A kind of automatic parking path planning method and system

A path planning and automatic parking technology, applied to other vehicle parameters and other directions, can solve the problem that the planned path curve is inconvenient to track with variable curvature, and achieve the effect of convenient vehicle tracking control and strong adaptability

Active Publication Date: 2022-07-12
GUANGZHOU AUTOMOBILE GROUP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide an automatic parking path planning method and its system to solve the problem in the prior art that it is difficult to track due to the variable curvature of the planned path curve

Method used

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  • A kind of automatic parking path planning method and system
  • A kind of automatic parking path planning method and system
  • A kind of automatic parking path planning method and system

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Embodiment 1

[0097] Based on the first embodiment of the present invention, the second embodiment of the present invention provides an automatic parking path planning system for parallel parking spaces, which specifically includes:

[0098] a planned path information confirmation unit, configured to obtain the position information of the parallel parking spaces that can be parked, and determine the starting point, the starting point heading, the ending point and the ending heading of the parking path planning according to the position information of the parallel parking spaces that can be parked;

[0099] a preliminary planning path generating unit, configured to generate a preliminary planning path according to the starting point, the starting point heading, the ending point and the ending point heading;

[0100] The final planned path selection unit judges the accessibility of the preliminary planned path according to the position information of the parallel parking spaces that can be par...

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Abstract

The present invention provides an automatic parking path planning method and system, wherein the path planning method includes: S1, acquiring position information of parallel parking spaces that can be parked, and determining a parking path planning method according to the position information of the parallel parking spaces that can be parked. Starting point, starting point heading, ending point and ending point heading; S2. Generate a preliminary planning path according to the starting point, starting point heading, ending point and ending point heading; S3. Judging the accessibility of the preliminary planning path, and starting from the preliminary planning path that satisfies the accessibility Select the final planned route from the planned route. The path planning method of the present invention plans a parallel parking space parking path by adopting a combination of segmented constant curvature curves and straight lines, which is convenient for vehicle tracking control.

Description

technical field [0001] The present invention relates to the technical field of path planning, and in particular, to an automatic parking path planning method and a system thereof. Background technique [0002] In recent years, with the continuous increase of domestic car ownership, parking difficulties have become a major problem for many car owners. Some novice parking skills are not skilled, which often results in problems such as vehicles being unable to park in the parking space or colliding with other vehicles during the parking process. [0003] The automatic parking system is designed to solve the problem of "parking difficulty". The automatic parking system is to sense the external environment through the on-board sensors during the parking process, plan a suitable path, and use the control system and the executive device to control the vehicle to park in the target parking space smoothly and accurately. [0004] The automatic parking system is mainly divided into t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/06B60W40/10
CPCB60W30/06B60W40/10B60W2520/00B60W2530/00
Inventor 夏锌管家意周文立范明周鹏
Owner GUANGZHOU AUTOMOBILE GROUP CO LTD
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