural network. The mobile robot obstacle avoidance method comprises the following steps of: (1) determining obstacle avoidance parameters according to the size and driving mode of a robot; (2) inputting a depth image, preprocessing the depth image, and segmenting a foreground region; (3) constructing an end-to-end obstacle avoidance neural network; (4) constructing a data set, and training an obstacle avoidance neural network; (5) acquiring a depth image, and carrying out the same preprocessing in the step (2) on thedepth image to obtain a foreground region; (6) performing large obstacle avoidance processing if a large obstacle exists in the foreground region and then executing a step (8), otherwise, executing astep (7); (7) inputting an image of the foreground region into the obstacle avoidance neural network, and outputting a turning angle and a moving speed of the robot; (8) and completing obstacle avoidance. According to the mobile robot obstacle avoidance method, the mobile robot obstacle avoidance is carried out by using the depth image and the convolutional neural network, manual feature extraction and parameter setting are not needed, and accurate obstacle avoidance can further be carried out in an outdoor complex scene.

The invention relates to a distributed tower group anti-collision system. Control systems arranged on tower cranes realize dynamic information interaction among tower cranes by adopting a radio communication mode. The system comprises a main controller for signal acquisition and relay output control, a display for displaying a running state in real time and a radio communication module for finishing information transmission among site cranes, wherein the radio communication module is provided with a preset protocol among the tower cranes. In the system, the controllers on the tower cranes have no primary or secondary points and are in the equal status, and each controller respectively has the functions of information acquisition, control decision and information exchange and is mainly in charge of the detection of the state of the local tower crane, the anti-collision calculation of the local tower crane and related tower cranes and the output control of the local tower crane. The invention provides a system capable of guaranteeing the normal interaction of information among the tower cranes, recovering network communication according to a certain protocol when the network has a fault and guaranteeing that the tower groups have no collision accidents.

The invention discloses a volute of a centrifugal fan. The volute comprises a volute body, a diffusion cavity and a centrifugal blade impeller. The volute body is in an Archimedean spiral design or a logarithmic spiral design, the diffusion cavity is connected with the volute body, the centrifugal blade impeller is arranged inside the volute body, and a profile drawing center O of the volute body is deviated relative to the central axis of the centrifugal blade impeller, so that the distance D1 from the centrifugal blade impeller to the inner wall of the diffusion cavity is increased. The invention further discloses a method for manufacturing the volute of the centrifugal fan. The volute and the method have the advantages that airflow diffusion space can be reasonably arranged according to the distribution condition of the air speed of an outlet of the centrifugal fan, and main airflow can be smoothly accelerated from the centrifugal blade impeller, and then flows through the volute body to be transmitted to a diffusion opening of the diffusion cavity; obstacles to the main airflow are reduced, and accordingly integral flow resistance of an air channel of the fan and friction-induced noise of the air channel of the fan are reduced; purposes of preventing the airflow from being collided with the inner wall surface of the volute, increasing the quantity of air and reducing the noise are achieved; the quantity of the air generated by the fan is increased.

The invention discloses a novel annular deployable truss structure which consists of a plurality of parallelogram-like unit structures, and the adjacent parallelogram-like unit structures are connected by three-point hinges and five-point hinges to form a closed annular structure. Each parallelogram-like unit structure is composed two vertical rods, two cross bars, two diagonal rods, two five-point hinges and two three-point hinges. The adjacent two parallelogram-like unit structures share one vertical rod, one five-point hinge and one three-point hinge. The upper cross bars, the diagonal rods, the lower cross bars are distributed in three mutual-parallel planes in the horizontal direction, and each bar or rod does not influence others in movement. When the truss is completely folded, each bar or rod is distributed in the vertical direction, so that the folding diameter of the truss is effectively reduced. The vertical rods and the three-point hinges are connected through sliding pairs. When the truss is folded, the three-point hinges can slide in the directions of the vertical rods, and the folding height of the truss is greatly reduced.

