An automatic parking path planning method based on b-spline theory

Abstract

The invention discloses an automatic parking path planning method based on B-spline theory, which uses sensors installed on the vehicle body to determine the specific position of the vehicle and the azimuth angle of the vehicle; according to the outline of the vehicle and the parking space, the vehicle and the parking space are simplified are rectangles ABCD and rectangle abcd, and analyze possible collision points; the planned parking path must ensure that the actuators of subsequent vehicles can be executed accurately; according to the analysis of the actual parking process, the overall running track of the vehicle is connected parking For a curve at the beginning and end positions, there are differences in the shape of the curve depending on the size of the parking space; the present invention can adapt to narrow parking spaces and more complex parking environments under the premise of ensuring parking safety; the planned parking The path is continuous and overcomes the influence of the uneven curvature of the planned parking path, avoids the problem of excessive steering wheel steering, makes the vehicle movement more gentle, and improves the driving experience.

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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