Automatic parking path planning method and system and parking control equipment

Abstract

The invention relates to an automatic parking path planning method and system and parking control equipment. The method comprises the steps that the current vehicle state and parking space coordinate information of idle parking spaces around a vehicle in a world coordinate system are periodically obtained; the vehicle state comprises vehicle coordinate information and attitude of the vehicle in a world coordinate system; based on the current vehicle state, a multi-level tree-shaped search mode is adopted to search parking paths, whether the vehicle state corresponding to each tree node meets a preset parking condition or not is judged, and a plurality of parking paths tangent to any line in the median line belt of the parking space are obtained according to the judgment result; wherein the preset parking condition is that whether a parking path is tangent to any line in the parking space median line belt of the idle parking space exists in the vehicle state corresponding to the tree node; and the plurality of parking paths are screened according to a preset screening rule to obtain an optimal path. According to the method, dynamic path planning can be realized, and the flexibility, robustness and adaptability of automatic parking path planning are improved.

Description

technical field [0001] The invention relates to the technical field of automatic parking path planning, in particular to an automatic parking path planning method and system, and a parking control device. Background technique [0002] Path planning is an important function in automatic parking technology. At present, the automatic parking path planning algorithm generally adopts the geometric planning method, including the known project plans of universities, the plans of most automobile-related enterprises, and even most of the plans of cars with automatic parking that have been launched on the market. [0003] In the process of realizing the present invention, the inventor found that the most widely used path planning scheme based on geometric drawing has the following defects: [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 geom...

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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

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