Automatic parking path planning method and system

A technology for automatic parking and path planning, which is applied to vehicle components, steering mechanisms, transportation and packaging, etc. It can solve the problems of difficult implementation of algorithms, single applicable scenarios, and complicated operation processes, and achieve easy implementation, meet the parking environment, and the algorithm simple effect

Active Publication Date: 2018-02-09
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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Problems solved by technology

The algorithm involved in the path planning of automatic parking should not be too complicated, and it needs to be considered in combination with the current automobile products. Too complicated algorithms are difficult to realize in a limited t

Method used

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  • Automatic parking path planning method and system
  • Automatic parking path planning method and system
  • Automatic parking path planning method and system

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Embodiment approach

[0065] Further as a preferred embodiment of the method of the present invention, it also includes an optimized selection step:

[0066] In the case of obtaining multiple automatic parking paths, the optimal automatic parking path is selected from the multiple automatic parking paths according to the preset evaluation index.

[0067] Further as a preferred embodiment of the method of the present invention, the step of calculating the connection path by combining the vehicle pose and the parking position is specifically:

[0068] After judging the coordinates and heading angle of the vehicle pose and parking position according to preset conditions, select the corresponding path connection, and obtain the connection curve;

[0069] The path connection is any of the following four ways: a single straight line; a single arc; a single straight line and a single arc are connected and the two are tangent at the connection point; two arcs are connected and the two arcs are connected The tangen...

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Abstract

The invention discloses an automatic parking path planning method and system. The automatic parking path planning method comprises the steps that vehicle position information and parking place position information are obtained; connection path calculation is conducted by combining the vehicle position and the parking place position, and an initial path track of automatic parking is obtained; and the initial path track is subjected to obstacle interference detection, and then an automatic parking path is obtained. The automatic parking path planning system comprises a vehicle positioning module, a parking place detection module, a calculation module and an interference detection module. The vehicle parking path is planned through connection path calculation, the calculation method is simpleand easy to implement and can be applied to embedded real-time calculation, the diversified paths are planned through connection paths, the automatic parking path planning method and system can be applied to automatic parking in various scenes, and the requirements of complex parking environments in real life are met. The automatic parking path planning method and system which are applied to thevarious scenes and are simple in calculation can be widely applied to the field of path planning.

Description

Technical field [0001] The invention relates to the field of path planning, in particular to an automatic planning method and system for car parking. Background technique [0002] In recent years, with the rapid growth of the total number of domestic vehicles, the parking space in cities has become increasingly tight and narrow, and the probability of accidents caused by parking has greatly increased. Automatic parking technology can help people safely and reliably complete parking. It obtains the vehicle pose and parking position, then plans a feasible path, and then automatically controls the vehicle to follow the path to complete the parking. Path planning is a key part of automatic parking. The basic requirement is that the planned path is feasible and safe and collision-free. The algorithm involved in automatic parking path planning should not be too complicated. It needs to be considered in combination with current automotive products. Overly complex algorithms are difficu...

Claims

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Application Information

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IPC IPC(8): B60W30/06B62D15/02
Inventor 赖健明肖志光陈盛军苏阳闫雪
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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