Vehicle autonomous parking path programming method used for multiple parking scenes

A technology of autonomous parking and path planning, applied in the direction of control devices, etc., can solve problems such as hindering vehicle driving, accidents, and vehicle collisions

Active Publication Date: 2016-08-17
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

The disadvantage is that this method does not restrict the range of activities of the vehicle, and its planned trajectory may cause the vehicle to invade other lanes and hinder the driving of vehicles on other lanes or ev

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  • Vehicle autonomous parking path programming method used for multiple parking scenes
  • Vehicle autonomous parking path programming method used for multiple parking scenes
  • Vehicle autonomous parking path programming method used for multiple parking scenes

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Embodiment Construction

[0055] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0056] Such as figure 1 As shown, the autonomous parking system includes a perception system 1 , a controller 2 , a steering system 31 , a braking system 32 , and a power system 33 of the vehicle. The perception system 1 includes one or more sensors, such as ultrasonic-based sensors, vision-based sensors or laser-based sensors, which can detect information about surrounding obstacles, detect parking space information, and set the target state of the vehicle. Then send the above information to the controller 2. The controller 2 receives the obstacle information, target parking space information and target state information sent by the sensing system 1, then models and solves the parking problem according to the method of the present invention, and finally executes the planned route. The steering system 31 , braking system 32 and power system 3...

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Abstract

The invention provides a vehicle autonomous parking path programming method used for multiple parking scenes. The method is used for automatically parking a vehicle in a parking space through an autonomous parking system when the autonomous parking system detects the available parking space. The method includes the steps that target parking space information is detected, and a parking scene is determined; the initial state and target state of the to-be-parked vehicle are determined; a vehicle kinematics differential equation is established; state variables and control variables of the vehicle are segmented, equidistance sampling is performed on each segment according to certain time step, and to-be-optimized variables are obtained; an equality constraint, boundary constraints and inequality constraints of the to-be-optimized variables are formed; motion range constraints of the to-be-parked vehicle are formed according to the motion range limit in the parking process of the vehicle; an optimization objective is determined, and an objective function is established; and by means of a nonlinear programming solver, an optimal solution of a parking path is obtained. The vehicle autonomous parking path programming method is suitable for the multiple parking scenes, the design is reasonable, abundant information can be provided so as to control autonomous parking of the vehicle, and the security coefficient is high.

Description

technical field [0001] The invention relates to the technical field of vehicle autonomous parking, in particular to a vehicle autonomous parking path planning method for various parking scenarios. Background technique [0002] In recent years, with the rapid growth of domestic car ownership, parking spaces in cities have become increasingly tight and narrow. For novice drivers, parking is usually a difficult problem, especially in the case of too narrow parking spaces, it is often difficult for drivers to control the car well for fast and accurate parking, and the probability of accidents caused by parking is greatly increased. [0003] The autonomous parking system can help the driver park accurately and safely. This system uses one or more sensors to detect the size and location of the parking space, then plans a feasible parking path, and finally automatically controls the steering system of the vehicle. , brake system and power system follow the planned path to complete...

Claims

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Application Information

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IPC IPC(8): B60W30/06
CPCB60W30/06B60W2050/0021B60W2050/0034
Inventor 梅涛叶林铨祝辉梁华为袁胜王少平
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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