Vehicle parking path planning method and device

A path planning, parking position technology, applied in the direction of vehicle position/route/height control, two-dimensional position/channel control, non-electric variable control, etc. high complexity issues

Active Publication Date: 2021-01-15
MOMENTA SUZHOU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The above method has a large computational complexity in the implementation process, an

Method used

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  • Vehicle parking path planning method and device
  • Vehicle parking path planning method and device
  • Vehicle parking path planning method and device

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0091] see figure 1 , figure 1 It is a schematic flowchart of a training method for a vehicle path transformation model provided by an embodiment of the present invention. This method can be applied to the scene where the self-driving vehicle is temporarily parked near the edge of the road. The method can be performed by a training device for a vehicle path transformation model, which can be implemented by means of software and / or hardware, and generally can be integrated in a vehicle-mounted terminal such as a vehicle-mounted computer or a vehicle-mounted industrial personal computer (IPC). The embodiments of the invention are not limited. Such as figure 1 As shown, the method provided in this embodiment specifically includes:

[0092] 110. Obtain the historical motion information of the current vehicle when the current vehicle needs to park on the roadside, and the road information of the current vehicle in the corresponding historical environmental perception informatio...

Embodiment 2

[0114] see figure 2 , figure 2 It is a schematic flowchart of a vehicle parking route planning method provided by an embodiment of the present invention. This method is applied to automatic driving, and is typically applied to the scene of temporary parking near the edge of the road. The method can be executed by a vehicle parking path planning method device, which can be realized by means of software and / or hardware, and can generally be integrated in vehicle-mounted terminals such as a vehicle-mounted computer and a vehicle-mounted industrial personal computer (IPC). The embodiments of the invention are not limited. Such as figure 2 As shown, the vehicle parking path planning method provided in this embodiment specifically includes:

[0115] 210. When on-street parking is required, determine the road information where the current vehicle is located, and the current movement information of other vehicles other than the current vehicle.

[0116] Among them, on-street p...

Embodiment 3

[0149] see Figure 4 , Figure 4 It is a schematic structural diagram of a vehicle parking path planning device provided by an embodiment of the present invention. Such as Figure 4 As shown, the device includes: a current movement information determination module 410, a parking position determination module 420 and a parking module 430, wherein,

[0150] The current motion information determining module 410 is configured to determine the road information where the current vehicle is located and the current motion information of other vehicles other than the current vehicle when on-street parking is required, the current motion information including speed, position and acceleration;

[0151] The parking position determination module 420 is configured to extract the road edge in the road information if the road information meets the parking condition, and determine the parking position according to the road edge;

[0152] The parking module 430 is configured to, according to...

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Abstract

The embodiment of the invention discloses a vehicle parking path planning method and device. The method comprises steps of determining the information of a road where a current vehicle is located andthe current movement information of other vehicles except the current vehicle when roadside parking needs to be carried out; if the road information meets the parking condition, extracting a road edgein the road information, and determining a parking position according to the road edge; according to the parking position, the current motion information of the current vehicle and the current motioninformation of other vehicles, if a target parking path which is generated based on a path transformation model, meets vehicle position constraints and enables a target function to reach a preset convergence condition is obtained, the current vehicle is controlled to drive into the parking position according to the target parking path; wherein the path transformation model enables the parking position and the current motion information of the current vehicle and other vehicles to be associated with the target parking path when the current vehicle changes the path. By adopting the method, accuracy and efficiency of parking path planning are improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and device for planning a parking path of a vehicle. Background technique [0002] Motion planning is to find a constraint-compliant path for an unmanned vehicle between a given location A and location B. This constraint can be no collision, shortest path, minimum mechanical work, etc., which is an important research field of robotics. [0003] For safe and efficient unmanned vehicle planning, the planning method based on optimization solution can provide an optimal strategy for unmanned vehicles. Most of the existing parking path planning algorithms are based on search, and a more suitable parking path is selected from a series of feasible trajectories satisfying dynamics. [0004] The above method has a large computational complexity in the implementation process, and cannot list all feasible trajectories, and is not suitable for real-time application proce...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0289
Inventor 陈杰时天宇席晨阳陈亮刘行王海瑞
Owner MOMENTA SUZHOU TECH CO LTD
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