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

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...

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.

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