A Parking Path Planning Method Based on Quasi-Uniform B-Spline Curve

Abstract

The invention discloses a parking route planning method based on a quasi-uniform B-spline curve. Coordinates of part of control points are fixed, so that the quantity of control quantity is reduced, the coordinates of the control points are optimized, and a parking route trajectory is obtained, wherein the minimum of the curvature maximum value of a parking route trajectory curve generated by the control points is taken as an optimization target of an objective function; and constraint functions are established by using vehicle geometric collision constraint condition. Since the quasi-uniform B-spline curve is adopted, the generated curve is guaranteed to pass through the control points at the two ends, that is, the vehicle attitude corresponding to the generated trajectory curve can meet the parking requirement in the vicinity of a starting point and an ending point, the control quantity corresponding to the control points is simplified, the number of the constraint functions of the optimization solution problem established in the parking trajectory planning process is effectively reduced, and the calculation speed of the optimization solution process is improved.

Description

technical field [0001] The invention relates to a parking path planning method, in particular to a parking path planning method based on a quasi-uniform B-spline curve. Background technique [0002] Automatic parking is an important part of the intelligent assisted driving system, and its main purpose is to improve vehicle comfort and safety. In the process of automatic parking, parking path planning is one of the core tasks. Its goal is to plan a collision-free vehicle trajectory that satisfies vehicle kinematic constraints from the starting position of the vehicle to the target parking space. Although the traditional arc-line parking trajectory can meet the vehicle kinematic constraints, the parking trajectory generated by it has problems such as curvature discontinuity, which causes the vehicle to turn in situ during the parking process, causing tire wear Therefore, it is necessary to seek a more reasonable parking trajectory generation method. [0003] The B-spline cur...

AI Technical Summary

Problems solved by technology

However, in the existing B-spline curve parking path planning methods, such as the papers "Research on Path Tracking of Automatic Parking System Based on Sliding Mode Control" and "Research on Path Tracking of Automatic Parking System Based on Sliding Mode Control", both use uniform B Spline curves are used to construct trajectories. There is a problem in the use of uniform B-spline curves, that is, the two ends of the generated curve do not touch the control points.

[0004] In addition, another problem that needs to be solved urgently is that the constraints of the current optimization problem and the number of solution parameters are still large, and the calculation speed of the optimization solution is slow.

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