Path planning method and system applied to various parking scenes and medium

Abstract

The invention provides a path planning method and system applied to various parking scenes and a medium. According to the invention, an environmental perception module, a path optimization module, a one-time path planning module and an output module are adopted, the one-time path planning module comprises a structure in which a path planning modeling module, a discretization module and an optimization solving module are sequentially connected, and the environmental perception module perform parking space and obstacle detection based on vision and ultrasonic radar; the path optimization moduleperforms iterative optimization on one-time path planning based on a time-space decoupling initialization strategy; the one-time path planning module completes one-time path planning based on certaininitial guess; and the output module outputs an optimal path planning method through a certain screening mechanism. The path planning method solves technical problems that the path planning method inthe prior art cannot be applicable to path planning for various parking scenes, a condition of constraint violating among discrete points is not considered, and a more excellent initialization methodis unavailable.

Description

technical field [0001] The present invention relates to the technical field of path planning, in particular to a path planning method, system and medium for various parking scenarios based on an improved algorithm. Background technique [0002] In recent years, with the rapid development of the economy, the number of motor vehicles has increased rapidly. But the parking lot quantity is limited, and the scale of parking is getting bigger and bigger, and narrow parking space has caused serious difficulty to driver's parking. The parking assistance system can effectively solve the problem of "difficult parking", and path planning is an important step in automatic parking. [0003] At present, there are many methods of path planning, most of which only design one-stage or segmented parking paths for specific parking scenarios, while there are parking steering, fixed initial parking positions (fixed points or areas), and none for all types of parking spaces. General framework a...

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Problems solved by technology

[0004] The invention provides a path planning method for various parking scenarios, using an environment perception module, a path optimization module, a single path planning module, an output module, and an environment perception module to detect parking spaces and obstacles based on vision and ultrasonic radar ; Path optimization module, iterative optimization of single path planning based on time-space decoupling initialization strategy; Single path planning module, based on a certain initial guess, completes single path planning; Output module, output through a certain screening mechanism The optimal path planning method solves the technical problem that the path planning method in the prior art cannot be applied to the path planning of various parking scenarios, does not consider the violation of constraints between discrete points, and lacks a better initialization method

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