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Curvature continuous parking path planning device and method of intelligent parking system

A curvature continuous, path planning technology, applied in the field of parking space detection and path generation devices, can solve problems such as increasing the difficulty of engineering implementation, low solution efficiency, and difficult to describe constraints.

Active Publication Date: 2020-12-15
ZONGMU TECH SHANGHAI CO LTD
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0003]Parking path generation algorithms in the prior art usually have their own advantages and disadvantages. Classical algorithms such as A-star, Dijkstra, RRT, etc., in the current pathfinding and graph It is widely used in traversal and has certain efficiency. However, in the case of complex and changeable environments, the calculation efficiency is low, but the generated path contains unnecessary vertices, and the discrete path points do not satisfy the characteristics of smooth curvature; spline curve Both polynomial and polynomial spirals are smooth curves, which are easy to ensure curvature continuity and boundedness, and must have good properties. However, after the boundary conditions are given, using numerical methods to solve the undetermined coefficients of polynomials has low solution efficiency, and Under the condition of obstacle avoidance, the constraints are not easy to describe; the artificial intelligence method needs to rely on a large number of expert data as training samples, which increases the difficulty of engineering implementation.

Method used

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  • Curvature continuous parking path planning device and method of intelligent parking system
  • Curvature continuous parking path planning device and method of intelligent parking system
  • Curvature continuous parking path planning device and method of intelligent parking system

Examples

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no. 1 example

[0093] In the prior art, a common method for designing a path with continuous curvature is to first apply A-star to generate a collision-free path from the start point to the end point, and then generate a smooth geometry by numerical optimization based on this path. Path, similar methods are B-spline path, higher-order smooth curve path, Bezier path, etc. The parking paths obtained based on these numerical methods are all of continuous curvature, but there are two points that cannot be guaranteed. First, even if the curvature is continuous, it does not necessarily guarantee that the minimum curvature radius can meet the dynamic characteristics of the vehicle body; second, The solved path is not guaranteed to be collision-free. These two points are very important for practical parking engineering applications, and more perfect algorithms need to be proposed for improvement.

[0094] 1 About the spiral design:

[0095] like figure 2 As shown, the spiral path in four direction...

Embodiment 2

[0117] On the basis of Example 1, as Figure 4 , 5 , 8, the front of the car is facing forward, and the rear is facing backward. Figure 8 where 0 is the position of the root node ( Figure 8 The position of a certain trisection point on the line connecting the center of the short side of the middle rectangle, the exact position of the trisection point is not required, and the nearby position is also acceptable, generally the position of the center point of the rear axle of the parked vehicle), 800 is the detection and detection distance outside the parking space. The vehicles forward detect the regions where the related paths are jointly explored with a high probability. The forward direction of the in-line parking space ( Figure 8 The arrow connecting the centers of the short sides of the middle rectangle indicates the direction), and set the same direction as the forward direction of the currently parked vehicle (the arrow direction of the pre-parked vehicle 700 is the ...

Embodiment 3

[0122] On the basis of Example 1, as Image 6 , 7 , 9, the front of the pre-parked vehicle is facing forward ( Figure 9 In 700, the arrow of the vehicle is facing the front direction), and the rear direction is the rear direction. The forward direction of the vertical parking space ( Figure 9 The arrow connecting the center of the short side of the middle rectangle indicates the direction), which is set to the direction that the vehicle faces forward after parking in reverse.

[0123] Figure 9 where 0 is the position of the root node ( Figure 9 The position of a certain trisection point on the line connecting the center of the short side of the middle rectangle, the exact position of the trisection point is not required, and the nearby position is also acceptable, generally the position of the center point of the rear axle of the parked vehicle), 800 is the detection and detection distance outside the parking space. The vehicles forward detect the regions where the re...

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Abstract

The invention provides a curvature continuous parking path planning device of an intelligent parking system. The curvature continuous parking path planning device comprises sensor assemblies and a signal processing assembly, wherein the sensor assemblies are arranged around a vehicle body, and are used for collecting pose information of the vehicle per se and environment information around the vehicle; and the signal processing assembly is used for determining a vacant parking space according to the environment information around the vehicle provided by different sensor assemblies, and determining a parking path plan with continuous curvature between the vacant parking space and the current pose of the vehicle. The curvature continuous path is beneficial to reducing the change of centrifugal force during vehicle tracking, the comfort and stability of the vehicle are improved, the curvature is not suddenly changed, and parking steering is not needed.

Description

technical field [0001] The invention relates to a parking space detection and path generation device and method of an intelligent parking system, in particular to the determination of a parking path with continuous curvature. Background technique [0002] With the continuous growth of the number of cars in the city, the car ownership continues to increase, the parking space is getting narrower and the resources are increasingly tight, which is a severe test for inexperienced drivers. The automatic parking technology and other assisted parking functions Realization, through the reversing radar and camera, according to the current position information of the vehicle and the parking space, a feasible parking path is generated. It can effectively improve the success rate of parking and reduce the difficulty of parking for drivers. [0003] The parking path generation algorithms in the prior art usually have their own advantages and disadvantages. Classical algorithms such as A-s...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W30/06
CPCB60W60/0011B60W30/06
Inventor 陈康舒宋宇余恒郭朝科张功甜牟建秋许耀华
Owner ZONGMU TECH SHANGHAI CO LTD
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