Unmanned parking path planning method for special road scene

An unmanned and path planning technology, applied in the field of unmanned parking path planning, can solve problems such as low level of structure, and achieve the effect of improving the solution speed and shortening the length.

Active Publication Date: 2021-04-27
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

[0005] In view of this, the present invention provides an unmanned parking path planning method for special road scenes, which is used to solve the problem of internal path planning in road scenes with a low degree of structure, and realize rapid generation of vehicles that meet the requirements in a large area. Vehicle parking path with kinematic constraints

Method used

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  • Unmanned parking path planning method for special road scene
  • Unmanned parking path planning method for special road scene

Examples

Experimental program
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Embodiment 1

[0038] Step 1: Obtain P from the starting point of the vehicle 0 to parking end P N stop point P 1 ,P 2 ,...,P N-1 ; Among them, N is a positive integer.

[0039] An on-board computing unit for running path planning algorithms can be installed on each vehicle, and the parking destination P issued by the cloud intelligent platform can be received through the global task receiving system in the on-board computing unit. N and a series of stops P 1 ,P 2 ,...,P N-1 , the on-board computing unit will park the end point P N and all stops P 1 ,P 2 ,...,P N-1 Record and save. If there is no stopping point, only the parking end point will be recorded. like figure 2 As shown, from the vehicle starting point P 0 to parking end P 5 with four stops P 1 ,P 2 ,P 3 and P 4 , dotted line A 1 with dashed line A 2 represent the left and right boundaries of the road, respectively.

[0040] Step 2: Taking each stopping point as the demarcation point, divide the vehicle starti...

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Abstract

The invention discloses an unmanned parking path planning method for a special road scene, and the method comprises the steps: enabling a road space from a vehicle starting point to a parking terminal point to be divided into a plurality of space pieces through employing a parking point as a demarcation point, and improving the solving speed of an algorithm; on the basis of a random uniform sampling and augmented search algorithm, obtaining a drivable path and a path guide point of a vehicle in each space slice, and fusing a heuristic search algorithm to optimize a path between every two adjacent path guide points, so that the length of a driving path can be shortened, and the solving speed of the algorithm is increased; connecting the drivable paths of all the space pieces to obtain a vehicle motion path, establishing a target optimization function and constraint conditions, optimizing the path in a drivable area under the constraint of vehicle motion, completing unmanned parking path planning, and dynamically adjusting the vehicle safety distance for vehicles with different task functions. The trafficability of the vehicle in a complex and changeable environment is improved, and real-time parking of the unmanned vehicle is achieved.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to an unmanned parking path planning method for special road scenes. Background technique [0002] Special road scenarios generally refer to roads with a low degree of structure. In such road scenarios, there are no lane lines and clear road boundaries, and the roads are curved and complex, such as fields, mining areas, ports, etc. Unmanned parking path planning in special road scenarios mainly refers to the generation of safe drivable paths for unmanned vehicles in special road scenarios based on external environmental information, vehicle status and parking task requirements. Unmanned vehicles need to generate a drivable safe parking path according to the requirements of the parking task under the constraints of vehicle kinematics. [0003] For the urbanized road environment, due to its continuous road and flat road surface, it is relatively easy to realize the path plan...

Claims

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Application Information

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IPC IPC(8): B60W30/06
CPCB60W30/06
Inventor 余贵珍李涵周彬陈志发
Owner BEIHANG UNIV
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