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