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Automatic parking path following processing method and system, vehicle and storage medium

A technology of automatic parking and processing methods, which is applied in the field of vehicles and storage media, automatic parking path following processing, and can solve problems such as the monotonous increase of the independent variable x and the discontinuous curvature of the arc and straight path, so as to improve efficiency and simplify the path Effects that follow the algorithm and are easy to implement quickly

Active Publication Date: 2020-12-04
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides an automatic parking path following processing method, system, vehicle and storage medium to solve the problem of discontinuous curvature of the arc and straight line path, and the limitation that the original cubic spline interpolation function needs to ensure the monotonous increase of the independent variable x

Method used

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  • Automatic parking path following processing method and system, vehicle and storage medium
  • Automatic parking path following processing method and system, vehicle and storage medium
  • Automatic parking path following processing method and system, vehicle and storage medium

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with accompanying drawing.

[0046] In this embodiment, an automatic parking path following processing method includes the following steps:

[0047] Step 1. Based on the parking space information, plan the arc-line path required for parking, and obtain the control point P for path planning. i , i=0,1,2,...n;

[0048] Step 2, based on the cubic spline interpolation function for parametric solution, using the method of chord length accumulation; for the control point P on the plane i The coordinates (x i ,y i ), calculate the cumulative chord length at each control point;

[0049] The cumulative chord length at each control point is expressed as:

[0050] the s 0 =0

[0051]

[0052]

[0053]

[0054]

[0055] In the formula: l i Indicates the chord length of the i segment, k=i-1.

[0056] Step 3, parameterize x and y as equations of x(s) and y(s) respectively, where s i ≤s≤s i+1 ,...

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Abstract

The invention discloses an automatic parking path following processing method and system, a vehicle and a storage medium. The method comprises the steps: 1, planning an arc linear path needed by parking based on parking space information, and obtaining a control point Pi of path planning, i being equal to 0, 1, 2,... N; step 2, performing parametric solution based on a cubic spline interpolation function, and adopting a chord length accumulation method; for the coordinates (xi, yi) of the control point Pi on the plane, solving the accumulated chord length at each control point; step 3, parameterizing x and y into equations of x (s) and y (s) respectively, s being larger than or equal to si and smaller than or equal to si+1, si representing the accumulated chord length of the (i+1)th section, and si+1 representing the accumulated chord length of the (i+2) th section; to be specific, carrying out fitting based on the principle of a cubic spline interpolation function with s as a variableand x and y as functions, and deriving an equation of a chord length accumulation cubic spline curve and first-order derivation and second-order derivation equations of the equation; and step 4, adopting a constraint equation of a fixed boundary for boundary conditions, and solving a first-order derivative of a parameter equation. The problem that the curvature of an arc straight line path is discontinuous is solved.

Description

technical field [0001] The invention belongs to the technical field of automatic parking, and in particular relates to an automatic parking path following processing method, system, vehicle and storage medium. Background technique [0002] In recent years, with the exponential increase in car ownership, the problem of parking difficulties has become more prominent. This issue has attracted a lot of attention from the outside world, especially major OEMs. At the current stage, OEMs have realized the mass production of fully automatic parking technology based on the fusion of imaging and ultrasound, and the market response has been good. The market prospect of fully automatic parking is promising. Deep digging technology, the basic principle of parking path planning is mainly based on the principle of arcs and straight lines for path planning to ensure that vehicles enter the warehouse, or the path planning method of B-spline curves. [0003] At present, the arc and straight...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06B60W60/00G06F17/13G06F17/16
CPCB60W30/06B60W60/0025G06F17/13G06F17/16
Inventor 盛进源梁锋华万凯林张伟方高享久
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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