The invention relates to a two-dimensional large-angle rapid deflection reflector. The reflector comprises a reflecting mirror assembly, a supporting assembly, a driving assembly, a sensor assembly and a base. The supporting assembly is a self-made ball bearing and can freely rotate around the sphere center of the supporting assembly; and the supporting assembly is pre-tightened through a conical spiral spring, so that the supporting assembly can be kept at an initial zero angle position without the driving of an external force. According to the driving assembly, four voice coil motors are adopted as driving components; the sphere centers of the voice coil motors are overlapped with the sphere center of the supporting assembly; the voice coil motors push the supporting assembly to perform two-dimensional rotation; and gaps between the magnetic steel and coils of the voice coil motors are always constant, and therefore, the magnetic steel will not collide with the coils, and relatively large deflection angles can be generated. The sphere centers of the supporting assembly and the driving assembly are located on the reflection surface of a plane reflecting mirror, so that the two mutually perpendicular deflection axes of the reflecting mirror are located on the surface of the reflecting mirror. In the fast deflecting process of the reflecting mirror, the translational movement of a reflection light beam caused by a condition that the deflection axes of a reflecting mirror are not overlapped with the surface of the reflecting mirror can be eliminated, and the control precision of the light beam is improved.

The invention discloses a vertical lifting plant planting frame, which comprises four upright columns arranged in a rectangular shape, several layers of planting boards are arranged between the upright columns, horizontal guide sleeves are fixedly connected to both sides of the planting boards, and the horizontal guide sleeves are inserted into the The beam is installed, the two ends of the beam are fixed with vertical guide sleeves, and the vertical guide sleeve is sleeved on the column; the bottom of the column is equipped with a combiner box. In the present invention, several layers of planting boards are arranged between the uprights, and planting holes are opened on the planting boards, and plants can be planted through the planting holes without using planting plates, thereby improving stability and preventing planting pots from colliding with each other or The case of falling.

The invention discloses a stator and rotor combined assembling device, and belongs to the technical field of motor assembly. The stator and rotor combined assembling device is provided with a first feeding conveying mechanism, a second feeding conveying mechanism, a jacking guide mechanism and a pressing mechanism; the first feeding conveying mechanism is used for positioning and fixing a rotor end cover assembling part, the second feeding conveying mechanism is used for positioning and fixing a stator shell assembling part, the jacking guide mechanism is used for positioning one axial end ofthe rotor end cover assembling part, and the pressing mechanism is used for positioning and fixing the other end of the rotor end cover assembling part; and the pressing mechanism and the jacking guide mechanism are descend to press and assemble the rotor end cover assembling part into the stator shell assembling part. The stator shell assembling part is high in centering precision, the coaxialityof the rotor end cover assembling part and the stator shell assembling part is high, and the assembly efficiency and the assembly quality can be improved.

The invention relates to an SPORT (Solar Polar Orbit Radio Telescope) clock scanning satellite comprising a satellite body, a subsatellite, a stretching arm, a solar cell paddle, a butt-joint ring, a geosynchronous communication antenna and an orbit control engine. The SPORT clock scanning satellite is characterized in that the satellite body is in a cuboid shape and has a three-cabin internal structure; and the subsatellite concretely comprises a subsatellite body, a helical antenna, a reflecting plate, a reflecting plate support frame, a flexible solar paddle, a helical antenna unfolding guide mechanism, a guide unfolding drive motor, a speed reducer, an S wave-band digital antenna, a receiver and a power module. The SPORT clock scanning satellite adopts a main force-bearing structure which is a central force-bearing drum and a radial partition board force-transferring path, has a clear and concise force-transferring link, and is beneficial to the design of structure strength and rigidity through configuration distribution; the SPORT clock scanning satellite is provided with an orbit maneuver motor so as to transfer orbits per se when flying during a cruise phase, thereby reducing the requirements on a carrying upper stage; in addition, the SPORT clock scanning satellite ensures the stability of a better satellite attitude through the distribution position of a propelling module of the satellite body.

The invention discloses an autonomous parking trajectory planning method suitable for multiple scenarios. The autonomous parking trajectory planning method comprises the steps of (1) building a parking map; (2) determining a current vehicle position and a target parking location; (3) determining physical parameters of a vehicle and initializing a virtual protection box expansion coefficient of thevehicle; (4) expressing a kinematic differential equation of the vehicle as a vehicle motion state constraint; (5) establishing a vehicle and obstacle collision avoidance constraint by using a virtual protection frame and the virtual protection box expansion coefficient; (6) establishing state variable and input variable constraints; (7) determining an optimization objective and building an optimization problem; (8) solving the optimization problem by a solver and obtaining an alternative autonomous parking trajectory; and (9) recalculating the virtual protection box expansion coefficient, obtaining the final autonomous parking trajectory if the parking condition is met, or else, updating the virtual protection box expansion coefficient and repeating the steps (4) to (8). By using the autonomous parking trajectory planning method, a collision-free parking trajectory can be planned in multiple scenarios.