Obstacle avoidance method for automatic parking path planning and parking path planning system

A path planning and automatic parking technology, applied in the field of parking path planning, can solve problems such as large errors, decreased calculation speed, and increased difficulty of calculation

Active Publication Date: 2020-09-18
HUIZHOU DESAY SV AUTOMOTIVE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if the dimensions of vehicles and obstacles are directly taken into account in the planning algorithm during path planning, the difficulty of the solution will be greatly increased, and the calculation speed will be significantly reduced, resulting in obvious delays and large errors. In this way, it is difficult to meet the requirements of automatic parking path planning.

Method used

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  • Obstacle avoidance method for automatic parking path planning and parking path planning system
  • Obstacle avoidance method for automatic parking path planning and parking path planning system
  • Obstacle avoidance method for automatic parking path planning and parking path planning system

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Embodiment 1

[0038] An embodiment of the present invention provides an obstacle avoidance method for automatic parking path planning, such as Figure 4 shown, including the following steps:

[0039] 101. Planning the parking path trajectory according to the initial vehicle position, parking space and obstacle information.

[0040] The planning process of the parking path trajectory is based on the midpoint of the rear axle of the vehicle as the center of mass (refer to the Ackermann steering principle), and the curve or straight line drawn by the path passed by the center of mass point is used as the parking path trajectory.

[0041] In this embodiment, the obstacle information includes the obstacle position and the obstacle size, and the obstacle information is mainly acquired through the vehicle camera and the vehicle radar. The reason why the vehicle-mounted camera and vehicle-mounted radar are used to cooperate with each other to obtain obstacle information is because neither a single...

Embodiment 2

[0052] This embodiment discloses a parking path planning system, which is used to implement the obstacle avoidance method for automatic parking path planning mentioned in Embodiment 1. Such as Figure 5 As shown, the parking route planning system 1 includes a vehicle positioning module 6 , a parking space detection module 5 , an obstacle detection module 4 , a calculation module 3 and an interference detection module 2 . The vehicle positioning module 6 is used to obtain the position and posture of the vehicle. The parking space detection module 5 is used to acquire the pose of the parking space. The obstacle detection module 4 includes a vehicle-mounted camera and a vehicle-mounted radar for obtaining obstacle information. The calculation module 3 is used to plan the parking path in combination with the vehicle position, posture, obstacle information and parking position, obtain the trajectory of the parking path and determine the posture of each node on the trajectory of t...

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Abstract

The invention relates to an obstacle avoidance method for automatic parking path planning. The obstacle avoidance method comprises the steps: planning a parking path track according to the initial position of a vehicle, parking spaces and obstacle information; selecting a plurality of nodes on the parking path track according to a preset step length, and determining poses corresponding to the nodes; according to the pose corresponding to each node, fitting the vehicle contour to each node in sequence; establishing a coordinate system, judging whether a vehicle contour which is overlapped withthe projection of the obstacle in an X-axis direction and a Y-axis direction exists or not, if so, considering that the parking path track is unqualified, and re-planning the parking path; otherwise,determining that the parking path track is qualified. According to the method, obstacle collision detection is carried out on the parking path track planned by taking the midpoint of the rear axle ofthe vehicle as a mass point, so that the collision risk in the parking process is avoided, and the parking success rate is increased to a certain extent; meanwhile, computing resources are not increased, and the method has important practical value.

Description

technical field [0001] The invention relates to the technical field of parking path planning, in particular to an obstacle avoidance method for automatic parking path planning and a parking path planning system. Background technique [0002] With the increase in the number of cars and the narrow space of parking spaces, difficulty in parking has gradually become a common phenomenon, resulting in frequent occurrence of safety accidents in the process of parking. The emergence of automatic parking systems can effectively avoid such safety accidents during parking. Therefore, the automatic parking system has become a research hotspot of major enterprises and institutions at home and abroad in recent years. At present, the automatic parking system has been gradually applied to some vehicles as a high-end configuration to assist the driver to complete the parking process. It mainly includes three parts: identification system, path planning system and parking control system. Dur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06B60W30/095B60W40/02
CPCB60W30/06B60W30/095B60W40/02
Inventor 仝乐斌吕兵兵成航见
Owner HUIZHOU DESAY SV AUTOMOTIVE
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