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Narrow vertical parking path planning method

A path planning and parking technology, which is applied to vehicle components, external condition input parameters, control devices, etc., and can solve problems such as inability to park and narrow parking spaces

Active Publication Date: 2021-01-05
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In a specific corridor space, three parking options are proposed, which are primary maneuvering, secondary maneuvering and triple maneuvering, to meet the requirements of the narrow parking space environment and solve the problem of narrow parking spaces that cannot be parked in vertical parking scenarios. question

Method used

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  • Narrow vertical parking path planning method
  • Narrow vertical parking path planning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0128] The following simulation parameters are used for vertical parking path planning.

[0129] Lcar 4.155m Wcar 1.645m L 2.405m Lfront 0.8m Lrear 0.95m Rmin 4.2m Lspot 5.3m Wspot 2.5m

[0130] According to the simulation parameters, one parking, two parking, three parking, get the corresponding simulation results. The minimum space under one maneuver is h1min=3.8162m, the minimum space under two maneuvers is h2min=3.8162m, and the minimum space under three maneuvers is h3min=3.55m. Vertical parking spaces with different widths of virtual corridors are constructed in the simulation , where the width and length of the parking spaces and the corridor width are known. If the width of the corridor is greater than the width of a parking space (h=4.0162m), select the parking path plan for comparison, such as Figure 7 shown. If the width of one motorized parking corridor is not satisfied (h=3.9m), then choose two motorized ...

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Abstract

The invention relates to a narrow vertical parking path planning method. The method comprises the following steps: 1 determining an end point position, planning from the end point position to the outside of a parking space, and determining to execute primary maneuvering parking or secondary maneuvering parking or tertiary maneuvering parking in the parking process according to the width of a parking space corridor and the current position of a vehicle; 2 determining a target line at an initial parking position; 3 after target line setting is determined, selecting a target line from the currentposition, and planning a path to reach the initial parking position; and 4 when reaching the initial parking position, following the planned path. The minimum corridor width capable of being executedby primary maneuvering parking, secondary maneuvering parking and tertiary maneuvering parking can be determined according to the parking space parameters and the vehicle parameters, and the method can adapt to more variable traffic conditions such as narrow parking spaces and narrow parking corridor spaces. A personified parking path planning mode is provided, and if a driver rides the vehicle,the psychological acceptance ability of the driver can be met.

Description

technical field [0001] The invention belongs to the technical field of automobiles, in particular to a narrow vertical parking path planning method. Background technique [0002] In 2003, automatic parking technology was commercialized for the first time. Automated parking is increasingly being installed on vehicles. Parking spaces can be divided into parallel parking, vertical parking and inclined parking. Cities have high population density and limited area. As the number of cars continues to increase, parking spaces are becoming narrower and narrower. Due to the narrow space, the number of maneuvers increases, which brings a great burden to the driver. Contents of the invention [0003] The invention provides a narrow vertical parking path planning method, which can determine the executable minimum corridor width for one motor parking, two motor parking and three motor parking according to the parking space parameters and vehicle parameters. In a specific corridor s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06
CPCB60W30/06B60W2552/00
Inventor 管欣蔡磊贾鑫张浩伦周芝瑶詹军
Owner JILIN UNIV