A vehicle autonomous parking path planning method for multiple parking scenarios

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

Active Publication Date: 2018-07-10
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • 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 even cause accidents.
Another disadvantage is that it does not detect whether there is a collision between the two discretized vehicle states, which may cause a collision when the vehicle travels along the planned trajectory

Method used

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  • A vehicle autonomous parking path planning method for multiple parking scenarios
  • A vehicle autonomous parking path planning method for multiple parking scenarios
  • A vehicle autonomous parking path planning method for multiple parking scenarios

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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 path. The steering system 31 , braking system 32 and power system 33...

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Abstract

The present invention provides a vehicle autonomous parking path planning method for various parking scenarios, which is used for the autonomous parking system to detect an available parking space and automatically park the vehicle in the parking space, including: detecting Target parking space information, determine the parking situation; determine the initial state and target state of the vehicle to be parked; establish the differential equation of vehicle kinematics; segment the vehicle state variables and control variables, and divide each segment according to a certain time step Perform equidistant sampling to obtain the variables to be optimized; respectively form equality constraints, boundary constraints, and inequality constraints for the variables to be optimized; form constraints on the range of motion of the vehicle to be parked according to the range of motion of the vehicle during parking; determine the optimization goal , establish the objective function; use the nonlinear programming solver to obtain the optimal solution of the parking path. The invention is suitable for various parking scenarios, has a reasonable design, can provide abundant information to control the autonomous parking of the vehicle, and has a high safety factor.

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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Patent Type & Authority Patents(China)
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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