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Automatic parking path planning method and system, parking control device

A path planning and automatic parking technology, applied to road network navigators, navigation, instruments, etc., can solve the problems of geometrically difficult dynamic path planning, inability to deal with all scenarios, and insufficient planning capabilities, so as to achieve dynamic path planning, Strong versatility and scene adaptability, and the effect of eliminating recognition accuracy problems

Active Publication Date: 2022-04-22
GUANGZHOU AUTOMOBILE GROUP CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The planning ability is not strong enough, the robustness is not strong, and it cannot cope with all scenarios. For each scenario or different types of parking spaces, a corresponding geometric planning strategy needs to be written. It is difficult to realize dynamic path planning by geometric method, and most of them can only use static planning

Method used

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  • Automatic parking path planning method and system, parking control device
  • Automatic parking path planning method and system, parking control device
  • Automatic parking path planning method and system, parking control device

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Embodiment Construction

[0073] The following will be described in detail with reference to the accompanying drawings various exemplary embodiments, features and aspects of the present disclosure. The same reference numerals in the drawings represent elements of the same or similar functionality. Although various aspects of the embodiment are shown in the accompanying drawings, it is not necessary to draw the drawings in proportion unless otherwise indicated.

[0074] Further, in order to better illustrate the present invention, numerous specific details are given in the following specific embodiments. Those skilled in the art will appreciate that, without certain specific details, the present invention may likewise be implemented. In some examples, the means well known to those skilled in the art are not described in detail, in order to highlight the main thrust of the present invention.

[0075] as Figure 1 As shown, embodiments of the present invention proposes an automatic parking path planning metho...

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Abstract

The present invention relates to an automatic parking path planning method and its system, and a parking control device. The method includes: periodically acquiring the current vehicle state and the parking space coordinate information of free parking spaces around the vehicle in the world coordinate system; the vehicle state includes The vehicle coordinate information and posture of the vehicle in the world coordinate system; based on the current vehicle state, the multi-level tree search method is used to search for the parking path, and it is determined whether the vehicle state corresponding to each tree node meets the preset parking conditions, and according to As a result of the determination, a number of parking paths tangent to the center line of the parking space are obtained; wherein the preset parking condition is whether there is a parking path tangent to the center line of the free parking space in the state of the vehicle corresponding to the tree node; according to the preset The filtering rule filters the plurality of parking paths to obtain an optimal path. The implementation of the present invention can realize dynamic path planning and improve the flexibility, robustness and adaptability of automatic parking path planning.

Description

Technical field [0001] The present invention relates to the technical field of automatic parking path planning, specifically to automatic parking path planning methods and systems, parking control equipment. Background [0002] Route planning is an important feature in automated parking technology. At present, the automatic parking path planning algorithm generally adopts geometric planning methods, including known university project schemes, most automotive-related enterprise schemes, and even the vast majority of automotive programs with automatic parking that have been listed use geometric planning methods. [0003] In the process of implementing the present invention, the inventor found that the most used path planning scheme based on geometric drawing, which has the following defects: [0004] Planning ability is not enough, robustness is not strong, can not cope with all scenarios, each scene or different types of parking spaces need to write the corresponding geometric pl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/06G01C21/34
CPCB60W30/06G01C21/3446
Inventor 黄辉翁茂楠裴锋陈泽武王建明张力锴
Owner GUANGZHOU AUTOMOBILE GROUP CO LTD
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