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Driving path planning method, management server and parking management system

A driving path and waypoint technology, applied in the field of automatic driving, can solve the problem of low efficiency of driving path planning

Active Publication Date: 2021-09-10
HANGZHOU HIKVISION DIGITAL TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The current driving path planning method mainly uses topological maps for planning. Topological maps are maps represented by nodes and the connections between nodes. When using topological maps for driving path planning, firstly determine Since the nodes in the topological map are generally the intersections of driving roads, and the distance between any two intersections may be long, there will be multiple reachable paths, so it is necessary to interpolate and encrypt between any two intersections Interpolation of one or more waypoints, and finally the global driving route can be obtained, and online interpolation calculation is required every time the driving route is planned, resulting in low efficiency of driving route planning

Method used

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  • Driving path planning method, management server and parking management system
  • Driving path planning method, management server and parking management system
  • Driving path planning method, management server and parking management system

Examples

Experimental program
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Effect test

Embodiment 1

[0221] Embodiment one: valet parking.

[0222] Assuming that the vehicle to be parked is located on Lane 3.1 with its head facing upwards, the planned parking space is Spot 14.1, and Segment 3 is selected as the starting segment according to the position and attitude of the vehicle. Since Waypoint 14.1.1 of Spot 14.1 is connected to Lane 6.1 Waypoint 6.1.3, you can determine Segment 6 as the target segment.

[0223] Start searching according to the path planning algorithm in the above embodiment, the next Segment of Segment 3 has Segment 10 and Segment 11, according to the cost calculation function, because Segment 11 is closer to the target Segment, select Segment 11 as the next target Segment , Segment 10 is reserved as a candidate investigation section.

[0224] Because the next segment of Segment 11 is only Segment 6, and Segment 6 is the target Segment, the path search is exited, and the planned road segment sequence is: Segment 3-Segment 11-Segment 6. Based on the map,...

Embodiment 2

[0225] Embodiment two: valet picks up the car.

[0226] Assuming that the vehicle to be picked up is located at Spot 13.1 and the pick-up point is on Lane 2.1, since Waypoint 13.1.1 of Spot 13.1 is connected to Waypoint 5.1.1 of Lane 5.1, Segment 5 can be determined as the starting segment. According to the location of the pick-up point Select Segment 2 as the destination segment.

[0227] Start searching according to the path planning algorithm in the above-mentioned embodiment, the next Segment of Segment 5 has Segment 8 and Segment 12, according to the cost calculation function, because Segment 8 is closer to the distance from the target Segment, then select Segment 8 as the next target Segment , Segment 12 is reserved as a candidate investigation section.

[0228] Because the next segment of Segment 8 is only Segment 2, and Segment 2 is the target Segment, the path search is exited, and the planned road segment sequence is: Segment 5-Segment 8-Segment 2. Based on the map...

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Abstract

The embodiment of the invention provides a driving path planning method, a management server and a parking management system. A map used for driving path planning comprises a plurality of one-way road sections obtained by dividing a driving road in a specified scene, each one-way road section comprises at least one lane, each lane comprises a plurality of path points, each path point carries geometric information, and it can be seen that the map is a mixed map containing topological information and geometric information. When a driving path is planned, after a road section sequence from a starting one-way road section to a target one-way road section is obtained through optimal road section search, a corresponding path point sequence can be directly found from a map, and the path point sequence is a global driving path, so that complex operations such as interpolation calculation are avoided when the driving path planning is carried out each time, and then the efficiency of the driving path planning is improved.

Description

technical field [0001] The present application relates to the technical field of automatic driving, in particular to a driving route planning method, a management server and a parking management system. Background technique [0002] In recent years, with the development of cities, the number of cars is getting higher and higher, and the difficulty of parking has become a problem that plagues people and hinders urban development. How to use vehicles more conveniently and get rid of the parking problem has become a research hotspot in urban development. At present, APA (Automated Parking Assist) technology has been used on some vehicles. APA technology refers to parking the vehicle near the parking space (for example, within 5 meters), and the vehicle can automatically locate the parking space and automatically park based on the parking space. parking space. Although this parking method can realize automatic parking and shorten the time for parking, it requires the user to d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/30G01C21/34
CPCG01C21/30G01C21/3446Y02T10/40
Inventor 胡兵吕吉鑫
Owner HANGZHOU HIKVISION DIGITAL TECH