An obstacle avoidance method for automatic parking path planning and a parking path planning system

Abstract

The invention relates to an obstacle avoidance method for automatic parking path planning, comprising: planning the parking path trajectory according to the initial position of the vehicle, the parking space and obstacle information; selecting several nodes on the parking path trajectory according to the preset step length, and determining The pose corresponding to each node; according to the pose corresponding to each node, fit the vehicle outline to each node in turn; establish a coordinate system to determine whether there is a vehicle that overlaps with the obstacle in both the X-axis direction and the Y-axis direction If yes, the parking path trajectory is considered unqualified, and the parking path is re-planned; otherwise, the parking path trajectory is considered qualified. This method performs obstacle collision detection on the parking path trajectory planned with the midpoint of the rear axle of the vehicle as the mass point, avoids the risk of collision during parking, increases the success rate of parking to a certain extent, and does not increase computing resources , which 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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