Automatic parking path planning method based on B spline theory

Abstract

The invention discloses an automatic parking path planning method based on a B spline theory. The method comprises the following steps: determining a specific position and an azimuth angle of a vehicle by utilizing a sensor mounted on a vehicle body; simplifying the vehicle and a parking space into a rectangle ABCD and a rectangle abcd according to the outlines of the vehicle and the parking spacerespectively, and analyzing possible collision points, wherein the planned parking path must can be accurately executed by an actuating mechanism of a subsequent vehicle; according to actual parkingprocess analysis, enabling the overall moving track of the vehicle to be a curve connecting the starting position and the end position of parking, wherein different sizes of parking spaces have curves in different shapes. On the premise that parking safety is guaranteed, the method can adapt to a narrow parking space and can better adapt to a complex parking environment; the planned parking pathis continuous, the influence of unsmooth curvature of the planned parking path is overcome, the problem that the turning amplitude of a steering wheel is too large is avoided, the vehicle moves more gently, and the driving and riding experience is improved.

Description

technical field [0001] The invention relates to the technical field of automatic parking, in particular to an automatic parking path planning method based on B-spline theory. Background technique [0002] With the increasing number of vehicles in the city, the parking space is becoming more and more compact. It is a difficult problem to realize safe and smooth parking in a complex parking environment. Therefore, the development of a fully automatic parking system can help alleviate such problems. The vehicle system obtains the vehicle's own position and attitude, parking space information, and obstacle information through sensors. Based on these sensory information, path planning and development are carried out, so that the vehicle can automatically park safely and comfortably without collisions according to the planned path. And can adapt to complex parking environment. [0003] At present, most fully automatic parking systems are applicable to a single parking scene, the ...

AI Technical Summary

Problems solved by technology

[0003] At present, most fully automatic parking systems are applicable to a single parking scene, the parking process is discontinuous and smooth, and the ability to adapt to narrow parking spaces is poor. The main factor is that the scene is not fully considered, and it is difficult to adapt to the gradual complexity of the path planning method. parking environment

[0004] Disadvantages of the existing technology: Most automatic wave vehicles use the method of tangent between two arcs or two arcs and a straight line for path planning. The planning method is simple, but the actual parking space scene is limited, and there is a steering wheel turning range Excessive factors will affect the overall parking performance and driver experience;

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