Automatic parking method and vehicle
An automatic parking and parking technology, applied in the field of parking, can solve problems such as poor universality, inability to achieve efficient planning paths, and planning failures.
Active Publication Date: 2020-10-27
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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However, when there are many obstacles in the parking scene, the path planned based on the geometric planning method can easily lead to planning failure because it cannot bypass obstacles.
[0003] In order to avoid planning failure, when using the geometry-based path planning method, it is usually necessary to manually set the parking reversing point, and for novice drivers, it is difficult to accurately control the parking reversing point
Moreover, the path planning method based on geometry has poor universality. It is only suitable for parking scenarios with wide parking spaces and aisles, and cannot achieve efficient path planning for other complex scenarios.
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[0047] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0048] The Rapidly Exploring Random Tree (RRT) algorithm is an incremental sampling search algorithm whose advantage lies in generating the final line by connecting discrete nodes in the configuration space. The RRT algorithm tends to expand to open unexplored areas, when the time is long enough and the number of iterations is large enough, there is no area that will not be explored.
[0049] As an improved algorithm of the RRT al...
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The embodiment of the invention provides an automatic parking method and a vehicle. The method comprises the steps: determining node distribution information for a to-be-parked region in an automaticparking process, wherein the node distribution information includes nodes through which a plurality of vehicles can pass; determining an intermediate node according to the node distribution information, and performing neighbor node search based on the intermediate node to obtain the plurality of neighbor nodes; determining cost information of candidate paths corresponding to the plurality of neighbor nodes, wherein the candidate parking path is a path from a starting node to the intermediate node through the neighbor nodes; and determining a target neighbor node according to the cost information, and performing automatic parking according to the target neighbor node. According to the embodiment of the invention, the method achieves optimization of the automatic parking path, can be suitable for a complex parking scene, and is universal.
Description
technical field [0001] The invention relates to the technical field of parking, in particular to an automatic parking method and a vehicle. Background technique [0002] At present, most automatic parking methods use a geometry-based path planning method, which is mainly based on experience for setting planning. However, when there are many obstacles in the parking scene, the path planned based on the geometric planning method can easily lead to planning failure because it cannot bypass obstacles. [0003] In order to avoid planning failure, when using the geometry-based path planning method, it is usually necessary to manually set the parking reversing point, and for novice drivers, it is difficult to accurately control the parking reversing point. Moreover, the path planning method based on geometry has poor universality, and is only suitable for parking scenarios with wide parking spaces and aisles, and cannot achieve efficient path planning for other complex scenarios. ...
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IPC IPC(8): B60W30/06B60W40/00
CPCB60W30/06B60W40/00B62D15/0285G01C21/3446G01C21/3685
Inventor许扬苏镜仁许匡正赖健明陈盛军
OwnerGUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD