Automatic parking path planning method

Abstract

The invention discloses an automatic parking path planning method, 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 method is technically characterized by comprising steps: a section of a circular arc determined by the minimum turning radius of the vehicle is completed at a starting point and/or an ending point of a 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 method has the effects that the starting and ending point postures of the whole curve canbe 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 method. 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 increase in the control points for straightening the vehicle body is too large compared with the original control points, resulting in too large changes in the curvature of the curve, so that the vehicle cannot keep up with the problem, the technical solution provided by the invention is: automatic parking path The planning method selects the optimal path within the feasible range as the approximation route of the spline curve; selects several points on the approximation route as the control points of the spline curve, and plans the spline curve; at the starting point of the planned spline curve and / or the end point fills up a section of arc determined by the minimum turning radius of the vehicle, so that the first-order derivative is continuous at the point where it meets the spline curve; at the end of the arc segment, the first-order derivative is 0; the output trajectory point coordinates are Complete the plan

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