Automatic parking path planning device

Abstract

The invention discloses an automatic parking path planning device, which belongs to the parking field and aims at solving the problem that when a control point added for straightening a vehicle body is compared with the original control point, a slope changes excessively, the curvature of a curve is caused to change excessively, and the vehicle thus can not keep up. The automatic parking path planning device in the technical scheme comprises a spline curve planning module and a circular arc completing module, wherein the spline curve planning module selects the optimal path as a spline curve approximation route within a feasible range, a plurality of points are selected on the approximation route as spline curve control points, and a spline curve is planned; and a section of a circular arcdetermined by the minimum turning radius of the vehicle is completed at a starting point and / or an ending point of the planned spline curve, at the connection point with the spline curve, the first-order derivative is continuous, the first-order derivative at the tail end of the circular arc section is zero, and the coordinates of a track point are outputted to complete the planning. The automatic parking path planning device has the effects that the starting and ending point posture of the whole curve can be ensured, and during the vehicle body straightening process, the kinematic constraints of the vehicle are satisfied.

Description

technical field [0001] The invention belongs to the field of parking and relates to an automatic parking path planning device. Background technique [0002] In the prior art, when planning the B-spline path, at the end of the last control point, add 4 more control nodes on the same horizontal line, so as to keep the posture of the end point parallel to the bottom edge of the parking space. This method has the following disadvantages: [0003] 1. After additional control points are added, it cannot be guaranteed that the curvature of the entire spline curve meets the minimum radius constraint of the vehicle. [0004] 2. The attitude of the car body cannot be guaranteed at the initial position. [0005] In the automatic parking control system, path planning, as the key core technology, has always been the focus and focus of many researchers. Good path planning can not only ensure the vehicle's obstacle avoidance function, but also reduce the pressure on the control executio...

AI Technical Summary

Problems solved by technology

[0010] In order to solve the problem that the increased control point for straightening the vehicle body is too large compared with the original control point, resulting in a large change in the curvature of the curve, so that the vehicle cannot keep up with the problem, the technical solution provided by the invention is:

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