An unmanned parking path planning method for special road scenes
An unmanned driving 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.
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[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. Such as 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 sta...
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