Automatic parallel parking path planning method based on two sections of second-order Bezier curves

Abstract

The invention discloses an automatic parallel parking path planning method based on two sections of second-order Bezier curves. The method comprises the steps of obtaining target parking space information to determine a parking target position and establishing a global coordinate system by taking the parking target position as an original point; constructing a parking trajectory segmentation judgment model to determine the number of planned trajectory segments, planning the end position range of the first section of trajectory, determining the start point, the end point and the control point of each section of planned trajectory, performing path planning by using a second-order Bezier curve, performing monitoring at set intervals, and adjusting the planned trajectory by using a dynamic adjustment planning trajectory method. According to the method, the requirement for the initial pose of the to-be-parked vehicle is lowered, and the environmental adaptability of the path planning methodis improved; the vehicle can be driven into the planned area manually through simple adjustment, so that the cost is reduced, and the method can be applied to medium and low-grade vehicles; control points of parking trajectory planning are easy to determine, a trajectory generation algorithm is simple, and the path curvature is continuous. The correction difficulty of the track error is reduced,and the obstacle avoidance performance and parking efficiency of the vehicle are improved.

Description

technical field [0001] The invention relates to the technical field of automatic parking path planning, in particular to an automatic parallel parking path planning method based on two second-order Bezier curves. Background technique [0002] The automatic parking system reduces the driver's fatigue intensity and the risk of vehicle damage to a certain extent, saving the driver's time. The automatic parking trajectory planning problem is an important part of the automatic parking system. Its main task is to provide a series of speeds and steering wheel angles from the initial pose to the target pose for the intelligent driving vehicle in the parking scene. The trajectory planning The quality of the car directly determines the quality of the parking system. [0003] At present, a variety of methods have been studied for parking trajectory planning at home and abroad, including curve fitting methods such as helix and polar spline, as well as trajectory planning through simple...

AI Technical Summary

Problems solved by technology

Among them, the parking trajectory planned by the third-order Bezier curve has problems such as difficult to find control points, complex trajectory generation algorithm, and inability to achieve effective obstacle avoidance for moving obstacles, and when there is an error between the actual trajectory and the planned trajectory. It is difficult to dynamically adjust the trajectory; the method of trajectory planning using geometric mapping methods has a small scope of application, is inflexible, and has problems such as sudden curvature changes

Therefore, accuracy, flexibility, simplicity and efficiency cannot be satisfied in parking trajectory planning at the same time.

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