A Path Planning and Design Method for Vertical Parking

Abstract

The invention discloses a vertical parking path planning design method. The vertical parking path planning design method comprises the following steps of S1, calculating a desired minimum parking space length according to vehicle parameters and environment information; S2, comparing an actual parking space length with the minimum parking space length; S3, selecting a parking mode according to a comparison result in the step 2; if the actual parking space length is larger than or equal to the minimum parking space length, using a path planning design of parking in place at one time; and if theactual parking space length is less than or equal to the minimum parking space length, using a path planning design of parking in place in multiple steps. According to the vertical parking path planning design method, path planning of a vehicle is specifically designed according to position information of the vehicle under a virtual coordinate system and a vehicle body attitude angle information obtained through a vehicle CAN signal so as to reduce the pressure of a driver.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to the intelligent parking technology. Background technique [0002] With the continuous improvement of people's living standards and the continuous vigorous development of the automobile industry, the number of automobiles has increased year by year, while roads, streets and parking lots have become more and more crowded and narrow, and disputes caused by vehicle parking have also increased year by year. When parking, the driver only relies on the rearview mirror and the window glass to observe the surrounding vehicle environment, and the field of vision is greatly limited. To a large extent, it depends on the driver's driving experience and skills. If the experience and skills are not enough, and if you encounter a relatively narrow parking space, the difficulty of parking will be greatly increased, so there is a parking assist system. [0003] As the parking assistan...

AI Technical Summary

Problems solved by technology

When parking, the driver only relies on the rearview mirror and the window glass to observe the surrounding vehicle environment, and the field of vision is greatly limited. To a large extent, it depends on the driver's driving experience and skills. If the experience and skills are not enough, and the parking space is relatively narrow, the parking difficulty will be greatly increased, so there is a parking assist system.

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