A human-vehicle interactive intelligent parking system

Abstract

The invention discloses a human-vehicle interactive intelligent parking system. The system includes an environment detection module, a path planning module and a motion control module; the environment detection module detects the size of vehicles and parking spaces and sends them to the path planning module; the path planning module includes a judgment stage, Initialization stage, free planning stage, final planning stage and arbitration stage; the path planning module plans multiple parking paths according to the size of the parking spaces, and then selects the optimal parking path according to the arbitration criteria; the motion control module selects the optimal parking path according to the optimal Path calculation of vehicle control parameters to complete autonomous parking; the parking system of the present invention can generate parking paths in various parking environments, and can plan the path of the wheel rotation process, so that the vehicle can There is no need to stop, thereby ensuring the continuity of the vehicle's driving process.

Description

technical field [0001] The invention relates to the technical field of autonomous parking systems, in particular to a human-vehicle interactive intelligent parking system. Background technique [0002] As we all know, with the development of vehicles becoming more and more developed today, the intelligence of vehicles is a major trend in the future development of vehicles. With the increasing number of urban vehicles and the increasingly serious traffic congestion, the difficulty of parking in the city has greatly increased. Many drivers find it difficult to navigate parking techniques. Therefore, the autonomous parking system has a strong market demand and a broad market space. [0003] An autonomous parking system is a system in which a vehicle can park itself without manual intervention after a person gives a parking command. The system consists of three parts: environment data detection module, path planning analysis module and vehicle motion control module. [0004]...

AI Technical Summary

Problems solved by technology

But this approach has certain limitations:

[0007] (2) The planning time is uncertain and the planning path is uncertain;

[0008] (3) Vehicle constraints are rarely considered, and sometimes paths that do not satisfy vehicle constraints are planned

[0010] (1) Algorithms that use circular trajectories for path planning generally do not consider the continuous problem of the second derivative of the path, and require the vehicle to stop while turning the steering wheel, which has a great impact on the continuity of the vehicle's driving process; some algorithms only consider the minimum turn radius;

[0011] (2) This algorithm can only generate one path;

[0012] (3) For parallel parking, this algorithm rarely considers the situation of narrow parking spaces. For narrow parking spaces, this method cannot plan the path

However, the processing speed of the existing methods is not fast enough, and the algorithm for planning using circular trajectories still has certain defects: only the minimum turning radius is considered and the continuous problem of the second derivative of the path is not considered

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