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Automatic driving path planning method and system, computer-readable storage medium, and vehicle

A path planning and automatic driving technology, applied in the field of parking, to achieve the effect of smooth motion and small angle fluctuations

Active Publication Date: 2019-11-29
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide an automatic driving path planning method, system, computer-readable storage medium and vehicle, to solve the problem of the vehicle automatically finding a parking space in a general line drawing scene, and to control the vehicle to search for a parking space along the planned path

Method used

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  • Automatic driving path planning method and system, computer-readable storage medium, and vehicle
  • Automatic driving path planning method and system, computer-readable storage medium, and vehicle
  • Automatic driving path planning method and system, computer-readable storage medium, and vehicle

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Embodiment Construction

[0021] The present invention will be further described below in conjunction with accompanying drawing.

[0022] Such as figure 1 As shown, in this embodiment, a method for planning an automatic driving path includes the following steps:

[0023] Obtain the vehicle's initial constraints and vehicle termination constraints, wherein the vehicle's initial constraints include the vehicle's initial pose, initial point velocity, acceleration, and the distance between the vehicle and the parking space line, and the vehicle's termination constraints include the vehicle's termination lateral position and posture ;

[0024] The path planning from the initial pose to the end pose is carried out based on the initial constraints of the vehicle and the termination constraints of the vehicle. The whole process is divided into two stages. The first stage is to plan the path as a smooth curve, and the second stage is to plan the path as a straight line.

[0025] (1) Planning for the first st...

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Abstract

The invention discloses an automatic driving path planning method and system, a computer-readable storage medium, and a vehicle. The method comprises acquiring a vehicle initial constraint condition and a vehicle end constraint condition, wherein the vehicle initial constraint condition includes the initial attitude, the initial point speed, the acceleration and the distance to a stall line of thevehicle, and the vehicle end constraint condition includes the end lateral position and the attitude of the vehicle; based on the vehicle initial constraint condition and the vehicle end constraint condition, planning a path from the initial attitude to the end attitude, wherein the whole process is divided into two stages in the first stage of which, the path is planned as a smooth curve, and inthe second stage of which, the path is planned as a straight line. The automatic driving path planning method solves the parking stall automatic searching in a general line-drawn scene, and can control the vehicle to search for a parking stall along a planned path.

Description

technical field [0001] The invention belongs to the technical field of parking, and in particular relates to an automatic driving route planning method, system, computer-readable storage medium and vehicle. Background technique [0002] In recent years, in the field of low-speed automatic parking, it has been possible to realize fully automatic parking in the parking process based on ultrasound, imaging, and even fusion detection technology. However, the driver still needs to manually complete the process of finding a parking space before starting to park. That is, the driver needs to manually press the parking start button, and then drive the vehicle forward to search for a parking space. After finding the parking space, stop the vehicle according to the prompts, put the P gear and pull the handbrake, and then perform a series of operations according to the prompts to turn on the parking function. The whole process is a bit cumbersome. Or the path based on the memory path...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/02G01C21/34
CPCB60W40/02B60W2520/10B60W2520/105G01C21/3407
Inventor 盛进源梁锋华万凯林张伟方高享久
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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